23
1018854 8/2018 V03
Table 23.1
Symbol
[Unit]
CHA-17A-H/N
Motor feedback system
RES / D2048 / M128S
Ratio
i [ ]
30
50
80
100
120
Maximum output torque
T
max
[Nm]
16
34
43
54
54
Maximum output speed
n
max
[rpm]
243
146
91
73
61
Maximum current
I
max
[A
rms
]
1.6
2.0
1.6
1.6
1.3
Continuous stall torque
T
0
[Nm]
12
26
27
39
39
Continuous stall current
I
0
[A
rms
]
1.3
1.6
1.0
1.2
1.0
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
2.5
Mechanical time constant (20 °C) Version RES
t
m
[ms]
5.5
Mechanical time constant (20 °C) Version D2048
t
m
[ms]
3.0
Mechanical time constant (20 °C) Version M128S
t
m
[ms]
4.5
No load current
I
NLS
[A
rms
]
0.15
0.13
0.11
0.11
0.10
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
1
2
3
4
5
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
0.4
0.6
0.9
1
1
Torque constant (at output)
k
Tout
[Nm/A
rms
]
10.9
18.3
30.3
37.5
43.3
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.37
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
26
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
-
Maximum motor speed
n
max
[rpm]
7300
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
4.8
Inductance (L-L)
L
L-L
[mH]
12.0
Number of pole pairs
p [ ]
5
Weight without brake
m [kg]
1.9 (D2048)
2.6 (RES / M128S)
Weight with brake
m [kg]
2.3 (D2048)
3.0 (RES / M128S)
Hollow shaft diameter
d
H
[mm]
16
6.5 Actuator Data CHA-17A-H/N
6.5.1 Technical Data
