Harmonic Drive CHA-14A-E, Manual

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1018854 8/2018 V03
Contents
1. General .................................................................................................................................................. 5
1.1 Description of Safety Alert Symbols ....................................................................................................................................6
1.2 Disclaimer and Copyright ......................................................................................................................................................6
2. Safety and Installation Instructions .....................................................................................................7
2.1 Hazards ..................................................................................................................................................................................7
2.2 Intended Purpose ................................................................................................................................................................. 8
2.3 Non Intended Purpose ......................................................................................................................................................... 8
2.4 Use in Special Application Areas ..........................................................................................................................................9
2.5 Declaration of Conformity .....................................................................................................................................................9
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 Actuator Data CHA-14A-E ................................................................................................................................................... 14
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 Actuator Data CHA-17A-H/N ...............................................................................................................................................23
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 Actuator Data CHA-20A-C1024 ...........................................................................................................................................26
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 Actuator Data CHA-25A-C1024 .......................................................................................................................................... 28
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 Actuator Data CHA-32A-C1024 .......................................................................................................................................... 30
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