Harmonic Drive BHA Series, Assembly Instructions Manual

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1056748 03/2023 1056748 03/2023 71
70 Assembly
Resolution:
In combination with the high precision Harmonic Drive
®
Gears, the position on the output side can be measured via the
motor feedback system without having to use additional angle encoders. The resolution of the motor feedback system
is additionally multiplied by the gear reduction.
Gear output side angle encoders:
In applications with increased requirements for output side accuracy or for compensation of torsion with high torque
loads, the actual position value can also be recorded by an additional encoder on the output side. The adaptation of a
measuring system to the gear output side can be realised quite easily for servo actuators with hollow shafts.
7.2.6 Connection on the holding brake
The holding brakes used in the actuators work according to the closed circuit current principle. This means that the
brakes must be constantly energised in the open state. For the power consumption of the holding brakes, please refer
to the general catalogue of the actuators.
Typical current consumption, depending on the size, is approximately between less than 0.5 and slightly more than 1
ampere at 24 V DC. For actuators with permanent magnet holding brakes - such as the LynxDrive Actuator - the correct
polarity of +24 V and GND must also be ensured. If the polarity is reversed, the brake will not open.
It should be noted that not all holding brakes used may be used as service brakes. If the holding brake is nevertheless
to be used for possible emergency stops, the permissible friction work of the brake must be taken into account.
Harmonic Drive SE will assist you with the calculation.
7.2.7 Specification cable outlet or connector
The connection technology of the various servo actuators in the standard version is shown below:
Table 19
IHD BHA
Canis-
Drive
®
Alopex-
Drive
FHA-C
Mini
Lynx-
Drive
FLA
M12 / M8 connector
Phoenix
•
M23 connector angled
rotatable TE-Intercontec
•
M23 connector angled
rotatable Phoenix
•
Cable with open strands
•
1)
•
Y-TEC connector
•
2)
Cable with
M23 / M17 connector
•
Special connector
MIL standard
•
1) in combination with encoder system D200
2) in combination with encoder system MZE
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Assembly Instructions Servo Actuators