Harmonic Drive CHA-14A-E, Manual

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1018854 8/2018 V03
6.9 Actuator Data CHA-40A-C1024 ..........................................................................................................................................32
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 Actuator Data CHA-50A-C1024 .......................................................................................................................................... 34
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 Actuator Data CHA-20A-M512P ......................................................................................................................................... 38
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 Actuator Data CHA-25A-M512P ......................................................................................................................................... 40
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 Actuator Data CHA-32A-M512P ..........................................................................................................................................42
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 Actuator Data CHA-40A-M512P ........................................................................................................................................ 44
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 Actuator Data CHA-50A-M512P ......................................................................................................................................... 46
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 Actuator Data CHA-58A-M512P ......................................................................................................................................... 48
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
6.18 Dimensions ......................................................................................................................................................................... 50
6.19 Accuracy .............................................................................................................................................................................. 54
6.20 Torsional Stiffness.............................................................................................................................................................. 54
6.21
Output Bearing ....................................................................................................................................................................55
6.21.1 Technical Data ..........................................................................................................................................................55
6.21.2 Tolerances ................................................................................................................................................................55
6.22 Motor Feedback Systems ...................................................................................................................................................56
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