46
1018854 8/2018
V03
Table 46.1
Symbol
[Unit]
CHA-50A
Motor feedback system
M512P
Ratio
i [ ]
50
80
100
120
160
Maximum output torque
T
max
[Nm]
715
941
980
1080
1180
Maximum output speed
n
max
[rpm]
70
44
35
30
22
Maximum current
I
max
[A
rms
]
10.2
8.3
6.9
6.4
5.3
Continuous stall torque
T
0
[Nm]
194
363
456
550
736
Continuous stall current
I
0
[A
rms
]
2.9
3.2
3.2
3.2
3.1
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
3.4
Mechanical time constant (20 °C)
t
m
[ms]
4.7
No load current
I
NLS
[A
rms
]
0.30
0.20
0.20
0.17
0.16
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
12
20
25
29
39
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
4
6
8
9
12
Torque constant (at output)
k
Tout
[Nm/A
rms
]
74
121
145
181
242
Torque constant (at motor)
k
TM
[Nm/A
rms
]
1.60
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
104
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]
3500
Rated motor speed
n
N
[rpm]
2500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
3.5
Inductance (L-L)
L
L-L
[mH]
12
Number of pole pairs
p [ ]
6
Weight without brake
m [kg]
20.9
Weight with brake
m [kg]
24.5
Hollow shaft diameter
d
H
[mm]
45
6.16.3 Technical Data Brake
Table 46.3
6.16.2 Moment of Inertia
Table 46.2
Symbol
[Unit]
CHA-50A
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
720
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-50A
Motor feedback system
M512P
Ratio
i [ ]
50
80
100
120
160
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
6.90
17.7
27.7
39.9
71.0
Moment of inertia with brake
J
out
[kgm²]
7.90
19.5
30.4
43.8
77.8
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
27.7
Moment of inertia at motor with brake
J [·10
-4
kgm²]
30.4
6.16 Actuator Data CHA-50A-M512P
6.16.1 Technical Data
