Harmonic Drive BHA Series, Assembly Instructions Manual

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1056748 03/2023 1056748 03/2023 49
48 Ordering codes
2.2 Servo actuators BHA
Table 3
Ordering code BHA - 20 A - 100 - AO - LA - MZE - B - 1 - SP
BHA Series
Size 17
(corresponds to the pitch circle diameter 20
of the Flexspline toothing in inches x 10) 25
Product generation A
Ratio
50
80
100
120
160
Motor winding type
Winding type AO (DC voltage link 560 V, voltage constant 27, 2 Vrms/1000 rpm) AO
Winding type DB (DC voltage link 48 V, voltage constant 4 Vrms/1000 rpm) DB
Winding type AU (DC voltage link 560 V, voltage constant 49,1 Vrms/1000 rpm) AU
Winding type DD (DC voltage link 48 V, voltage constant 4,7 Vrms/1000 rpm) DD
Connector version
Motor connector M23 8-pol.; Encoder connector M23 17-pol. LA
Motor connector M23 8-pol.; Encoder connector M23 12-pol. LB
Motor feedback system
EnDat 2.2 Singleturn absolute encoder ECI-119 (19 bit Singleturn) SZE
Hiperface
®
Singleturn absolute encoder SES70 (32 SinCos, 10 bit Singleturn) SIH
Hiperface
®
Singleturn absolute encoder SES90 (64 SinCos, 10 bit Singleturn) SHH
BiSS-C Singleturn absolute encoder FFB (16 bit Singleturn) SZB
EnDat 2.2 Multi-turn absolute encoder EBI-135 (19 bit Singleturn, 16 bit Multi-turn battery buffered) MZE
Hiperface
®
Multi-turn absolute encoder SEM70 (32 SinCos, 10 bit Singleturn/12 bit Multi-turn (mechanical) MIH
Hiperface
®
Multi-turn absolute encoder SEM90 (64 SinCos, 10 bit Singleturn/12 bit Multi-turn (mechanical) MHH
BiSS-C Multi-turn absolute encoder FFB (16 bit Singleturn, 16 bit Multi-turn battery buffered) MZB
SSI Multi-turn absolute encoder FFB (64 SinCos, 16 bit Singleturn, 16 bit Multi-turn battery buffered) MHS
Option Holding brake
With holding brake 24 V
B
O Without holding brake
Option Temperature sensor
1: Temperature sensor in motor connector (standard) 1
2: Temperature sensor in encoder connector (optional) 2
Customised design
With customised design (on request) SP
[ ] Standard design (= Field remains empty)
Designation of motor feedback system
Table 4
Example: ECI119 S Z E
Type
Singleturn absolute S
Multi-turn absolute M
Number of sine cosine periods
64 H
32 I
none Z
Protocol
BiSS-C B
EnDat 2.2/22 E
Hiperface
®
H
SSI S
2.3 Servo actuators CanisDrive
®
Table 5
Ordering code CanisDrive - 20 A - 100 - AO - H - MZE - B - EC - K - UL - SP
CanisDrive
®
Series
14
17
Size 20
(corresponds to the pitch circle diameter 25
of the Flexspline toothing in inches x 10) 32
40
50
58
Product generation A
50
80
Ratio 100
120
160
Motor winding type
DC voltage link 48 VDC, voltage constant 3.3 Vrms/1000 rpm FB
DC voltage link 48 VDC, voltage constant 5 Vrms/1000 rpm FD
DC voltage link 560 VDC, voltage constant 23 Vrms/1000 rpm AM
DC voltage link 560 VDC, voltage constant 25 Vrms/1000 rpm AO
DC voltage link 560 VDC, voltage constant 37 Vrms/1000 rpm AR
DC voltage link 560 VDC, voltage constant 53 Vrms/1000 rpm AU
DC voltage link 560 VDC, voltage constant 108 Vrms/1000 rpm AX
Connector version
Motor connector M23 6-pol.; Encoder connector M23, cable outlet H
Motor connector M23 8-pol.; Encoder connector M23; cable outlet L
Motor connector M17 8-pol.; Encoder connector M17; cable outlet N
Motor connector M17 8-pol.; Encoder connector M17; housing connector E
Motor connector M23 6-pol.; Encoder connector M23; housing connector F
Motor connector M23 8-pol.; Encoder connector M23; housing connector M
Motor feedback system
Incremental encoder (2048 increments; RS422) DCO
EnDat 2.2 Singleturn absolute encoder ECI-119 (19 bit Singleturn) SZE
EnDat 2.1 Singleturn absolute encoder ECI-119 (32 SinCos 19 bit Singleturn) SIE
Hiperface
®
Singleturn absolute encoder SES70 (32 SinCos, 10 bit Singleturn) SIH
Hiperface
®
Singleturn absolute encoder SES70 (64 SinCos, 10 bit Singleturn) SHH
BiSS-C Singleturn absolute encoder FFB (16 bit Singleturn) SZB
SSI Multi-turn absolute encoder (128 SinCos, 17 bit Singleturn, 13 bit Multi-turn battery buffered) MGS
EnDat 2.2 Multi-turn absolute encoder EBI-135 (19 bit Singleturn, 16 bit Multi-turn battery buffered) MZE
Hiperface
®
Multi-turn absolute encoder SEM70 (32 SinCos, 10 bit Singleturn / 12 bit Multi-turn mech.) MIH
Hiperface
®
Multi-turn absolute encoder SEM70 (64 SinCos, 10 bit Singleturn / 12 bit Multi-turn mech.) MHH
BiSS-C Multi-turn absolute encoder FFB (16 bit Singleturn, 16 bit Multi-turn battery buffered) MZB
SSI Multi-turn absolute encoder FFB (64 SinCos, 16 bit Singleturn, 12 bit Multi-turn battery buffered) MHS
Option Holding brake
With holding brake 24 V B
Without holding brake (= Field remains empty) [ ]
Option Sensor
Option Sensor (Singleturn absolute EnDat encoder system at gear output) EC
Without option (= field remains empty) [ ]
Option Cable/Connector
With cable/connector (axial cable outlet) K
Without option (= field remains empty) [ ]
Option UL Certification
With UL certification (Actuator is CE and UL certified, limited continuous operating range) UL
Without UL certification (= field remains empty, actuator is compliant with EU directives) [ ]
Customised design
With customised design (on request) SP
Standard design (= Field remains empty) [ ]
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Assembly Instructions Servo Actuators