20
1018854 8/2018
V03
Table 20.1
Symbol
[Unit]
CHA-17A-E
Motor feedback system
RES / D2048 / M128S
Ratio
i [ ]
30
50
80
100
120
Maximum output torque
T
max
[Nm]
16
34
43
54
54
Maximum output speed
n
max
[rpm]
220
132
83
66
55
Maximum current
I
max
[A
rms
]
8.3
10.3
8.1
8.1
6.8
Continuous stall torque
T
0
[Nm]
12
26
27
39
39
Continuous stall current
I
0
[A
rms
]
6.4
8.0
5.3
6.0
5.1
Maximum DC bus voltage
U
DCmax
[V
DC
]
48
Electrical time constant (20 °C)
t
e
[ms]
1.3
Mechanical time constant (20 °C) Version RES
t
m
[ms]
10.0
Mechanical time constant (20 °C) Version D2048
t
m
[ms]
5.0
Mechanical time constant (20 °C) Version M128S
t
m
[ms]
9.0
No load current (+20 °C)
I
NLS
[A
rms
]
0.8
0.7
0.6
0.6
0.6
No load current (-20 °C)
I
NLS
[A
rms
]
2.6
3.5
3.9
4.4
4.7
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
4.6
7.7
12.3
15.4
18.5
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
1.7
2.8
4.5
5.6
6.8
Torque constant (at output)
k
Tout
[Nm/A
rms
]
1.9
3.3
5.1
6.5
7.6
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.07
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
5
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
18 … 34
Demagnetisation current
I
E
[A
rms
]
-
Maximum motor speed
n
max
[rpm]
6600
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
0.32
Inductance (L-L)
L
L-L
[mH]
0.42
Number of pole pairs
p [ ]
5
Weight without brake
m [kg]
1.9 (D2048)
2.6 (RES / M128S)
Weight with brake
m [kg]
2.3 (D2048)
3.0 (RES / M128S)
Hollow shaft diameter
d
H
[mm]
16
6.4 Actuator Data CHA-17A-E
6.4.1 Technical Data
