21
1018854 8/2018 V03
6.4.2 Moment of Inertia
Table 21.1
6.4.3 Technical Data Brake
Table 21.2
Symbol
[Unit]
CHA-17A
Ratio
i [ ]
30
50
80
100
120
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
15
25
40
50
54
Brake current to open
I
OBr
[A
DC
]
-
Brake current to hold
I
HBr
[A
DC
]
0.54
Number of brake cyles at n = 0 rpm
-
Emergency brake cyles
-
Opening time
t
O
[ms]
-
Closing time
t
C
[ms]
-
Symbol
[Unit]
CHA-17A
Motor feedback system
RES
Ratio
i [ ]
30
50
80
100
120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.095
0.264
0.676
1.056
1.520
Moment of inertia with brake
J
out
[kgm²]
0.104
0.289
0.741
1.158
1.667
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
1.056
Moment of inertia at motor with brake
J [·10
-4
kgm²]
1.158
Motor feedback system
D2048
Ratio
i [ ]
30
50
80
100
120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.047
0.131
0.355
0.523
0.753
Moment of inertia with brake
J
out
[kgm²]
0.060
0.160
0.400
0.630
0.900
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
0.523
Moment of inertia at motor with brake
J [·10
-4
kgm²]
0.625
Motor feedback system
M128S
Ratio
i [ ]
30
50
80
100
120
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.078
0.218
0.557
0.871
1.254
Moment of inertia with brake
J
out
[kgm²]
0.088
0.243
0.623
0.973
1.401
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
0.871
Moment of inertia at motor with brake
J [·10
-4
kgm²]
0.973
