28
1018854 8/2018
V03
Table 28.1
Symbol
[Unit]
CHA-25A
Motor feedback system
C1024
Ratio
i [ ]
30
50
80
100
120
160
Maximum output torque
T
max
[Nm]
50
98
137
157
167
176
Maximum output speed
n
max
[rpm]
187
112
70
56
47
35
Maximum current
I
max
[A
rms
]
3.5
4.0
3.4
3.2
2.8
2.2
Continuous stall torque
T
0
[Nm]
38
55
87
108
108
108
Continuous stall current
I
0
[A
rms
]
2.7
2.3
2.2
2.2
1.9
1.4
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
1.6
Mechanical time constant (20 °C)
t
m
[ms]
5.9
No load current
I
NLS
[A
rms
]
0.21
0.19
0.15
0.15
0.15
0.14
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
4
6
10
12
14
19
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
1
2
3
4
5
7
Torque constant (at output)
k
Tout
[Nm/A
rms
]
15.5
26.0
42.5
53.1
63.9
85.0
Torque constant (at motor)
k
TM
[Nm/A
rms
]
0.55
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
37
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
15
Maximum motor speed
n
max
[rpm]
5600
Rated motor speed
n
N
[rpm]
3500
Resistance (L-L, 20 °C)
R
L-L
[Ω]
3.7
Inductance (L-L)
L
L-L
[mH]
6.0
Number of pole pairs
p [ ]
6
Weight without brake
m [kg]
4.9
Weight with brake
m [kg]
6.1
Hollow shaft diameter
d
H
[mm]
27
6.7.3 Technical Data Brake
Table 28.3
6.7.2 Moment of Inertia
Table 28.2
Symbol
[Unit]
CHA-25A
Ratio
i [ ]
30
50
80
100
120
160
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
54
90
137
157
167
176
Brake current to open
I
OBr
[A
DC
]
0.9
Brake current to hold
I
HBr
[A
DC
]
0.4
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-25A
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]
0.29
0.80
2.0
3.2
4.6
8.1
Moment of inertia with brake
J
out
[kgm²]
0.35
0.97
2.5
3.9
5.6
9.9
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
3.2
Moment of inertia at motor with brake
J [·10
-4
kgm²]
3.9
6.7 Actuator Data CHA-25A-C1024
6.7.1 Technical Data
