Harmonic Drive FHA-11C, Manual

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Contents
SAFETY GUIDE ..................................................................................................... 1
NOTATION ........................................................................................................... 1
LIMITATION OF APPLICATIONS ......................................................................... 1
SAFETY NOTE .................................................................................................... 2
Related manual ...................................................................................................... 4
Contents ................................................................................................................. 5
Chapter 1 Outlines
1-1 Outlines ...................................................................................................... 1-1
1-2 Model ....................................................................................................... 1-2
1-3 Combinations with servo amplifier and extension cables ........................... 1-3
1-4 Specifications ............................................................................................. 1-4
1-5 External drawing ........................................................................................ 1-5
1-6 Mechanical accuracy ................................................................................. 1-7
1-7 Uni-directional positional accuracy ............................................................. 1-8
1-8 Output shaft resolution ............................................................................... 1-9
1-9 Rigidity ..................................................................................................... 1-10
Moment stiffness ............................................................................................. 1-10
Rotation direction torsional stiffness ................................................................ 1-11
1-10 Rotation direction ..................................................................................... 1-12
1-11 Shock resistance ...................................................................................... 1-13
1-12 Resistance to vibration ............................................................................. 1-14
1-13 Operable range ........................................................................................ 1-15
1-14 Cable specifications ................................................................................. 1-18
Chapter 2 Selection guidelines
2-1 FHA-C mini series selection ....................................................................... 2-1
Allowable load inertia moment ........................................................................... 2-1
2-2 Change in moment of inertia of load .......................................................... 2-2
2-3 Verifying and examining load weights ........................................................ 2-3
2-4 Examining operating status ........................................................................ 2-7
Examining actuator rotation speed .................................................................... 2-7
Calculating and examining load inertia moment ................................................ 2-7
Load torque calculation ..................................................................................... 2-8
Acceleration time and deceleration time ............................................................ 2-9
Examining effective torque and average rotation speed .................................. 2-10