17
1018854 8/2018 V03
6.3 Actuator Data CHA-14A-H/N
6.3.1 Technical Data
Symbol
[Unit]
CHA-14A-H/N
Motor feedback system
RES / D2048 / M128S
Ratio
i [ ]
30
50
80
100
Maximum output torque
T
max
[Nm]
9
18
23
28
Maximum output speed
n
max
[rpm]
283
170
106
85
Maximum current
I
max
[A
rms
]
1.1
1.3
1.0
1.0
Continuous stall torque
T
0
[Nm]
6.8
6.9
11
11
Continuous stall current
I
0
[A
rms
]
0.9
0.6
0.6
0.5
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
1.9
Mechanical time constant (20 °C) Version RES
t
m
[ms]
4.4
Mechanical time constant (20 °C) Version D2048
t
m
[ms]
3.0
Mechanical time constant (20 °C) Version M128S
t
m
[ms]
7.4
No load current
I
NLS
[A
rms
]
0.13
0.12
0.10
0.10
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
0.5
0.8
1
2
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
0.2
0.3
0.5
0.6
Torque constant (at output)
k
Tout
[Nm/A
rms
]
9.4
14.4
24.4
31.4
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.30
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
22
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
-
Maximum motor speed
n
max
[rpm]
8500
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
7.7
Inductance (L-L)
L
L-L
[mH]
15.0
Number of pole pairs
p [ ]
5
Weight without brake
m [kg]
1.4 (D2048)
2.0 (RES / M128S)
Weight with brake
m [kg]
1.7 (D2048)
2.3 (RES / M128S)
Hollow shaft diameter
d
H
[mm]
12
Table 17.1
