30
1018854 8/2018
V03
Table 30.1
Symbol
[Unit]
CHA-32A
Motor feedback system
C1024
Ratio
i [ ]
30
50
80
100
120
160
Maximum output torque
T
max
[Nm]
100
216
304
333
353
372
Maximum output speed
n
max
[rpm]
160
96
60
48
40
30
Maximum current
I
max
[A
rms
]
7.1
9.8
8.3
7.2
6.3
5.3
Continuous stall torque
T
0
[Nm]
44
71
119
154
179
216
Continuous stall current
I
0
[A
rms
]
3.2
3.2
3.2
3.2
3.2
2.9
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]
7.1
No load current
I
NLS
[A
rms
]
0.30
0.30
0.20
0.20
0.20
0.18
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
6
10
17
21
25
34
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
2
3
6
7
8
11
Torque constant (at output)
k
Tout
[Nm/A
rms
]
15.5
25.9
42.1
52.5
63.0
84.5
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]
4800
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]
6.6
Weight with brake
m [kg]
7.8
Hollow shaft diameter
d
H
[mm]
32
6.8.3 Technical Data Brake
Table 30.3
6.8.2 Moment of Inertia
Table 30.2
Symbol
[Unit]
CHA-32A
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
144
180
216
288
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-32A
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]
0.44
1.22
3.1
4.9
7.1
12.5
Moment of inertia with brake
J
out
[kgm²]
0.53
1.47
3.8
5.9
8.5
15.0
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
4.9
Moment of inertia at motor with brake
J [·10
-4
kgm²]
5.9
6.8 Actuator Data CHA-32A-C1024
6.8.1 Technical Data
