26
1018854 8/2018
V03
Table 26.1
Symbol
[Unit]
CHA-20A
Motor feedback system
C1024
Ratio
i [ ]
30
50
80
100
120
160
Maximum output torque
T
max
[Nm]
27
56
74
82
87
92
Maximum output speed
n
max
[rpm]
200
120
75
60
50
38
Maximum current
I
max
[A
rms
]
2.9
3.8
3.1
2.8
2.5
2.1
Continuous stall torque
T
0
[Nm]
19
32
47
49
49
49
Continuous stall current
I
0
[A
rms
]
2.1
2.1
1.9
1.6
1.4
1.0
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
1.4
Mechanical time constant (20 °C)
t
m
[ms]
6.7
No load current
I
NLS
[A
rms
]
0.19
0.17
0.14
0.14
0.13
0.13
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
2
4
7
8
9
12
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
0.7
2
2
3
4
5
Torque constant (at output)
k
Tout
[Nm/A
rms
]
9.9
16.5
26.8
33.4
40.1
53.5
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.36
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
23
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
7.0
Maximum motor speed
n
max
[rpm]
6000
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
5.9
Inductance (L-L)
L
L-L
[mH]
8.0
Number of pole pairs
p [ ]
5
Weight without brake
m [kg]
3.2
Weight with brake
m [kg]
3.9
Hollow shaft diameter
d
H
[mm]
18
6.6.3 Technical Data Brake
Table 26.3
6.6.2 Moment of Inertia
Table 26.2
Symbol
[Unit]
CHA-20A
Ratio
i [ ]
30
50
80
100
120
160
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
27
45
72
82
87
92
Brake current to open
I
OBr
[A
DC
]
0.6
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-20A
Motor feedback system
C1024
Ratio
i [ ]
30
50
80
100
120
160
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
0.1
0.28
0.72
1.12
1.61
2.86
Moment of inertia with brake
J
out
[kgm²]
0.13
0.35
0.89
1.39
2.00
3.50
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
1.12
Moment of inertia at motor with brake
J [·10
-4
kgm²]
1.39
6.6 Actuator Data CHA-20A-C1024
6.6.1 Technical Data
