SCHUNK EGN, Assembly And Operating Manual

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Technical data
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11.00 | EGN | Assembly and Operating Manual | en | 389056
3.3 Technical data for the integrated motor
Designation Constant Indication of value
Clamping voltage [V] U
KL
24
Rated torque [Nm] M
n
0.41
Nominal power current [A] I
n
Basic data [ } 20]
Peak current [A] I
eff
Basic data [
}
20]
Torque constant [Nm/A] K 0.069
Rated speed [rpm] U
n
1700
Max. rotation speed [min-1] U
max
2200
Max. frequency [Hz] F
max
256.7
Power loss at M
n
[W] Pv 9
Motor constant [N/w] Km 0.1
Intermediate circuit voltage [V] U
zk
24
Counter-voltage (phase-phase) [V] Electromotive force 0.00642 at 1 rpm
Resistance (phase-phase) [Ω] R
π20
1.5
Inductivity (phase-phase) [mH] L
π
1.4
Time constant [ms] τ
ξ
0.93
Number of pole pairs N 7
Useful formula Finger stroke = tan(40°) x motor angle[rad]/Phi
Technical
recommendation
Type 80 100 160
I [A] 1.0 1.8 2.6
Gripping force
[N] 400 720 1000
Max. V [mm
stroke/sec.] 80 80 80
Max. A [mm
stroke/sec.] 3000 3000 3000
NOTE
• The tolerances of M, I, n may be up to ± 20%.
• All temperatures correspond to insulation class F.
• M
max
is limited by the maximum current.