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ac servo actuators cha
User Manual
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Harmonic drive ag ac servo actuators cha User Manual

Engineering Data
AC Servo Actuators CHA
More information on our servo products can be found HERE!
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Contents
1. General .................................................................................................................................................. 5
2. Safety and Installation Instructions .....................................................................................................7
2.5.1 Gears ...........................................................................................................................................................................9
2.5.2 Servo Actuators and Motors .....................................................................................................................................9
3. Technical Description ...........................................................................................................................10
4. Ordering Code .......................................................................................................................................11
5. Combinations .......................................................................................................................................12
6. Technical Data ......................................................................................................................................13
6.2.1 Technical Data .......................................................................................................................................................... 14
6.2.2 Moment of Inertia ................................................................................................................................................... 15
6.2.3 Technical Data Brake ................................................................................................................................................ 15
6.2.4 Performance Characteristics ................................................................................................................................... 16
6.3 Actuator Data CHA-14A-H/N ...............................................................................................................................................17
6.3.1 Technical Data ...........................................................................................................................................................17
6.3.2 Moment of Inertia ................................................................................................................................................... 18
6.3.3 Technical Data Brake ................................................................................................................................................18
6.3.4 Performance Characteristics ................................................................................................................................... 19
6.4 Actuator Data CHA-17A-E .................................................................................................................................................. 20
6.4.1 Technical Data ......................................................................................................................................................... 20
6.4.2 Moment of Inertia ................................................................................................................................................... 21
6.4.3 Technical Data Brake ................................................................................................................................................ 21
6.4.4 Performance Characteristics ...................................................................................................................................22
6.5.1 Technical Data ..........................................................................................................................................................23
6.5.2 Moment of Inertia ...................................................................................................................................................24
6.5.3 Technical Data Brake ................................................................................................................................................24
6.5.4 Performance Characteristics ...................................................................................................................................25
6.6.1 Technical Data ..........................................................................................................................................................26
6.6.2 Moment of Inertia ...................................................................................................................................................26
6.6.3 Technical Data Brake ................................................................................................................................................26
6.6.4 Performance Characteristics ...................................................................................................................................27
6.7.1 Technical Data ......................................................................................................................................................... 28
6.7.2 Moment of Inertia .................................................................................................................................................. 28
6.7.3 Technical Data Brake ............................................................................................................................................... 28
6.7.4 Performance Characteristics ...................................................................................................................................29
6.8.1 Technical Data ......................................................................................................................................................... 30
6.8.2 Moment of Inertia .................................................................................................................................................. 30
6.8.3 Technical Data Brake ............................................................................................................................................... 30
6.8.4 Performance Characteristics ................................................................................................................................... 31
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6.9.1 Technical Data ..........................................................................................................................................................32
6.9.2 Moment of Inertia ...................................................................................................................................................32
6.9.3 Technical Data Brake ................................................................................................................................................32
6.9.4 Performance Characteristics ...................................................................................................................................33
6.10.1 Technical Data ......................................................................................................................................................... 34
6.10.2 Moment of Inertia .................................................................................................................................................. 34
6.10.3 Technical Data Brake ............................................................................................................................................... 34
6.10.4 Performance Characteristics ...................................................................................................................................35
6.11 Actuator Data CHA-58A-C1024 ...........................................................................................................................................36
6.11.1 Technical Data ..........................................................................................................................................................36
6.11.2 Moment of Inertia ...................................................................................................................................................36
6.11.3 Technical Data Brake ................................................................................................................................................36
6.11.4 Performance Characteristics ...................................................................................................................................37
6.12.1 Technical Data ......................................................................................................................................................... 38
6.12.2 Moment of Inertia .................................................................................................................................................. 38
6.12.3 Technical Data Brake ............................................................................................................................................... 38
6.12.4 Performance Characteristics ...................................................................................................................................39
6.13.1 Technical Data ......................................................................................................................................................... 40
6.13.2 Moment of Inertia .................................................................................................................................................. 40
6.13.3 Technical Data Brake ...............................................................................................................................................40
6.13.4 Performance Characteristics ................................................................................................................................... 41
6.14.1 Technical Data ..........................................................................................................................................................42
6.14.2 Moment of Inertia ...................................................................................................................................................42
6.14.3 Technical Data Brake ................................................................................................................................................42
6.14.4 Performance Characteristics .................................................................................................................................. 43
6.15.1 Technical Data ......................................................................................................................................................... 44
6.15.2 Moment of Inertia .................................................................................................................................................. 44
6.15.3 Technical Data Brake ............................................................................................................................................... 44
6.15.4 Performance Characteristics .................................................................................................................................. 45
6.16.1 Technical Data ......................................................................................................................................................... 46
6.16.2 Moment of Inertia .................................................................................................................................................. 46
6.16.3 Technical Data Brake ............................................................................................................................................... 46
6.16.4 Performance Characteristics ...................................................................................................................................47
6.17.1 Technical Data ......................................................................................................................................................... 48
6.17.2 Moment of Inertia .................................................................................................................................................. 48
6.17.3 Technical Data Brake ............................................................................................................................................... 48
6.17.4 Performance Characteristics .................................................................................................................................. 49
6.21.1 Technical Data ..........................................................................................................................................................55
6.21.2 Tolerances ................................................................................................................................................................55
6.22.1 C1024 ........................................................................................................................................................................ 57
6.22.2 M512P ...................................................................................................................................................................... 58
6.22.3 RES .......................................................................................................................................................................... 58
6.22.4 M128S .......................................................................................................................................................................59
6.22.5 D2048 ....................................................................................................................................................................... 61
31018854 8/2018 V03
6.23 Temperature Sensors ..........................................................................................................................................................62
6.24 Electrical Connections .........................................................................................................................................................63
6.24.1 CHA-xx-H-C1024 / H-M512P / H-M128S .................................................................................................................63
6.24.2 CHA-xx-H-RES .........................................................................................................................................................65
6.24.3 CHA-xx-N-RES / N-M128S / N-D2048 .................................................................................................................. 66
6.24.4 CHA-xx-E-RES / E-M128S / E-D2048 .....................................................................................................................67
6.25 Options ................................................................................................................................................................................ 68
7. Actuator Selection Procedure ............................................................................................................ 69
7.1. Selection Procedure and Calculation Example ...................................................................................................................69
7.3 Output Bearing ....................................................................................................................................................................74
7.3.1 Lifetime Calculation for Continuous Operation .....................................................................................................74
7.3.2 Lifetime Calculation for Oscillating Motion ...........................................................................................................74
7.3.3 Permissible Static Tilting Moment ......................................................................................................................... 76
7.3.4 Angle of Inclination .................................................................................................................................................76
8. Design Notes .......................................................................................................................................77
8.1 Notes on the Fit Selection .................................................................................................................................................. 77
9. Installation and Operation ................................................................................................................. 78
9.1 Transport and Storage .........................................................................................................................................................78
9.2 Installation ...........................................................................................................................................................................78
9.3 Mechanical Installation ....................................................................................................................................................... 79
9.5 Commissioning .................................................................................................................................................................... 81
9.6 Overload Protection ............................................................................................................................................................. 81
9.7 Protection against Corrosion and Penetration of Liquids and Debris ............................................................................. 82
9.8 Shutdown and Maintenance .............................................................................................................................................. 82
10. Decommissioning and Disposal ......................................................................................................... 84
11. Glossary ............................................................................................................................................... 85
11.2 Labelling, Guidelines and Regulations ...............................................................................................................................92
4 1018854 8/2018 V03

1. General

About this documentation
This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of Harmonic Drive AG. The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, oering support during selection and calculation of the servo actuators, servo motors and accessories.
Rules for storage
Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation when re-selling the product.
Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents. Documentation is provided for all products oered by Harmonic Drive AG and can be found in pdf format on the website.
www.harmonicdrive.de
Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive® components, is not included in our standard documentation and should be requested directly from the manufacturers.
Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain the relevant documents for each device.
Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and documentation to:
Harmonic Drive AG Marketing and Communications Hoenbergstraße 14 65555 Limburg / Lahn Germany E-Mail: info@harmonicdrive.de
51018854 8/2018 V03

1.1 Description of Safety Alert Symbols

Symbol Meaning
Indicates an imminent hazardous situation. If this is not avoided, death or
DANGER
WARNING
ATTENTION
ADVICE
serious injury could occur.
Indicates a possible hazard. Care should be taken or death or serious injury may result.
Indicates a possible hazard. Care should be taken or slight or minor injury may result.
Describes a possibly harmful situation. Care should be taken to avoid damage to the system and surroundings.
INFORMATION
This is not a safety symbol. This symbol indicates important information.
Warning of a general hazard. The type of hazard is determined by the specific warning text.
Warning of dangerous electrical voltage and its eects.
Beware of hot surfaces.
Beware of suspended loads.
Precautions when handling electrostatic sensitive components.
Beware of electromagnetic environmental compatibility.

1.2 Disclaimer and Copyright

The contents, images and graphics contained in this document are predected by copyright. In addition to the copyright, logos, fonts, company and product names can also be predected by brand law or trademark law. The use of text, extracts or graphics requires the permission of the publisher or rights holder.
We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mis­takes which may have occurred. Notification of any mistake or suggestions for improvements will be gratefully received and any necessary correction will be included in subsequent editions.
6 1018854 8/2018 V03

2. Safety and Installation Instructions

Please take note of the information and instructions in this document. Specially designed models may dier in technical detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for clarification.

2.1 Hazards

DANGER
Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and disposal must be carried out by qualified personnel as described in the standards EN 50110-1 and IEC 60364! Before starting any work, and especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the user also has to pay attention to any auxilliary circuits.
Observing the five safety rules:
• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close o nearby live parts
The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled. Improper handling can cause damage to persons and property. The respective national, local and factory specific regulations must be adhered to.
ATTENTION
The surface temperature of gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should not be touched.
ADVICE
Cables must not come into direct contact with hot surfaces.
DANGER
Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or similiar. Vulnerable individuals must not be in the close proximity of the products themselves.
DANGER
Built-in holding brakes are not functional safe by themselves. Particularly with unsupported vertical axes, functional safety can only be achieved with additional, external mechanical brakes.
71018854 8/2018 V03
DANGER
Danger of injury due to improper handling of batteries.
Observing of the battery safety rules:
• do not insert batteries in reverse. Observe the + and - marks on the battery and on the electrical device
• do not short circuit
• do not recharge
• do not open or deform
• do not expose to fire, water or high temperature
• do not leave discharged batteries in the electrical device
• keep batteries out of reach of children. In case of ingestion of a battery, seek medical assistance promptly.
WARNING
The successful and safe operation of gears, servo actuators and motors requires proper transport, storage and assembly as well as correct operation and maintenance.
ATTENTION
Use suitable lifting equipment to move and lift gears, servo actuators and motors with a weight > 20 kg.
INFORMATION
Special versions of products may dier in the specification from the standard. Further applicable data from data sheets, catalogues and oers of the special version have to be considered.

2.2 Intended Purpose

Harmonic Drive® Products are intended for industrial or commercial applications.
Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines.
The products may only be operated within the operating ranges and environmental conditions shown in the documentation (altitude, degree of predection, temperature range, etc).
Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery Directive must be established.

2.3 Non Intended Purpose

The use of products outside the areas of application mentioned above or beyond the operating areas or environmental conditions described in the documentation is considered as non-intended purpose.
8 1018854 8/2018 V03

2.4 Use in Special Application Areas

The use of the products in one of the following application areas requires a risk assessment and approval by Harmonic Drive AG.
• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity
• Vacuum
• Household devices
• Medical equipment
• Devices which interact directly with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks

2.5 Declaration of Conformity

2.5.1 Gears

Harmonic Drive® Gears are components for installation in machines as defined by the Machinery Directive. Commissioning is prohibited until the end product conforms to the provisions of this directive.
Essential health and safety requirements were considered in the design and manufacture of these gear component sets. This simplifies the implementation of the Machinery Directive by the end user for the machinery or the partly completed machinery. Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the Machinery Directive.

2.5.2 Servo Actuators and Motors

The Harmonic Drive® Servo Actuators and Motors described in the engineering data comply with the Low Voltage Directive. In accordance with the Machinery Directive, Harmonic Drive® Servo Actuators and Motors are electrical equipment for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the Machinery Directive. Commissioning is prohibited until the final product conforms to the Machinery Directive.
According to the EMC directive Harmonic Drive® Servo Actuators and Motors are inherently benign equipment, unable to generate electromagnetic disturbance or to be aected by such disturbance.
The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors are installed must be provided by the user before taking the device into operation.
Equipment, plant and machinery with inverter driven motors must satisfy the protection requirements of the EMC directive. It is the responsibility of the user to ensure that the installation is carried out correctly.
91018854 8/2018 V03

3. Technical Description

Largest hollow shaft with precision output bearing
CHA Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in eight sizes with gear ratios between 30 and 160:1, the actuators can provide maximum torques from 8 to 1840 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations.
To adapt to your specific application, the CHA Series oers many possible combinations when selecting the motor winding, Motor feedback system, brake, various sensors and cable as well as connector options.
The integrated hollow shaft can be used to feed through supply lines or services for additional axes, enabling space saving designs with minimal installation dimensions required. With a reinforced output bearing oering maximum tilting rigidity, the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable machine characteristics, increased operating reliability and consistent quality. With high predection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.
By combining the CHA Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.
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4. Ordering Code

Table 11.1
Series
CHA
Ordering code
CHA 20A 100 H C1024 B EC K SP
Table 11.2
Version
Size
Version
14A
17A 20A 25A 32A 40A 50A 58A
- -- - - -- -
Motor winding and connector configuration
Size
14A
17A
14A
17A 20A 25A 32A 40A 50A 58A
30 30 30 30 30
Ordering code
50 50 50 50 50 50 50 50
E
H, N
Ratio
80 80 80 80 80 80 80 80
100 100
120
100
120
100
120
100
120
100
120
100
120
100
120
Maximum DC bus
680 VDC
Motor winding and
connector configuration
160 160 160 160 160 160
voltage
48 VDC
Motor feed-
back system
E H N
Table 11.3
Ordering
code
H C1024 H M512P x H M128S x H RES 12 pin (M23) x N M128S N RES x N D2048 x E RES E D2048 x E M128S x
C1024
M512P
RES D2048 M128S
Motor
feedback
Brake Option 1 Option 2
B Sensor
connector configuration
Motor
6 pin
(M23)
8 pin
(M17)
8 pin (M17)
Motor
feedback
system
17 pin (M23)
17 pin (M17)
17 pin (M17)
connec-
Cable/
tor
Cable
outlet
Special
design
According
to customer
requirements
connec-
tor
x
x
x
Table 11.4
Motor feedback system
Ordering code Typ Protocol
C1024 Incremental –
M512P Multi-turn absolute EnDat®
RES Resolver
D2048 Incremental
M128S Multi-turn absolute SSI
Table 11.5
Option 1
Ordering code Description
EC
Table 11.6
Ordering code Description
K Cable outlet axial
R connector axial (only M512P)
S connector radial (only M512P)
- Standard (cable outlet radial)
Clarification of the technical data can be found in the Glossary
Single turn absolute EnDat®
Encoder system at the gear output
Option 2
111018854 8/2018 V03

5. Combinations

Table 12.1
Ratio
Size
Version
30 50 80
100
14A 17A 20A 25A 32A 40A 50A 58A
120 ­160 - -
Motor winding and connector configuration
E H L - ­N
C1024 - -
M512P - -
Motor feedback system
RES D2048 M128S
Brake B
Option 1 (Sensor) EC - -
1)
Option 2 (Cable/ connector)
K R - ­S - -
available on request – not available 1) Only for resolver and with increased length
- - -
- - - - - -
- - - - - -
- - - - - -
- - - - - -
1)
Only in conjunction with M512P
Gear Component Set
• Zero backlash
• Hollow shaft
• Transmission accuracy better than 1 arcmin
• Repeatability better than ±6 arcsec
Output bearing
• High load capacity
• Tilt resistant
• Excellent running characteristics
Motor feedback system
• Incremental encoder
• Single- or multi-turn absolute encoder
• EnDat® multi-turn encoder
• Resolver
AC Hollow shaft motor
• Sine commutated hollow shaft AC motor
• Multiple motor winding options
• Winding temperature monitoring with temperature sensor
• Maintenance free
12 1018854 8/2018 V03

6. Technical Data

CHA-xxA-E
Table 13.1
Insulation class (EN 60034-1) F
Insulation resistance (500 VDC) MΩ 100
Insulation voltage (10 s) V
Lubrication Flexolub®-A1
Degree of predection (EN 60034-5) IP65
Ambient operating temperature °C 0 … 40
Ambient storage temperature °C -20 … 60
Relative humidity (without condensation) % 20 … 80
Vibration resistance (DIN IEC 68 Part 2-6, 10 … 500 Hz) g 5
Shock resistance (DIN IEC 68 Part 2-27, 18 ms) g 30
Corrosion protection (DIN IEC 68 Part 2-11 salt spray test) h 4
Temperature sensors 1 x KTY 84-130 / 1 x PTC
rms
600
CHA-xxA-H/N
Table 13.2
Insulation class (EN 60034-1) F
Insulation resistance (500 VDC) MΩ 100
Insulation voltage (10 s) V
Lubrication Flexolub®-A1
Degree of predection (EN 60034-5) IP65
Ambient operating temperature °C 0 … 40
Ambient storage temperature °C -20 … 60
Altitude (a. s. l.) m < 1000
Relative humidity (without condensation) % 20 … 80
Vibration resistance (DIN IEC 68 Part 2-6, 10 … 500 Hz) g 5
Shock resistance (DIN IEC 68 Part 2-27, 18 ms) g 30
Corrosion protection (DIN IEC 68 Part 2-11 salt spray test) h 4
Temperature sensors 1 x KTY 84-130 / 1 x PTC
rms
2500
The continuous operating characteristics given in the following apply to an ambient temperature of 40 °C and an aluminium cooling surface with the following dimensions:
Table 13.3
Series
CHA
Size
Version
14A [mm] 200 x 200 x 6
17A [mm] 300 x 300 x 15
20A [mm] 300 x 300 x 15
25A [mm] 350 x 350 x 18
32A [mm] 350 x 350 x 18
40A [mm] 400 x 400 x 20
50A [mm] 500 x 500 x 25
58A [mm] 600 x 600 x 30
Unit Dimensions
131018854 8/2018 V03

6.2 Actuator Data CHA-14A-E

6.2.1 Technical Data

Table 14.1
Symbol
[Unit]
CHA-14A-E
Motor feedback system RES / D2048 / M128S
Ratio i [ ] 30 50 80 100
Maximum output torque T
Maximum output speed n
Maximum current I
Continuous stall torque T
Continuous stall current I
Maximum DC bus voltage U
Electrical time constant (20 °C) t
Mechanical time constant (20 °C) Version RES t
Mechanical time constant (20 °C) Version D2048 t
Mechanical time constant (20 °C) Version M128S t
No load current (+20 °C) I
No load current (-40 °C) I
No load running current constant (30 °C) K
No load running current constant (80 °C) K
Torque constant (at output) k
Torque constant (at motor) k
AC voltage constant (L-L, 20 °C, at motor) k
Motor terminal voltage (fundamental wave only) U
Demagnetisation current I
Maximum motor speed n
Rated motor speed n
Resistance (L-L, 20 °C) R
Inductance (L-L) L
[Nm] 9 18 23 28
max
[rpm] 283 170 106 85
max
[A
] 7.4 8.6 6.9 6.7
max
rms
[Nm] 6.8 6.9 11 11
0
[A
] 5.8 3.8 3.7 3.1
0
rms
[VDC] 48
DCmax
[ms] 0.8
e
[ms] 14.0
m
[ms] 9.0
m
[ms] 23.0
m
[A
] 1.0 0.9 0.8 0.8
NLS
rms
[A
] 3.1 3.7 4.5 5.1
NLS
rms
INL
INL
[V
EM
[·10-3 A
[·10-3 A
Tout
/rpm] 4.6 7.6 12.2 15.2
rms
/rpm] 1.6 2.7 4.3 5.4
rms
[Nm/A
[Nm/A
TM
rms
E
max
N
L- L
] 1.2 1.8 3.0 3.5
rms
] 0.04
rms
/1000 rpm] 3
[V
] 18 … 34
M
rms
[A
] -
rms
[rpm] 8500
[rpm] 3500
[Ω] 0.42
L- L
[mH] 0.35
Number of pole pairs p [ ] 5
Weight without brake m [kg]
Weight with brake m [kg]
Hollow shaft diameter d
[mm] 12
H
1.4 (D2048)
2.0 (RES / M128S)
1.7 (D2048)
2.3 (RES / M128S)
14 1018854 8/2018 V03

6.2.2 Moment of Inertia

Table 15.1
Symbol
[Unit]
CHA-14A
Motor feedback system RES
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.031 0.087 0.222 0.347
out
[kgm²] 0.039 0.109 0.280 0.438
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.347
-4
kgm²] 0.438
Motor feedback system D2048
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.020 0.056 0.142 0.223
out
[kgm²] 0.028 0.078 0.201 0.314
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.223
-4
kgm²] 0.314
Motor feedback system M128S
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.052 0.145 0.371 0.580
out
[kgm²] 0.060 0.168 0.429 0.671
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.580
-4
kgm²] 0.671

6.2.3 Technical Data Brake

Table 15.2
Symbol
[Unit]
Ratio i [ ] 30 50 80 100
Brake voltage U
Brake holding torque (at output) T
Brake current to open I
Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 9 18 23 28
Br
[ADC] -
OBr
[ADC] 0.54
HBr
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time t
Closing time t
[ms] -
O
[ms] -
C
CHA-14A
151018854 8/2018 V03
-1
CHA-14A-30-E
25
Drehzahl [min-1] / Speed [rpm]
CHA-14A-80-E
-1
CHA-14A-50-E
30
Drehzahl [min-1] / Speed [rpm]
CHA-14A-100-E

6.2.4 Performance Characteristics

The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table.
Illustration 16.1 Illustration 16.2
10
9
8
7
6
5
4
Torque [Nm]
3
2
1
Drehmoment [Nm] / Torque [Nm]
0
0 50 100 150 200 250 300
Speed [rpm]
Illustration 16.3 Illustration 16.4
20
CHA-14A-30-E CHA-14A-50-E
20
18
16
14
12
10
8
Torque [Nm]
6
4
2
Drehmoment [Nm] / Torque [Nm]
0
0 50 100 150 200
CHA-14A-80-E CHA-14A-100-E
25
20
15
15
10
Torque [Nm]
5
Drehmoment [Nm] / Torque [Nm]
0
0 20 40 60 80 100 120
Speed [rpm]
Torque [Nm]
10
5
0
0 10 20 30 40 50 60 70 80 90 100
Speed [rpm]
Speed [rpm]
Legend
Intermittent duty L: U Continuous duty H: UM = 18 VAC
16 1018854 8/2018 V03
= 34 VAC
M

6.3 Actuator Data CHA-14A-H/N

6.3.1 Technical Data

Table 17.1
Symbol
[Unit]
CHA-14A-H/N
Motor feedback system RES / D2048 / M128S
Ratio i [ ] 30 50 80 100
Maximum output torque T
Maximum output speed n
Maximum current I
Continuous stall torque T
Continuous stall current I
Maximum DC bus voltage U
Electrical time constant (20 °C) t
Mechanical time constant (20 °C) Version RES t
Mechanical time constant (20 °C) Version D2048 t
Mechanical time constant (20 °C) Version M128S t
No load current I
No load running current constant (30 °C) K
No load running current constant (80 °C) K
Torque constant (at output) k
Torque constant (at motor) k
AC voltage constant (L-L, 20 °C, at motor) k
Motor terminal voltage (fundamental wave only) U
Demagnetisation current I
Maximum motor speed n
Rated motor speed n
Resistance (L-L, 20 °C) R
Inductance (L-L) L
[Nm] 9 18 23 28
max
[rpm] 283 170 106 85
max
[A
] 1.1 1.3 1.0 1.0
max
rms
[Nm] 6.8 6.9 11 11
0
[A
] 0.9 0.6 0.6 0.5
0
rms
[VDC] 680
DCmax
[ms] 1.9
e
[ms] 4.4
m
[ms] 3.0
m
[ms] 7.4
m
[A
] 0.1 3 0.12 0.10 0.10
NLS
rms
INL
INL
[V
EM
[·10-3 A
[·10-3 A
Tout
/rpm] 0.5 0.8 1 2
rms
/rpm] 0.2 0.3 0.5 0.6
rms
[Nm/A
[Nm/A
TM
rms
E
max
N
L- L
] 9.4 14.4 24.4 31.4
rms
] 0.30
rms
/1000 rpm] 22
[V
] 220 … 430
M
rms
[A
] -
rms
[rpm] 8500
[rpm] 3500
[Ω] 7.7
L- L
[mH] 15.0
Number of pole pairs p [ ] 5
Weight without brake m [kg]
Weight with brake m [kg]
Hollow shaft diameter d
[mm] 12
H
1.4 (D2048)
2.0 (RES / M128S)
1.7 (D2048)
2.3 (RES / M128S)
171018854 8/2018 V03

6.3.2 Moment of Inertia

Table 18.1
Symbol
[Unit]
CHA-14A
Motor feedback system RES
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.031 0.087 0.222 0.347
out
[kgm²] 0.039 0.109 0.280 0.438
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.347
-4
kgm²] 0.438
Motor feedback system D2048
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.020 0.056 0.142 0.223
out
[kgm²] 0.028 0.078 0.201 0.314
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.223
-4
kgm²] 0.314
Motor feedback system M128S
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake J
Moment of inertia with brake J
[kgm²] 0.052 0.145 0.371 0.580
out
[kgm²] 0.060 0.168 0.429 0.671
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10
Moment of inertia at motor with brake J [·10
kgm²] 0.580
-4
kgm²] 0.671

6.3.3 Technical Data Brake

Table 18.2
Symbol
[Unit]
Ratio i [ ] 30 50 80 100
Brake voltage U
Brake holding torque (at output) T
Brake current to open I
Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 9 18 23 28
Br
[ADC] -
OBr
[ADC] 0.54
HBr
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time t
Closing time t
[ms] -
O
[ms] -
C
CHA-14A
18 1018854 8/2018 V03
CHA-14A-30-H/L
25
CHA-14A-80-H/L
CHA-14A-50-H/L
30
CHA-14A-100-H/L

6.3.4 Performance Characteristics

The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table.
Illustration 19.1 Illustration 19.2
10
9
8
7
6
5
4
Torque [Nm]
3
2
1
0
0 50 100 150 200 250 300
Speed [rpm]
Illustration 19.3 Illustration 19.4
20
15
10
Torque [Nm]
5
CHA-14A-30-H/N CHA-14A-50-H/N
20
18
16
14
12
10
8
6
Torque [Nm]
4
2
0
0 50 100 150 200
CHA-14A-80-H/N CHA-14A-100-H/N
25
20
15
10
Torque [Nm]
5
Speed [rpm]
0
0 20 40 60 80 100 120
Speed [rpm]
0
0 10 20 30 40 50 60 70 80 90 100
Speed [rpm]
Legend
Intermittent duty UM = 220 ... 430 VAC Continuous duty
191018854 8/2018 V03

6.4 Actuator Data CHA-17A-E

6.4.1 Technical Data

Table 20.1
Symbol
[Unit]
Motor feedback system
CHA-17A-E
RES / D2048 / M128S
Ratio i [ ] 30 50 80 100 120
Maximum output torque T
Maximum output speed n
Maximum current I
Continuous stall torque T
Continuous stall current I
Maximum DC bus voltage U
Electrical time constant (20 °C) t
Mechanical time constant (20 °C) Version RES t
Mechanical time constant (20 °C) Version D2048 t
Mechanical time constant (20 °C) Version M128S t
No load current (+20 °C) I
No load current (-20 °C) I
No load running current constant (30 °C) K
No load running current constant (80 °C) K
Torque constant (at output) k
Torque constant (at motor) k
AC voltage constant (L-L, 20 °C, at motor) k
Motor terminal voltage (fundamental wave only) U
Demagnetisation current I
Maximum motor speed n
Rated motor speed n
Resistance (L-L, 20 °C) R
Inductance (L-L) L
[Nm] 16 34 43 54 54
max
[rpm] 220 132 83 66 55
max
[A
] 8.3 10.3 8.1 8.1 6.8
max
rms
[Nm] 12 26 27 39 39
0
[A
] 6.4 8.0 5.3 6.0 5.1
0
rms
[VDC] 48
DCmax
[ms] 1.3
e
[ms] 10.0
m
[ms] 5.0
m
[ms] 9.0
m
[A
] 0.8 0.7 0.6 0.6 0.6
NLS
rms
[A
] 2.6 3.5 3.9 4.4 4.7
NLS
rms
INL
INL
[V
EM
[·10-3 A
[·10-3 A
Tout
TM
/rpm] 4.6 7.7 12.3 15.4 18.5
rms
/rpm] 1.7 2.8 4.5 5.6 6.8
rms
[Nm/A
[Nm/A
rms
E
max
N
L- L
] 1.9 3.3 5.1 6.5 7. 6
rms
] 0.07
rms
/1000 rpm] 5
[V
] 18 … 34
M
rms
[A
] -
rms
[rpm] 6600
[rpm] 3500
[Ω] 0.32
L- L
[mH] 0.42
Number of pole pairs p [ ] 5
Weight without brake m [kg]
Weight with brake m [kg]
Hollow shaft diameter d
[mm]
H
1.9 (D2048)
2.6 (RES / M128S)
2.3 (D2048)
3.0 (RES / M128S)
16
20 1018854 8/2018 V03

6.4.2 Moment of Inertia

Table 21.1
Symbol
[Unit]
CHA-17A
Motor feedback system RES
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.104 0.289 0.741 1.158 1.667
out
0.095 0.264 0.676 1.056 1.520
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
1.056
1.158
Motor feedback system D2048
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.060 0.160 0.400 0.630 0.900
out
0.047 0.131 0.355 0.523 0.753
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
0.523
0.625
Motor feedback system M128S
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.088 0.243 0.623 0.973 1.401
out
0.078 0.218 0.557 0.871 1.254
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
0.871
0.973

6.4.3 Technical Data Brake

Table 21.2
Symbol
[Unit]
Ratio i [ ]
Brake voltage U
Brake holding torque (at output) T
Brake current to open I
Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 15 25 40 50 54
Br
[ADC] -
OBr
[ADC] 0.54
HBr
30 50 80 100 120
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time t
Closing time t
[ms] -
O
[ms]
C
CHA-17A
-
211018854 8/2018 V03
18
Drehmoment [Nm] / Torque [Nm]
-1
CHA-17A-30-E
50
Drehmoment [Nm] / Torque [Nm]
-1
CHA-17A-80-E
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
CHA-17A-120-E
40
0
Drehmoment [Nm] / Torque [Nm]
-1
CHA-17A-50-E
60
0
Drehzahl [min-1] / Speed [rpm]
CHA-17A-100-E

6.4.4 Performance Characteristics

The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table.
Illustration 22.1 Illustration 22.2
16
14
12
10
8
Torque [Nm]
6
4
2
0
0 50 100 150 200 250 300
Speed [rpm]
Illustration 22.3 Illustration 22.4
CHA-17A-30-E CHA-17A-50-E
35
30
25
20
15
Torque [Nm]
10
5
0
0 20 40 60 80 100 120 140 16
CHA-17A-80-E CHA-17A-100-E
45
40
35
50
40
30
25
20
Torque [Nm]
15
10
30
Torque [Nm]
20
10
5
0
0 20 40 60 80 100
Speed [rpm]
0
0 10 20 30 40 50 60 70 8
Speed [rpm]
Speed [rpm]
Illustration 22.5
60
50
40
30
Torque [Nm]
20
10
0
0 10 20 30 40 50 60 70
Legend
Intermittent duty UM = 34 VAC Continuous duty UM = 18 VAC
22 1018854 8/2018 V03
CHA-17A-120-E
Speed [rpm]

6.5 Actuator Data CHA-17A-H/N

6.5.1 Technical Data

Table 23.1
Symbol
[Unit]
Motor feedback system
CHA-17A-H/N
RES / D2048 / M128S
Ratio i [ ] 30 50 80 100 120
Maximum output torque T
Maximum output speed n
Maximum current I
Continuous stall torque T
Continuous stall current I
Maximum DC bus voltage U
Electrical time constant (20 °C) t
Mechanical time constant (20 °C) Version RES t
Mechanical time constant (20 °C) Version D2048 t
Mechanical time constant (20 °C) Version M128S t
No load current I
No load running current constant (30 °C) K
No load running current constant (80 °C) K
Torque constant (at output) k
Torque constant (at motor) k
AC voltage constant (L-L, 20 °C, at motor) k
Motor terminal voltage (fundamental wave only) U
Demagnetisation current I
Maximum motor speed n
Rated motor speed n
Resistance (L-L, 20 °C) R
Inductance (L-L) L
[Nm] 16 34 43 54 54
max
[rpm] 243 146 91 73 61
max
[A
] 1.6 2.0 1.6 1.6 1.3
max
rms
[Nm] 12 26 27 39 39
0
[A
] 1.3 1.6 1.0 1.2 1.0
0
rms
[VDC] 680
DCmax
[ms] 2.5
e
[ms] 5.5
m
[ms] 3.0
m
[ms] 4.5
m
[A
] 0.15 0.13 0.11 0.11 0.10
NLS
rms
INL
INL
[V
EM
[·10-3 A
[·10-3 A
Tout
TM
/rpm] 1 2 3 4 5
rms
/rpm] 0.4 0.6 0.9 1 1
rms
[Nm/A
[Nm/A
rms
E
max
N
L- L
] 10.9 18.3 30.3 3 7.5 43.3
rms
] 0.37
rms
/1000 rpm] 26
[V
] 220 … 430
M
rms
[A
] -
rms
[rpm] 7300
[rpm] 3500
[Ω] 4.8
L- L
[mH] 12.0
Number of pole pairs p [ ] 5
Weight without brake m [kg]
Weight with brake m [kg]
Hollow shaft diameter d
[mm]
H
1.9 (D2048)
2.6 (RES / M128S)
2.3 (D2048)
3.0 (RES / M128S)
16
231018854 8/2018 V03

6.5.2 Moment of Inertia

Table 24.1
Symbol
[Unit]
CHA-17A
Motor feedback system RES
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.104 0.289 0.741 1.158 1.667
out
0.095 0.264 0.676 1.056 1.520
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
1.056
1.158
Motor feedback system D2048
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.060 0.160 0.400 0.630 0.900
out
0.047 0.131 0.355 0.523 0.753
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
0.523
0.625
Motor feedback system M128S
Ratio i [ ] 30 50 80 100 120
Moment of Inertia output side
Moment of inertia without brake
Moment of inertia with brake J
[kgm²]
J
out
[kgm²] 0.088 0.243 0.623 0.973 1.401
out
0.078 0.218 0.557 0.871 1.254
Moment of Inertia at motor
Moment of inertia at motor without brake
Moment of inertia at motor with brake
J [·10
J [·10
-4
kgm²]
-4
kgm²]
0.871
0.973

6.5.3 Technical Data Brake

Table 24.2
Symbol
[Unit]
Ratio i [ ]
Brake voltage U
Brake holding torque (at output) T
Brake current to open I
Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 15 25 40 50 54
Br
[ADC] -
OBr
[ADC] 0.54
HBr
30 50 80 100 120
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time t
Closing time t
[ms] -
O
[ms]
C
CHA-17A
-
24 1018854 8/2018 V03
18
CHA-17A-30-H/L
50
100
CHA-17A-80-H/L
60
80
CHA-17A-120-H/L
40
160
Drehmoment [Nm] / Torque [Nm]
CHA-17A-50-H/L
60
80
CHA-17A-100-H/L

6.5.4 Performance Characteristics

The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table.
Illustration 25.1 Illustration 25.2
16
14
12
10
8
6
Torque [Nm]
4
2
0
0 50 100 150 200 250 300
Speed [rpm]
Illustration 25.3 Illustration 25.4
45
40
35
30
25
20
Torque [Nm]
15
10
5
0
0 20 40 60 80
CHA-17A-30-H/N CHA-17A-50-H/N
35
30
25
20
15
Torque [Nm]
10
5
0
0 20 40 60 80 100 120 140
CHA-17A-80-H/N CHA-17A-100-H/N
50
40
30
20
Torque [Nm]
10
0
0 10 20 30 40 50 60 70
Speed [rpm]
Speed [rpm]
Illustration 25.5
50
40
30
Torque [Nm]
20
10
0
0 10 20 30 40 50 60 70
Speed [rpm]
Legend
Intermittent duty UM = 220 ... 430 VAC Continuous duty
CHA-17A-120-H/N
Speed [rpm]
251018854 8/2018 V03

6.6 Actuator Data CHA-20A-C1024

6.6.1 Technical Data

Table 26.1
Symbol
[Unit]
CHA-20A
Motor feedback system C1024 Ratio i [ ] 30 50 80 100 120 160 Maximum output torque T Maximum output speed n Maximum current I Continuous stall torque T Continuous stall current I Maximum DC bus voltage U Electrical time constant (20 °C) t Mechanical time constant (20 °C) t No load current I No load running current constant (30 °C) K No load running current constant (80 °C) K Torque constant (at output) k Torque constant (at motor) k AC voltage constant (L-L, 20 °C, at motor) k Motor terminal voltage (fundamental wave only) U Demagnetisation current I Maximum motor speed n Rated motor speed n Resistance (L-L, 20 °C) R Inductance (L-L) L
[Nm] 27 56 74 82 87 92
max
[rpm] 200 120 75 60 50 38
max
[A
] 2.9 3.8 3.1 2.8 2.5 2.1
max
rms
[Nm] 19 32 47 49 49 49
0
[A
] 2.1 2.1 1.9 1.6 1.4 1.0
0
rms
[VDC] 680
DCmax
[ms] 1.4
e
[ms] 6.7
m
[A
] 0.19 0.17 0.14 0.14 0.13 0.13
NLS
rms
INL
INL
[V
EM
[·10-3 A [·10-3 A
Tout
/rpm] 2 4 7 8 9 12
rms
/rpm] 0.7 2 2 3 4 5
rms
[Nm/A
[Nm/A
TM
rms
E
max
N
L- L
] 9.9 16.5 26.8 33.4 40.1 53.5
rms
] 0.36
rms
/1000 rpm] 23 [V
] 220 … 430
M
rms
[A
] 7.0
rms
[rpm] 6000
[rpm] 3500
[Ω] 5.9
L- L
[mH] 8.0 Number of pole pairs p [ ] 5 Weight without brake m [kg] 3.2 Weight with brake m [kg] 3.9 Hollow shaft diameter d
[mm] 18
H

6.6.2 Moment of Inertia

Table 26.2
Symbol
[Unit]
CHA-20A
Motor feedback system C1024 Ratio i [ ] 30 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J Moment of inertia with brake J
[kgm²] 0.1 0.28 0.72 1.12 1.61 2.86
out
[kgm²] 0.13 0.35 0.89 1.39 2.00 3.50
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10 Moment of inertia at motor with brake J [·10
kgm²] 1.12
-4
kgm²] 1.39

6.6.3 Technical Data Brake

Table 26.3
Symbol
[Unit]
Ratio i [ ] 30 50 80 100 120 160 Brake voltage U Brake holding torque (at output) T Brake current to open I Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 27 45 72 82 87 92
Br
[ADC] 0.6
OBr
[ADC] 0.3
HBr
Number of brake cyles at n = 0 rpm 10000000 Emergency brake cyles 200 Opening time t Closing time t
[ms] 110
O
[ms] 70
C
CHA-20A
26 1018854 8/2018 V03
30
250
CHA-20A-30
80
Drehmoment [Nm] /
CHA-20A-80
60
140
CHA-20A-50
90
70
CHA-20A-100

6.6.4 Performance Characteristics

100
60
Drehmoment [Nm] / Torque [Nm]
CHA-20A-120
40
CHA-20A-160
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table.
Illustration 27.1 Illustration 27.2
25
20
15
10
5
0
0 50 100 150 200
Speed [rpm]
Illustration 27.3 Illustration 27.4
70
60
50
Torque [Nm]
40
30
Torque [Nm] Torque [Nm]
20
10
0
0 20 40 60 80
CHA-20A-30 CHA-20A-50
50
40
30
20
Torque [Nm]
10
0
0 20 40 60 80 100 120
CHA-20A-80 CHA-20A-100
80
70
60
50
40
30
Torque [Nm]
20
10
0
0 10 20 30 40 50 60
Speed [rpm]
Speed [rpm]
Illustration 27.5 Illustration 27.6
90
80
70
60
50
40
Torque [Nm]
30
20
10
0
0 10 20 30 40 50
Speed [rpm]
CHA-20A-120 CHA-20A-160
100
90
80
70
60
50
40
Torque [Nm]
30
20
10
0
0 10 20 30
Legend
Intermittent duty UM = 220 ... 430 VAC S3-ED 50 % (1 min) Continuous duty
Speed [rpm]
Speed [rpm]
271018854 8/2018 V03

6.7 Actuator Data CHA-25A-C1024

6.7.1 Technical Data

Table 28.1
Symbol
[Unit]
CHA-25A
Motor feedback system C1024 Ratio i [ ] 30 50 80 100 120 160 Maximum output torque T Maximum output speed n Maximum current I Continuous stall torque T Continuous stall current I Maximum DC bus voltage U Electrical time constant (20 °C) t Mechanical time constant (20 °C) t No load current I No load running current constant (30 °C) K No load running current constant (80 °C) K Torque constant (at output) k Torque constant (at motor) k AC voltage constant (L-L, 20 °C, at motor) k Motor terminal voltage (fundamental wave only) U Demagnetisation current I Maximum motor speed n Rated motor speed n Resistance (L-L, 20 °C) R Inductance (L-L) L
[Nm] 50 98 137 157 167 176
max
[rpm] 187 112 70 56 47 35
max
[A
] 3.5 4.0 3.4 3.2 2.8 2.2
max
rms
[Nm] 38 55 87 108 108 108
0
[A
] 2.7 2.3 2.2 2.2 1.9 1.4
0
rms
[VDC] 680
DCmax
[ms] 1.6
e
[ms] 5.9
m
[A
] 0.21 0.19 0.15 0.1 5 0.15 0.1 4
NLS
rms
INL
INL
[V
EM
[·10-3 A [·10-3 A
Tout
/rpm] 4 6 10 12 14 19
rms
/rpm] 1 2 3 4 5 7
rms
[Nm/A
[Nm/A
TM
rms
E
max
N
L- L
] 15.5 26.0 42.5 53.1 63.9 85.0
rms
] 0.55
rms
/1000 rpm] 37 [V
] 220 … 430
M
rms
[A
] 15
rms
[rpm] 5600
[rpm] 3500
[Ω] 3.7
L- L
[mH] 6.0 Number of pole pairs p [ ] 6 Weight without brake m [kg] 4.9 Weight with brake m [kg] 6.1 Hollow shaft diameter d
[mm] 27
H

6.7.2 Moment of Inertia

Table 28.2
Symbol
[Unit]
CHA-25A
Motor feedback system C1024 Ratio i [ ] 30 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J Moment of inertia with brake J
[kgm²] 0.29 0.80 2.0 3.2 4.6 8.1
out
[kgm²] 0.35 0.97 2.5 3.9 5.6 9.9
out
Moment of Inertia at motor
-4
Moment of inertia at motor without brake J [·10 Moment of inertia at motor with brake J [·10
kgm²] 3.2
-4
kgm²] 3.9

6.7.3 Technical Data Brake

Table 28.3
Symbol
[Unit]
Ratio i [ ] 30 50 80 100 120 160 Brake voltage U Brake holding torque (at output) T Brake current to open I Brake current to hold I
[VDC] 24 ±10 %
Br
[Nm] 54 90 137 157 167 176
Br
[ADC] 0.9
OBr
[ADC] 0.4
HBr
Number of brake cyles at n = 0 rpm 10000000 Emergency brake cyles 200 Opening time t Closing time t
[ms] 110
O
[ms] 70
C
28 1018854 8/2018 V03
CHA-25A
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