12
1018854 12/2015 V01
Symbol [Unit]
CHA-14A-E
Motor feedback system
RES / D2048 / M128S
Ratio
i [ ]
30
50
80
100
Maximum output torque
T
max
[Nm]
9
18
23
28
Maximum output speed
n
max
[rpm]
283
170
106
85
Maximum current
I
max
[A
rms
]
7.4
8.6
6.9
6.7
Continuous stall torque
T
0
[Nm]
6.8
6.9
11
11
Continuous stall current
I
0
[A
rms
]
5.8
3.8
3.7
3.1
Maximum DC bus voltage
U
DCmax
[V
DC
]
48
Electrical time constant (20° C)
t
e
[ms]
0.8
Mechanical time constant (20° C) Version RES
t
m
[ms]
14.0
Mechanical time constant (20° C) Version D2048
t
m
[ms]
9.0
Mechanical time constant (20° C) Version M128S
t
m
[ms]
23.0
No load current (+20° C)
I
NLS
[A
rms
]
1.0
0.9
0.8
0.8
No load current (-40° C)
I
NLS
[A
rms
]
3.1
3.7
4.5
5.1
No load running current constant (30° C)
K
INL
[x10
-3
A
rms
/rpm]
4.6
7.6
12.2
15.2
No load running current constant (80° C)
K
INL
[x10
-3
A
rms
/rpm]
1.6
2.7
4.3
5.4
Torque constant (at output)
k
Tout
[Nm/A
rms
]
1.2
1.8
3.0
3.5
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.04
AC voltage constant (L-L, 20° C, at motor)
k
EM
[V
rms
/1000 rpm]
3
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
18 … 34
Demagnetisation current
I
E
[A
rms
]
-
Maximum motor speed
n
max
[rpm]
8500
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20° C)
R
L-L
[Ω]
0.42
Inductance (L-L)
L
L-L
[mH]
0.35
Number of pole pairs
p [ ]
5
Weight without brake
m [kg]
1.6 (D2048)
1.9 (RES / M128S)
Weight with brake
m [kg]
2.2 (D2048)
2.5 (RES / M128S)
Hollow shaft diameter
d
h
[mm]
12
3.3.2 Actuator Data
Table 12.1
