Harmonic Drive CHA - Page 44

44 1018854 12/2015 V01
Table 44.1
Symbol [Unit] CHA-58A
Motor feedback system M512P
Ratio i [ ] 50 80 100 120 160
Maximum output torque T
max
[Nm] 1020 1480 1590 1720 1840
Maximum output speed n
max
[rpm] 60 38 30 25 19
Maximum current I
max
[A
rms
] 14.4 12.8 11.1 10.0 8.1
Continuous stall torque T
0
[Nm] 280 532 670 805 1080
Continuous stall current I
0
[A
rms
] 4.2 4.6 4.6 4.6 4.6
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20° C) t
e
[ms] 3.5
Mechanical time constant (20° C) t
m
[ms] 5.4
No load current I
NLS
[A
rms
] 0.40 0.28 0.26 0.25 0.23
No load running current constant (30° C) K
INL
[x10
-3
A
rms
/rpm] 19 30 38 46 61
No load running current constant (80° C) K
INL
[x10
-3
A
rms
/rpm] 6 10 12 15 19
Torque constant (at output) k
Tout
[Nm/A
rms
] 75 122 152 183 244
Torque constant (at motor) k
TM
[Nm/A
rms
] 1.70
AC voltage constant (L-L, 20° C, at motor) k
EM
[V
rms
/1000 rpm] 105
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 25
Maximum motor speed n
max
[rpm] 3000
Rated motor speed n
N
[rpm] 2000
Resistance (L-L, 20° C) R
L- L
[Ω] 2.4
Inductance (L-L) L
L- L
[mH] 9
Number of pole pairs p [ ] 6
Weight without brake m [kg] 28.2
Weight with brake m [kg] 32.0
Hollow shaft diameter d
h
[mm] 45
Technical Data Brake
Table 44.3
Moment of Inertia
Table 44.2
Symbol [Unit] CHA-58A
Ratio i [ ] 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10%
Brake holding torque (at output) T
Br
[Nm] 450 720 900 1080 1440
Brake current to open I
OBr
[A
DC
] 0.7
Brake current to hold (10V) I
HBr
[A
DC
] 0.5
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-58A
Motor feedback system M512P
Ratio i [ ] 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 11.9 30.6 47.8 68.8 122
Moment of inertia with brake J
out
[kgm²] 12.1 31.1 48.5 69.8 124
Moment of Inertia at motor
Moment of inertia at motor without brake J [x10
-4
kgm²] 47.8
Moment of inertia at motor with brake J [x10
-4
kgm²] 48.5