Harmonic Drive CHA-14A-E User manual

AC Servo Actuators CHA
Engineering Data
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Contents
1. General .................................................................................................................................................. 5
1.1 Description of Safety Alert Symbols....................................................................................................................................6
1.2 Disclaimer and Copyright ......................................................................................................................................................6
2. Safety and Installation Instructions.....................................................................................................7
2.1 Hazards ..................................................................................................................................................................................7
2.2 Intended Purpose ................................................................................................................................................................. 8
2.3 Non Intended Purpose ......................................................................................................................................................... 8
2.4 Use in Special Application Areas ..........................................................................................................................................9
2.5 Declaration of Conformity.....................................................................................................................................................9
2.5.1 Gears...........................................................................................................................................................................9
2.5.2 Servo Actuators and Motors.....................................................................................................................................9
3. Technical Description...........................................................................................................................10
4. Ordering Code .......................................................................................................................................11
5. Combinations.......................................................................................................................................12
6. Technical Data......................................................................................................................................13
6.2 Actuator Data CHA-14A-E................................................................................................................................................... 14
6.2.1 Technical Data.......................................................................................................................................................... 14
6.2.2 Moment of Inertia ................................................................................................................................................... 15
6.2.3 Technical Data Brake................................................................................................................................................ 15
6.2.4 Performance Characteristics ................................................................................................................................... 16
6.3 Actuator Data CHA-14A-H/N ...............................................................................................................................................17
6.3.1 Technical Data...........................................................................................................................................................17
6.3.2 Moment of Inertia ................................................................................................................................................... 18
6.3.3 Technical Data Brake................................................................................................................................................ 18
6.3.4 Performance Characteristics ................................................................................................................................... 19
6.4 Actuator Data CHA-17A-E .................................................................................................................................................. 20
6.4.1 Technical Data......................................................................................................................................................... 20
6.4.2 Moment of Inertia ................................................................................................................................................... 21
6.4.3 Technical Data Brake................................................................................................................................................ 21
6.4.4 Performance Characteristics ...................................................................................................................................22
6.5 Actuator Data CHA-17A-H/N...............................................................................................................................................23
6.5.1 Technical Data..........................................................................................................................................................23
6.5.2 Moment of Inertia ...................................................................................................................................................24
6.5.3 Technical Data Brake................................................................................................................................................24
6.5.4 Performance Characteristics ...................................................................................................................................25
6.6 Actuator Data CHA-20A-C1024...........................................................................................................................................26
6.6.1 Technical Data..........................................................................................................................................................26
6.6.2 Moment of Inertia ...................................................................................................................................................26
6.6.3 Technical Data Brake................................................................................................................................................26
6.6.4 Performance Characteristics ...................................................................................................................................27
6.7 Actuator Data CHA-25A-C1024.......................................................................................................................................... 28
6.7.1 Technical Data......................................................................................................................................................... 28
6.7.2 Moment of Inertia .................................................................................................................................................. 28
6.7.3 Technical Data Brake............................................................................................................................................... 28
6.7.4 Performance Characteristics ...................................................................................................................................29
6.8 Actuator Data CHA-32A-C1024 .......................................................................................................................................... 30
6.8.1 Technical Data......................................................................................................................................................... 30
6.8.2 Moment of Inertia .................................................................................................................................................. 30
6.8.3 Technical Data Brake............................................................................................................................................... 30
6.8.4 Performance Characteristics ................................................................................................................................... 31

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6.9 Actuator Data CHA-40A-C1024 ..........................................................................................................................................32
6.9.1 Technical Data..........................................................................................................................................................32
6.9.2 Moment of Inertia ...................................................................................................................................................32
6.9.3 Technical Data Brake................................................................................................................................................32
6.9.4 Performance Characteristics ...................................................................................................................................33
6.10 Actuator Data CHA-50A-C1024.......................................................................................................................................... 34
6.10.1 Technical Data......................................................................................................................................................... 34
6.10.2 Moment of Inertia .................................................................................................................................................. 34
6.10.3 Technical Data Brake............................................................................................................................................... 34
6.10.4 Performance Characteristics ...................................................................................................................................35
6.11 Actuator Data CHA-58A-C1024...........................................................................................................................................36
6.11.1 Technical Data..........................................................................................................................................................36
6.11.2 Moment of Inertia ...................................................................................................................................................36
6.11.3 Technical Data Brake................................................................................................................................................36
6.11.4 Performance Characteristics ...................................................................................................................................37
6.12 Actuator Data CHA-20A-M512P......................................................................................................................................... 38
6.12.1 Technical Data......................................................................................................................................................... 38
6.12.2 Moment of Inertia .................................................................................................................................................. 38
6.12.3 Technical Data Brake............................................................................................................................................... 38
6.12.4 Performance Characteristics ...................................................................................................................................39
6.13 Actuator Data CHA-25A-M512P......................................................................................................................................... 40
6.13.1 Technical Data......................................................................................................................................................... 40
6.13.2 Moment of Inertia .................................................................................................................................................. 40
6.13.3 Technical Data Brake............................................................................................................................................... 40
6.13.4 Performance Characteristics ................................................................................................................................... 41
6.14 Actuator Data CHA-32A-M512P..........................................................................................................................................42
6.14.1 Technical Data..........................................................................................................................................................42
6.14.2 Moment of Inertia ...................................................................................................................................................42
6.14.3 Technical Data Brake................................................................................................................................................42
6.14.4 Performance Characteristics .................................................................................................................................. 43
6.15 Actuator Data CHA-40A-M512P ........................................................................................................................................ 44
6.15.1 Technical Data......................................................................................................................................................... 44
6.15.2 Moment of Inertia .................................................................................................................................................. 44
6.15.3 Technical Data Brake............................................................................................................................................... 44
6.15.4 Performance Characteristics .................................................................................................................................. 45
6.16 Actuator Data CHA-50A-M512P......................................................................................................................................... 46
6.16.1 Technical Data......................................................................................................................................................... 46
6.16.2 Moment of Inertia .................................................................................................................................................. 46
6.16.3 Technical Data Brake............................................................................................................................................... 46
6.16.4 Performance Characteristics ...................................................................................................................................47
6.17 Actuator Data CHA-58A-M512P......................................................................................................................................... 48
6.17.1 Technical Data......................................................................................................................................................... 48
6.17.2 Moment of Inertia .................................................................................................................................................. 48
6.17.3 Technical Data Brake............................................................................................................................................... 48
6.17.4 Performance Characteristics .................................................................................................................................. 49
6.18 Dimensions ......................................................................................................................................................................... 50
6.19 Accuracy.............................................................................................................................................................................. 54
6.20 Torsional Stiness.............................................................................................................................................................. 54
6.21 Output Bearing ....................................................................................................................................................................55
6.21.1 Technical Data..........................................................................................................................................................55
6.21.2 Tolerances ................................................................................................................................................................55
6.22 Motor Feedback Systems ...................................................................................................................................................56
6.22.1 C1024 ........................................................................................................................................................................57
6.22.2 M512P ...................................................................................................................................................................... 58
6.22.3 RES .......................................................................................................................................................................... 58
6.22.4 M128S.......................................................................................................................................................................59
6.22.5 D2048....................................................................................................................................................................... 61

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6.23 Temperature Sensors ..........................................................................................................................................................62
6.24 Electrical Connections .........................................................................................................................................................63
6.24.1 CHA-xx-H-C1024 / H-M512P / H-M128S .................................................................................................................63
6.24.2 CHA-xx-H-RES .........................................................................................................................................................65
6.24.3 CHA-xx-N-RES / N-M128S / N-D2048 .................................................................................................................. 66
6.24.4 CHA-xx-E-RES / E-M128S / E-D2048.....................................................................................................................67
6.25 Options................................................................................................................................................................................ 68
7. Actuator Selection Procedure............................................................................................................ 69
7.1. Selection Procedure and Calculation Example...................................................................................................................69
7.2 Calculation of the Torsion Angle.........................................................................................................................................73
7.3 Output Bearing ....................................................................................................................................................................74
7.3.1 Lifetime Calculation for Continuous Operation .....................................................................................................74
7.3.2 Lifetime Calculation for Oscillating Motion ...........................................................................................................74
7.3.3 Permissible Static Tilting Moment.........................................................................................................................76
7.3.4 Angle of Inclination .................................................................................................................................................76
8. Design Notes .......................................................................................................................................77
8.1 Notes on the Fit Selection .................................................................................................................................................. 77
9. Installation and Operation................................................................................................................. 78
9.1 Transport and Storage.........................................................................................................................................................78
9.2 Installation...........................................................................................................................................................................78
9.3 Mechanical Installation .......................................................................................................................................................79
9.4 Electrical Installation.......................................................................................................................................................... 80
9.5 Commissioning .................................................................................................................................................................... 81
9.6 Overload Protection............................................................................................................................................................. 81
9.7 Protection against Corrosion and Penetration of Liquids and Debris ............................................................................. 82
9.8 Shutdown and Maintenance.............................................................................................................................................. 82
10. Decommissioning and Disposal.........................................................................................................84
11. Glossary...............................................................................................................................................85
11.1 Technical Data .................................................................................................................................................................... 85
11.2 Labelling, Guidelines and Regulations ...............................................................................................................................92

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1. General
About this documentation
This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of
Harmonic Drive AG.
The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, oering
support during selection and calculation of the servo actuators, servo motors and accessories.
Rules for storage
Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation when
re-selling the product.
Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents.
Documentation is provided for all products oered by Harmonic Drive AG and can be found in pdf format on the website.
www.harmonicdrive.de
Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive® components, is not included in
our standard documentation and should be requested directly from the manufacturers.
Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain
the relevant documents for each device.
Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and documentation to:
Harmonic Drive AG
Marketing and Communications
Hoenbergstraße 14
65555 Limburg / Lahn
Germany
E-Mail: [e-mail]

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1.1 Description of Safety Alert Symbols
Symbol Meaning
Indicates an imminent hazardous situation. If this is not avoided, death or
serious injury could occur.
Indicates a possible hazard. Care should be taken or death or serious injury may
result.
Indicates a possible hazard. Care should be taken or slight or minor injury
may result.
Describes a possibly harmful situation. Care should be taken to avoid damage
to the system and surroundings.
This is not a safety symbol. This symbol indicates important information.
Warning of a general hazard. The type of hazard is determined by the
specific warning text.
Warning of dangerous electrical voltage and its eects.
Beware of hot surfaces.
Beware of suspended loads.
Precautions when handling electrostatic sensitive components.
Beware of electromagnetic environmental compatibility.
1.2 Disclaimer and Copyright
The contents, images and graphics contained in this document are predected by copyright. In addition to the copyright, logos,
fonts, company and product names can also be predected by brand law or trademark law. The use of text, extracts or graphics
requires the permission of the publisher or rights holder.
We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mis-
takes which may have occurred. Notification of any mistake or suggestions for improvements will be gratefully received and any
necessary correction will be included in subsequent editions.
DANGER
WARNING
ATTENTION
INFORMATION
ADVICE

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2. Safety and Installation Instructions
Please take note of the information and instructions in this document. Specially designed models may dier in technical
detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for
clarification.
2.1 Hazards
DANGER
Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and
disposal must be carried out by qualified personnel as described in the standards EN 50110-1 and IEC 60364! Before starting
any work, and especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the
user also has to pay attention to any auxilliary circuits.
Observing the five safety rules:
• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close o nearby live parts
The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled.
Improper handling can cause damage to persons and property. The respective national, local and factory specific regulations
must be adhered to.
ATTENTION
The surface temperature of gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should not be touched.
ADVICE
Cables must not come into direct contact with hot surfaces.
DANGER
Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with pacemakers, implants or similiar.
Vulnerable individuals must not be in the close proximity of the products themselves.
DANGER
Built-in holding brakes are not functional safe by themselves. Particularly with unsupported vertical axes, functional safety
can only be achieved with additional, external mechanical brakes.

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DANGER
Danger of injury due to improper handling of batteries.
Observing of the battery safety rules:
• do not insert batteries in reverse. Observe the + and - marks on the battery and on the electrical device
• do not short circuit
• do not recharge
• do not open or deform
• do not expose to fire, water or high temperature
• do not leave discharged batteries in the electrical device
• keep batteries out of reach of children. In case of ingestion of a battery, seek medical assistance promptly.
WARNING
The successful and safe operation of gears, servo actuators and motors requires proper transport, storage and assembly as
well as correct operation and maintenance.
ATTENTION
Use suitable lifting equipment to move and lift gears, servo actuators and motors with a weight > 20 kg.
INFORMATION
Special versions of products may dier in the specification from the standard. Further applicable data from data sheets,
catalogues and oers of the special version have to be considered.
2.2 Intended Purpose
Harmonic Drive® Products are intended for industrial or commercial applications.
Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines.
The products may only be operated within the operating ranges and environmental conditions shown in the documentation
(altitude, degree of predection, temperature range, etc).
Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery
Directive must be established.
2.3 Non Intended Purpose
The use of products outside the areas of application mentioned above or beyond the operating areas or environmental
conditions described in the documentation is considered as non-intended purpose.

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2.4 Use in Special Application Areas
The use of the products in one of the following application areas requires a risk assessment and approval by
Harmonic Drive AG.
• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity
• Vacuum
• Household devices
• Medical equipment
• Devices which interact directly with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks
2.5 Declaration of Conformity
2.5.1 Gears
Harmonic Drive® Gears are components for installation in machines as defined by the Machinery Directive.
Commissioning is prohibited until the end product conforms to the provisions of this directive.
Essential health and safety requirements were considered in the design and manufacture of these gear component sets.
This simplifies the implementation of the Machinery Directive by the end user for the machinery or the partly completed
machinery. Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the
Machinery Directive.
2.5.2 Servo Actuators and Motors
The Harmonic Drive® Servo Actuators and Motors described in the engineering data comply with the Low Voltage Directive.
In accordance with the Machinery Directive, Harmonic Drive® Servo Actuators and Motors are electrical equipment
for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the
Machinery Directive. Commissioning is prohibited until the final product conforms to the Machinery Directive.
According to the EMC directive Harmonic Drive® Servo Actuators and Motors are inherently benign equipment, unable to
generate electromagnetic disturbance or to be aected by such disturbance.
The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors
are installed must be provided by the user before taking the device into operation.
Equipment, plant and machinery with inverter driven motors must satisfy the protection requirements of the EMC directive.
It is the responsibility of the user to ensure that the installation is carried out correctly.

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Largest hollow shaft with precision output bearing
CHA Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor
and a high capacity precision output bearing. Available in eight sizes with gear ratios between 30 and 160:1, the actuators can
provide maximum torques from 8 to 1840 Nm. The output bearing with high tilting capacity often allows direct attachment of
heavy payloads without the need for further support, thereby providing simple and space saving design installations.
To adapt to your specific application, the CHA Series oers many possible combinations when selecting the motor winding,
Motor feedback system, brake, various sensors and cable as well as connector options.
The integrated hollow shaft can be used to feed through supply lines or services for additional axes, enabling space saving
designs with minimal installation dimensions required. With a reinforced output bearing oering maximum tilting rigidity,
the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable
machine characteristics, increased operating reliability and consistent quality. With high predection ratings and corrosion
resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.
By combining the CHA Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single
source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of
the actuator ensures compatibility with almost any servo controller on the market.
3. Technical Description

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4. Ordering Code
Table 11.5
Table 11.6
Option 1
Ordering code Description
EC Single turn absolute EnDat®
Encoder system at the gear output
Option 2
Ordering code Description
K Cable outlet axial
R connector axial (only M512P)
S connector radial (only M512P)
- Standard (cable outlet radial)
Table 11.2
Table 11.1
Table 11.3
Table 11.4
Motor winding and connector configuration
Size
Version Ordering code Maximum DC bus
voltage
14A E48 VDC
17A
14A
H, N 680 VDC
17A
20A
25A
32A
40A
50A
58A
Series Size
Version Ratio Motor winding and
connector configuration
Motor feed-
back system Brake Option 1 Option 2 Special
design
CHA
14A
17A
20A
25A
32A
40A
50A
58A
30
30
30
30
30
50
50
50
50
50
50
50
50
80
80
80
80
80
80
80
80
100
100
100
100
100
100
100
100
120
120
120
120
120
120
120
160
160
160
160
160
160
E
H
N
C1024
M512P
RES
D2048
M128S
B Sensor
Cable/
connec-
tor
According
to customer
requirements
Ordering code
CHA 20A 100 H C1024 BEC K SP
- -- - - -- -
Clarification of the technical data can be found in the Glossary
Motor feedback system
Ordering code Typ Protocol
C1024 Incremental –
M512P Multi-turn absolute EnDat®
RES Resolver
D2048 Incremental
M128S Multi-turn absolute SSI
connector configuration
Ordering
code
Motor
feedback Motor
Motor
feedback
system
Cable
outlet
connec-
tor
H C1024
6 pin
(M23)
17 pin (M23)
x
H M512P x
H M128S x
HRES 12 pin (M23) x
N M128S 8 pin
(M17) 17 pin (M17)
x
NRES x
N D2048 x
ERES 8 pin
(M17) 17 pin (M17)
x
E D2048 x
E M128S x

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Size
Version 14A 17A 20A 25A 32A 40A 50A 58A
Ratio
30  ---
50 
80 
100 
120 -
160 - - 
Motor winding and connector configuration
E  ------
H
L - - 
N  ------
Motor feedback system
C1024 - - 
M512P - - 
RES 
D2048   ------
M128S   ------
Brake B 
Option 1 (Sensor) EC - - 
Option 2 (Cable/ connector)
K1) 1) 
R - - Only in conjunction with M512P
S - -
5. Combinations
Table 12.1
available on request – not available 1) Only for resolver and with increased length
Gear Component Set
• Zero backlash
• Hollow shaft
• Transmission accuracy better than 1 arcmin
• Repeatability better than ±6 arcsec
Motor feedback system
• Incremental encoder
• Single- or multi-turn absolute encoder
• EnDat® multi-turn encoder
• Resolver
AC Hollow shaft motor
• Sine commutated hollow shaft AC motor
• Multiple motor winding options
• Winding temperature monitoring with
temperature sensor
• Maintenance free
Output bearing
• High load capacity
• Tilt resistant
• Excellent running characteristics

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6. Technical Data
Table 13.3
The continuous operating characteristics given in the following apply to an ambient temperature of 40 °C and an aluminium
cooling surface with the following dimensions:
Series Size
Version Unit Dimensions
CHA
14A [mm] 200 x 200 x 6
17A [mm] 300 x 300 x 15
20A [mm] 300 x 300 x 15
25A [mm] 350 x 350 x 18
32A [mm] 350 x 350 x 18
40A [mm] 400 x 400 x 20
50A [mm] 500 x 500 x 25
58A [mm] 600 x 600 x 30
CHA-xxA-E
Table 13.1
Insulation class (EN 60034-1) F
Insulation resistance (500 VDC) MΩ 100
Insulation voltage (10 s) Vrms 600
Lubrication Flexolub®-A1
Degree of predection (EN 60034-5) IP65
Ambient operating temperature °C 0 … 40
Ambient storage temperature °C -20 … 60
Relative humidity (without condensation) % 20 … 80
Vibration resistance (DIN IEC 68 Part 2-6, 10 … 500 Hz) g 5
Shock resistance (DIN IEC 68 Part 2-27, 18 ms) g 30
Corrosion protection (DIN IEC 68 Part 2-11 salt spray test) h 4
Temperature sensors 1 x KTY 84-130 / 1 x PTC
CHA-xxA-H/N
Table 13.2
Insulation class (EN 60034-1) F
Insulation resistance (500 VDC) MΩ 100
Insulation voltage (10 s) Vrms 2500
Lubrication Flexolub®-A1
Degree of predection (EN 60034-5) IP65
Ambient operating temperature °C 0 … 40
Ambient storage temperature °C -20 … 60
Altitude (a. s. l.) m < 1000
Relative humidity (without condensation) % 20 … 80
Vibration resistance (DIN IEC 68 Part 2-6, 10 … 500 Hz) g 5
Shock resistance (DIN IEC 68 Part 2-27, 18 ms) g 30
Corrosion protection (DIN IEC 68 Part 2-11 salt spray test) h 4
Temperature sensors 1 x KTY 84-130 / 1 x PTC

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Symbol
[Unit] CHA-14A-E
Motor feedback system RES / D2048 / M128S
Ratio i [ ] 30 50 80 100
Maximum output torque Tmax [Nm] 9 18 23 28
Maximum output speed nmax [rpm] 283 170 106 85
Maximum current Imax [Arms]7.4 8.6 6.9 6.7
Continuous stall torque T0[Nm] 6.8 6.9 11 11
Continuous stall current I0[Arms]5.8 3.8 3.7 3.1
Maximum DC bus voltage UDCmax [VDC] 48
Electrical time constant (20 °C) te[ms] 0.8
Mechanical time constant (20 °C) Version RES tm[ms] 14.0
Mechanical time constant (20 °C) Version D2048 tm[ms] 9.0
Mechanical time constant (20 °C) Version M128S tm[ms] 23.0
No load current (+20 °C) INLS [Arms] 1.0 0.9 0.8 0.8
No load current (-40 °C) INLS [Arms]3.1 3.7 4.5 5.1
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 4.6 7.6 12.2 15.2
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 1.6 2.7 4.3 5.4
Torque constant (at output) kTout [Nm/Arms] 1.2 1.8 3.0 3.5
Torque constant (at motor) kTM [Nm/Arms] 0.04
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 3
Motor terminal voltage (fundamental wave only) UM[Vrms] 18 … 34
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 8500
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 0.42
Inductance (L-L) LL- L [mH] 0.35
Number of pole pairs p [ ] 5
Weight without brake m [kg] 1.4 (D2048)
2.0 (RES / M128S)
Weight with brake m [kg] 1.7 (D2048)
2.3 (RES / M128S)
Hollow shaft diameter dH[mm] 12
6.2 Actuator Data CHA-14A-E
6.2.1 Technical Data
Table 14.1

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6.2.3 Technical Data Brake
Table 15.2
Symbol
[Unit] CHA-14A
Ratio i [ ] 30 50 80 100
Brake voltage UBr [VDC] 24 ±10 %
Brake holding torque (at output) TBr [Nm] 9 18 23 28
Brake current to open IOBr [ADC] -
Brake current to hold IHBr [ADC] 0.54
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time tO[ms] -
Closing time tC[ms] -
6.2.2 Moment of Inertia
Table 15.1
Symbol
[Unit] CHA-14A
Motor feedback system RES
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.031 0.087 0.222 0.347
Moment of inertia with brake Jout [kgm²] 0.039 0.109 0.280 0.438
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.347
Moment of inertia at motor with brake J [·10-4 kgm²] 0.438
Motor feedback system D2048
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.020 0.056 0.142 0.223
Moment of inertia with brake Jout [kgm²] 0.028 0.078 0.201 0.314
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.223
Moment of inertia at motor with brake J [·10-4 kgm²] 0.314
Motor feedback system M128S
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.052 0.145 0.371 0.580
Moment of inertia with brake Jout [kgm²] 0.060 0.168 0.429 0.671
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.580
Moment of inertia at motor with brake J [·10-4 kgm²] 0.671

16 1018854 8/2018 V03
Berechnung von Antriebskennlinien CHA-14A-30-E
Drehzahl Drehmoment
Maximal
0 9
283 9
283 0
283 0
283 0
130 9
180 0
180 0
180 0
180 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 6,8
90 6,8
120 6,3
120 0
120 0
Spannungsgrenze
0 0
0 0
0
Spannungsgrenze 24VDC
0
1
2
3
4
5
6
7
8
9
10
0 50 100150200250300
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
CHA-14A-30-E
Berechnung von Antriebskennlinien CHA-14A-80-E
Drehzahl Drehmoment
Maximal
0 23
106 23
106 0
106 0
106 0
45 23
70 0
70 0
70 0
70 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 11
43,75 11
43,75 0
43,75 0
43,75 0
Spannungsgrenze
0 0
0 0
0
Spannungsgrenze 24VDC
0
5
10
15
20
25
0 20 40 60 80 100120
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
CHA-14A-80-E
Berechnung von Antriebskennlinien CHA-14A-50-E
Drehzahl Drehmoment
Maximal
0 18
160 18
17015,5
170 0
170 0
70 18
115 0
115 0
115 0
115 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 6,9
70 6,9
70 0
70 0
70 0
Spannungsgrenze
0 0
0 0
0
Spannungsgrenze 24VDC
0
2
4
6
8
10
12
14
16
18
20
0 50 100150200
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
CHA-14A-50-E
Berechnung von Antriebskennlinien CHA-14A-100-E
Drehzahl Drehmoment
Maximal
0 28
85 28
85 0
85 0
85 0
40 28
53 0
53 0
53 0
53 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 11
35 11
35 0
35 0
35 0
Spannungsgrenze
0 0
0 0
0
Spannungsgrenze 24VDC
0
5
10
15
20
25
30
0 10 20 30 40 50 60 70 80 90 100
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min
-1
] / Speed [rpm]
CHA-14A-100-E
CHA-14A-30-E CHA-14A-50-E
CHA-14A-80-E CHA-14A-100-E
Illustration 16.1 Illustration 16.2
Illustration 16.3 Illustration 16.4
Legend
Intermittent duty L: UM= 34 VAC
Continuous duty H: UM= 18 VAC
Speed [rpm]
Speed [rpm]
Speed [rpm]
Speed [rpm]
Torque [Nm] Torque [Nm] Torque [Nm] Torque [Nm]
6.2.4 Performance Characteristics
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal
voltage is higher or equal to the values given in the ratings table.

171018854 8/2018 V03
6.3 Actuator Data CHA-14A-H/N
6.3.1 Technical Data
Symbol
[Unit] CHA-14A-H/N
Motor feedback system RES / D2048 / M128S
Ratio i [ ] 30 50 80 100
Maximum output torque Tmax [Nm] 9 18 23 28
Maximum output speed nmax [rpm] 283 170 106 85
Maximum current Imax [Arms]1.1 1.3 1.0 1.0
Continuous stall torque T0[Nm] 6.8 6.9 11 11
Continuous stall current I0[Arms]0.9 0.6 0.6 0.5
Maximum DC bus voltage UDCmax [VDC]680
Electrical time constant (20 °C) te[ms] 1.9
Mechanical time constant (20 °C) Version RES tm[ms] 4.4
Mechanical time constant (20 °C) Version D2048 tm[ms] 3.0
Mechanical time constant (20 °C) Version M128S tm[ms] 7.4
No load current INLS [Arms]0.13 0.12 0.10 0.10
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 0.5 0.8 1 2
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 0.2 0.3 0.5 0.6
Torque constant (at output) kTout [Nm/Arms]9.4 14.4 24.4 31.4
Torque constant (at motor) kTM [Nm/Arms]0.30
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 22
Motor terminal voltage (fundamental wave only) UM[Vrms] 220 … 430
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 8500
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 7.7
Inductance (L-L) LL- L [mH] 15.0
Number of pole pairs p [ ] 5
Weight without brake m [kg] 1.4 (D2048)
2.0 (RES / M128S)
Weight with brake m [kg] 1.7 (D2048)
2.3 (RES / M128S)
Hollow shaft diameter dH[mm] 12
Table 17.1

18 1018854 8/2018 V03
6.3.3 Technical Data Brake
Table 18.2
Symbol
[Unit] CHA-14A
Ratio i [ ] 30 50 80 100
Brake voltage UBr [VDC] 24 ±10 %
Brake holding torque (at output) TBr [Nm] 9 18 23 28
Brake current to open IOBr [ADC] -
Brake current to hold IHBr [ADC] 0.54
Number of brake cyles at n = 0 rpm -
Emergency brake cyles -
Opening time tO[ms] -
Closing time tC[ms] -
6.3.2 Moment of Inertia
Table 18.1
Symbol
[Unit] CHA-14A
Motor feedback system RES
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.031 0.087 0.222 0.347
Moment of inertia with brake Jout [kgm²] 0.039 0.109 0.280 0.438
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.347
Moment of inertia at motor with brake J [·10-4 kgm²] 0.438
Motor feedback system D2048
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.020 0.056 0.142 0.223
Moment of inertia with brake Jout [kgm²] 0.028 0.078 0.201 0.314
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.223
Moment of inertia at motor with brake J [·10-4 kgm²] 0.314
Motor feedback system M128S
Ratio i [ ] 30 50 80 100
Moment of Inertia output side
Moment of inertia without brake Jout [kgm²] 0.052 0.145 0.371 0.580
Moment of inertia with brake Jout [kgm²] 0.060 0.168 0.429 0.671
Moment of Inertia at motor
Moment of inertia at motor without brake J [·10-4 kgm²] 0.580
Moment of inertia at motor with brake J [·10-4 kgm²] 0.671

191018854 8/2018 V03
Berechnung von Antriebskennlinien CHA-14A-30-H/L
Drehzahl Drehmoment
Maximal
0 9
283 9
283 0
283 0
283 0
S3-ED 25%
0 0
0 0
0 0
0 0
0 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 6,8
120 6,8
120 0
120 0
120 0
Spannungsgrenze
0 0
0 0
0
0
1
2
3
4
5
6
7
8
9
10
0 50 100 150 200 250 300
CHA-14A-30-H/L
Berechnung von Antriebskennlinien CHA-14A-80-H/L
Drehzahl Drehmoment
Maximal
0 23
106 23
106 0
106 0
106 0
S3-ED 25%
0 0
0 0
0 0
0 0
0 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 11
43,75 11
43,75 0
43,75 0
43,75 0
Spannungsgrenze
0 0
0 0
0
0
5
10
15
20
25
0 20 40 60 80 100 120
Drehmoment [Nm] / Torque [Nm]
Drehzahl [min-1] / Speed [rpm]
CHA-14A-80-H/L
Berechnung von Antriebskennlinien CHA-14A-50-H/L
Drehzahl Drehmoment
Maximal
0 18
170 18
170 0
170 0
170 0
S3-ED 25%
0 0
0 0
0 0
0 0
0 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 6,9
70 6,9
70 0
70 0
70 0
Spannungsgrenze
0 0
0 0
0
0
2
4
6
8
10
12
14
16
18
20
0 50 100 150 200
CHA-14A-50-H/L
Berechnung von Antriebskennlinien CHA-14A-100-H/L
Drehzahl Drehmoment
Maximal
0 28
85 28
85 0
85 0
85 0
S3-ED 25%
0 0
0 0
0 0
0 0
0 0
S3-ED 50%
0 0
0 0
0 0
0 0
0 0
Dauerbetrieb
0 11
35 11
35 0
35 0
35 0
Spannungsgrenze
0 0
0 0
0
0
5
10
15
20
25
30
0 10 20 30 40 50 60 70 80 90 100
CHA-14A-100-H/L
CHA-14A-30-H/N CHA-14A-50-H/N
CHA-14A-80-H/N CHA-14A-100-H/N
Illustration 19.1 Illustration 19.2
Illustration 19.3 Illustration 19.4
Speed [rpm]
Speed [rpm]
Speed [rpm]
Speed [rpm]
Torque [Nm] Torque [Nm] Torque [Nm] Torque [Nm]
Legend
Intermittent duty UM= 220 ... 430 VAC
Continuous duty
6.3.4 Performance Characteristics
The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal
voltage is higher or equal to the values given in the ratings table.

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 Tmax [Nm] 16 34 43 54 54
Maximum output speed nmax [rpm] 220 132 83 66 55
Maximum current Imax [Arms]8.3 10.3 8.1 8.1 6.8
Continuous stall torque T0[Nm] 12 26 27 39 39
Continuous stall current I0[Arms]6.4 8.0 5.3 6.0 5.1
Maximum DC bus voltage UDCmax [VDC] 48
Electrical time constant (20 °C) te[ms] 1.3
Mechanical time constant (20 °C) Version RES tm[ms] 10.0
Mechanical time constant (20 °C) Version D2048 tm[ms] 5.0
Mechanical time constant (20 °C) Version M128S tm[ms] 9.0
No load current (+20 °C) INLS [Arms]0.8 0.7 0.6 0.6 0.6
No load current (-20 °C) INLS [Arms] 2.6 3.5 3.9 4.4 4.7
No load running current constant (30 °C) KINL [·10-3 Arms/rpm] 4.6 7.7 12.3 15.4 18.5
No load running current constant (80 °C) KINL [·10-3 Arms/rpm] 1.7 2.8 4.5 5.6 6.8
Torque constant (at output) kTout [Nm/Arms] 1.9 3.3 5.1 6.5 7.6
Torque constant (at motor) kTM [Nm/Arms]0.07
AC voltage constant (L-L, 20 °C, at motor) kEM [Vrms/1000 rpm] 5
Motor terminal voltage (fundamental wave only) UM[Vrms] 18 … 34
Demagnetisation current IE[Arms] -
Maximum motor speed nmax [rpm] 6600
Rated motor speed nN[rpm] 3500
Resistance (L-L, 20 °C) RL- L [Ω] 0.32
Inductance (L-L) LL- 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 dH[mm] 16
6.4 Actuator Data CHA-17A-E
6.4.1 Technical Data