Harmonic Drive CHA - Page 42

42 1018854 12/2015 V01
Table 42.1
Symbol [Unit] CHA-50A
Motor feedback system M512P
Ratio i [ ] 50 80 100 120 160
Maximum output torque T
max
[Nm] 715 941 980 1080 1180
Maximum output speed n
max
[rpm] 70 44 35 30 22
Maximum current I
max
[A
rms
] 10.2 8.3 6.9 6.4 5.3
Continuous stall torque T
0
[Nm] 194 363 456 550 736
Continuous stall current I
0
[A
rms
] 2.9 3.2 3.2 3.2 3.1
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 3.4
Mechanical time constant (20° C) t
m
[ms] 4.7
No load current I
NLS
[A
rms
] 0.30 0.20 0.20 0.17 0.16
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 12 20 25 29 39
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 4 6 8 9 12
Torque constant (at output) k
Tout
[Nm/A
rms
] 74 121 145 181 242
Torque constant (at motor) k
TM
[Nm/A
rms
] 1.60
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 104
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 18
Maximum motor speed n
max
[rpm] 3500
Rated motor speed n
N
[rpm] 2500
Resistance (L-L, 20° C) R
L- L
[Ω] 3.5
Inductance (L-L) L
L- L
[mH] 12
Number of pole pairs p [ ] 6
Weight without brake m [kg] 20.9
Weight with brake m [kg] 24.5
Hollow shaft diameter d
h
[mm] 45
Technical Data Brake
Table 42.3
Moment of Inertia
Table 42.2
Symbol [Unit] CHA-50A
Ratio i [ ] 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 225 360 450 540 720
Brake current to open I
OBr
[A
DC
] 0.7
Brake current to hold (10V) I
HBr
[A
DC
] 0.3
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-50A
Motor feedback system M512P
Ratio i [ ] 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 6.90 1 7.7 2 7.7 39.9 71.0
Moment of inertia with brake J
out
[kgm²] 7.90 19.5 30.4 43.8 7 7.8
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 2 7.7
Moment of inertia at motor with brake J [x10
-4
kgm²] 30.4