32
1018854 8/2018
V03
Table 32.1
Symbol
[Unit]
CHA-40A
Motor feedback system
C1024
Ratio
i [ ]
50
80
100
120
160
Maximum output torque
T
max
[Nm]
402
519
568
617
647
Maximum output speed
n
max
[rpm]
80
50
40
33
25
Maximum current
I
max
[A
rms
]
11.8
9.2
8.1
7.3
5.9
Continuous stall torque
T
0
[Nm]
125
208
260
314
420
Continuous stall current
I
0
[A
rms
]
3.6
3.6
3.6
3.6
3.6
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
2.1
Mechanical time constant (20 °C)
t
m
[ms]
6.8
No load current
I
NLS
[A
rms
]
0.30
0.20
0.20
0.20
0.20
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
13
20
25
30
40
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
4
6
8
10
13
Torque constant (at output)
k
Tout
[Nm/A
rms
]
38
62
77
92
123
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.83
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
53
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
18
Maximum motor speed
n
max
[rpm]
4000
Rated motor speed
n
N
[rpm]
3000
Resistance (L-L, 20 °C)
R
L-L
[Ω]
2.9
Inductance (L-L)
L
L-L
[mH]
6.0
Number of pole pairs
p [ ]
6
Weight without brake
m [kg]
11.7
Weight with brake
m [kg]
13.8
Hollow shaft diameter
d
H
[mm]
39
6.9.3 Technical Data Brake
Table 32.3
6.9.2 Moment of Inertia
Table 32.2
Symbol
[Unit]
CHA-40A
Ratio
i [ ]
50
80
100
120
160
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
225
360
450
540
647
Brake current to open
I
OBr
[A
DC
]
0.7
Brake current to hold
I
HBr
[A
DC
]
0.3
Number of brake cyles at n = 0 rpm
10000000
Emergency brake cyles
200
Opening time
t
O
[ms]
110
Closing time
t
C
[ms]
70
Symbol
[Unit]
CHA-40A
Motor feedback system
C1024
Ratio
i [ ]
50
80
100
120
160
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
3.10
7.90
12.3
17.7
31.4
Moment of inertia with brake
J
out
[kgm²]
3.60
9.10
14.2
20.4
36.3
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
12.3
Moment of inertia at motor with brake
J [·10
-4
kgm²]
14.2
6.9 Actuator Data CHA-40A-C1024
6.9.1 Technical Data
