18
1018854 8/2018
V03
6.3.3 Technical Data Brake
Table 18.2
Symbol
[Unit]
CHA-14A
Ratio
i [ ]
30
50
80
100
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
9
18
23
28
Brake current to open
I
OBr
[A
DC
]
-
Brake current to hold
I
HBr
[A
DC
]
0.54
Number of brake cyles at n = 0 rpm
-
Emergency brake cyles
-
Opening time
t
O
[ms]
-
Closing time
t
C
[ms]
-
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
out
[kgm²]
0.031
0.087
0.222
0.347
Moment of inertia with brake
J
out
[kgm²]
0.039
0.109
0.280
0.438
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
0.347
Moment of inertia at motor with brake
J [·10
-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
out
[kgm²]
0.020
0.056
0.142
0.223
Moment of inertia with brake
J
out
[kgm²]
0.028
0.078
0.201
0.314
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
0.223
Moment of inertia at motor with brake
J [·10
-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
out
[kgm²]
0.052
0.145
0.371
0.580
Moment of inertia with brake
J
out
[kgm²]
0.060
0.168
0.429
0.671
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
0.580
Moment of inertia at motor with brake
J [·10
-4
kgm²]
0.671
