Harmonic Drive CHA-14A-E, Руководство пользователя

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38
1018854 8/2018 V03
Table 38.1
Symbol
[Unit]
CHA-20A
Motor feedback system M512P
Ratio i [ ]
30 50 80 100 120 160
Maximum output torque T
max
[Nm] 27 56 74 82 87 92
Maximum output speed n
max
[rpm] 200 120 75 60 50 38
Maximum current I
max
[A
rms
] 2.9 3.8 3.1 2.8 2.5 2.1
Continuous stall torque T
0
[Nm] 19 32 47 49 49 49
Continuous stall current I
0
[A
rms
] 2.1 2.1 1.9 1.6 1.4 1.0
Maximum DC bus voltage U
DCmax
[V
DC
] 680
Electrical time constant (20 °C) t
e
[ms] 1.4
Mechanical time constant (20 °C) t
m
[ms] 6.7
No load current I
NLS
[A
rms
] 0.19 0.17 0.14 0.14 0.13 0.13
No load running current constant (30 °C) K
INL
[·10
-3
A
rms
/rpm] 2 4 7 8 9 12
No load running current constant (80 °C) K
INL
[·10
-3
A
rms
/rpm] 0.7 2 2 3 4 5
Torque constant (at output) k
Tout
[Nm/A
rms
] 9.9 16.5 26.8 33.4 40.1 53.5
Torque constant (at motor) k
TM
[Nm/A
rms
] 0.36
AC voltage constant (L-L, 20 °C, at motor) k
EM
[V
rms
/1000 rpm] 23
Motor terminal voltage (fundamental wave only) U
M
[V
rms
] 220 … 430
Demagnetisation current I
E
[A
rms
] 7.0
Maximum motor speed n
max
[rpm] 6000
Rated motor speed n
N
[rpm] 3500
Resistance (L-L, 20 °C) R
L-L
[Ω] 5.9
Inductance (L-L) L
L-L
[mH] 8.0
Number of pole pairs p [ ] 5
Weight without brake m [kg] 4.2
Weight with brake m [kg] 4.9
Hollow shaft diameter d
H
[mm] 18
6.12.3 Technical Data Brake
Table 38.3
6.12.2 Moment of Inertia
Table 38.2
Symbol
[Unit]
CHA-20A
Ratio i [ ]
30 50 80 100 120 160
Brake voltage U
Br
[V
DC
] 24 ±10 %
Brake holding torque (at output) T
Br
[Nm] 27 45 72 82 87 92
Brake current to open I
OBr
[A
DC
] 0.6
Brake current to hold I
HBr
[A
DC
] 0.3
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-20A
Motor feedback system M512P
Ratio i [ ]
30 50 80 100 120 160
Moment of Inertia output side
Moment of inertia without brake J
out
[kgm²] 0.21 0.58 1.48 2.32 3.30 5.90
Moment of inertia with brake J
out
[kgm²] 0.23 0.65 1.65 2.60 3.70 6.60
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10 -4 kgm²] 2.32
Moment of inertia at motor with brake J [·10
-4
kgm²] 2.60
6.12 Actuator Data CHA-20A-M512P
6.12.1 Technical Data