36
1018854 8/2018
V03
Table 36.1
Symbol
[Unit]
CHA-58A
Motor feedback system
C1024
Ratio
i [ ]
50
80
100
120
160
Maximum output torque
T
max
[Nm]
1020
1480
1590
1720
1840
Maximum output speed
n
max
[rpm]
60
38
30
25
19
Maximum current
I
max
[A
rms
]
14.4
12.8
11.1
10.0
8.1
Continuous stall torque
T
0
[Nm]
280
532
670
805
1080
Continuous stall current
I
0
[A
rms
]
4.2
4.6
4.6
4.6
4.6
Maximum DC bus voltage
U
DCmax
[V
DC
]
680
Electrical time constant (20 °C)
t
e
[ms]
3.5
Mechanical time constant (20 °C)
t
m
[ms]
5.4
No load current
I
NLS
[A
rms
]
0.40
0.28
0.26
0.25
0.23
No load running current constant (30 °C)
K
INL
[·10
-3
A
rms
/rpm]
19
30
38
46
61
No load running current constant (80 °C)
K
INL
[·10
-3
A
rms
/rpm]
6
10
12
15
19
Torque constant (at output)
k
Tout
[Nm/A
rms
]
75
122
152
183
244
Torque constant (at motor)
k
TM
[Nm/A
rms
]
1.70
AC voltage constant (L-L, 20 °C, at motor)
k
EM
[V
rms
/1000 rpm]
105
Motor terminal voltage (fundamental wave only)
U
M
[V
rms
]
220 … 430
Demagnetisation current
I
E
[A
rms
]
25
Maximum motor speed
n
max
[rpm]
3000
Rated motor speed
n
N
[rpm]
2000
Resistance (L-L, 20 °C)
R
L-L
[Ω]
2.4
Inductance (L-L)
L
L-L
[mH]
9
Number of pole pairs
p [ ]
6
Weight without brake
m [kg]
27.2
Weight with brake
m [kg]
31
Hollow shaft diameter
d
H
[mm]
45
6.11.3 Technical Data Brake
Table 36.3
6.11.2 Moment of Inertia
Table 36.2
Symbol
[Unit]
CHA-58A
Ratio
i [ ]
50
80
100
120
160
Brake voltage
U
Br
[V
DC
]
24 ±10 %
Brake holding torque (at output)
T
Br
[Nm]
450
720
900
1080
1440
Brake current to open
I
OBr
[A
DC
]
0.7
Brake current to hold
I
HBr
[A
DC
]
0.5
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-58A
Motor feedback system
C1024
Ratio
i [ ]
50
80
100
120
160
Moment of Inertia output side
Moment of inertia without brake
J
out
[kgm²]
11.6
29.8
46.6
67.1
119
Moment of inertia with brake
J
out
[kgm²]
11.8
30.3
47.3
68.1
121
Moment of Inertia at motor
Moment of inertia at motor without brake
J [·10
-4
kgm²]
46.6
Moment of inertia at motor with brake
J [·10
-4
kgm²]
47.3
6.11 Actuator Data CHA-58A-C1024
6.11.1 Technical Data
