Harmonic Drive CHA - Page 38

38 1018854 12/2015 V01
Table 38.1
Symbol [Unit] CHA-32A
Motor feedback system M512P
Ratio i [ ] 30 50 80 100 120 160
Maximum output torque T
max
[Nm] 100 216 304 333 353 372
Maximum output speed n
max
[rpm] 160 96 60 48 40 30
Maximum current I
max
[A
rms
] 7.1 9.8 8.3 7. 2 6.3 5.3
Continuous stall torque T
0
[Nm] 44 71 119 154 179 216
Continuous stall current I
0
[A
rms
] 3.2 3.2 3.2 3.2 3.2 2.9
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 1.6
Mechanical time constant (20° C) t
m
[ms] 7.1
No load current I
NLS
[A
rms
] 0.30 0.30 0.20 0.20 0.20 0.18
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 6 10 17 21 25 34
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 2 3 6 7 8 11
Torque constant (at output) k
Tout
[Nm/A
rms
] 15.5 25.9 42.1 52.5 63.0 84.5
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.55
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 37
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 15
Maximum motor speed n
max
[rpm] 4800
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20° C) R
L- L
[Ω] 3.7
Inductance (L-L) L
L- L
[mH] 6.0
Number of pole pairs p [ ] 6
Weight without brake m [kg] 7. 6
Weight with brake m [kg] 8.8
Hollow shaft diameter d
h
[mm] 32
Technical Data Brake
Table 38.3
Moment of Inertia
Table 38.2
Symbol [Unit] CHA-32A
Ratio i [ ] 30 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 54 90 144 180 216 288
Brake current to open I
OBr
[A
DC
] 0.9
Brake current to hold (10V) I
HBr
[A
DC
] 0.4
Number of brake cyles at n = 0 rpm 10000000
Emergency brake cyles 200
Opening time t
O
[ms] 110
Closing time t
C
[ms] 70
Symbol [Unit] CHA-32A
Motor feedback system M512P
Ratio i [ ] 30 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.55 1.50 3.9 6.1 8.7 15.6
Moment of inertia with brake J
out
[kgm²] 0.64 1.77 4.5 7.1 10.2 18.2
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 6.1
Moment of inertia at motor with brake J [x10
-4
kgm²] 7.1