Harmonic Drive FHA - C mini Series Manual Download Page 1

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AC Servo Actuator

FHA - C mini Series

Mitsubishi Electric AC servo amplifier
"MELSERVO-J4" SSCNET

Ⅲ

/H communication compatible

Manual

ISO14001

ISO9001

Summary of Contents for FHA - C mini Series

Page 1: ...AC Servo Actuator FHA C mini Series Mitsubishi Electric AC servo amplifier MELSERVO J4 SSCNET H communication compatible Manual ISO14001 ISO9001...

Page 2: ...of the product Read this document carefully and use the product correctly so that the product can be used safely for many years Product specifications are subject to change without notice for improvem...

Page 3: ...ded to prevent non operation or malfunction of the product or negative effects on its performance or function LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the a...

Page 4: ...end that installation be performed under the environment where the relative humidity is 40 to 70 RH CAUTION FOR ACTUATORS IN OPERATIONS Never connect cables directly to a power supply socket Each actu...

Page 5: ...his product be sure to read the MELSERVO J4 SERIES AC SERVO SAFETY GUIDE which comes together with the servo amplifier CAUTION IN OPERATIONS Before performing operations set and check the parameters B...

Page 6: ...ction guidelines Selection guidelines for the FHA C mini series actuator are explained in this chapter Chapter 3 Installation This chapter explains the procedure for installing the FHA C mini series a...

Page 7: ...d specification 1 6 Side leading rear cables option specification 1 7 1 6 Mechanical accuracy 1 8 1 7 Uni directional positional accuracy 1 9 1 8 Encoder resolution 1 10 1 9 Rigidity 1 11 Moment stiff...

Page 8: ...2 13 Overload detection time 2 14 Chapter 3 Installation 3 1 Receiving inspection 3 1 3 2 Notices on handling 3 2 3 3 Installation location and installation 3 3 Environment of installation location 3...

Page 9: ...Amplifier Combinations 1 3 1 4 Specifications 1 4 1 5 External drawing 1 6 1 6 Mechanical accuracy 1 8 1 7 Uni directional positional accuracy 1 9 1 8 Encoder resolution 1 10 1 9 Rigidity 1 11 1 10 R...

Page 10: ...driving various factory automation FA equipment such as robot joints and alignment mechanisms for semi conductor and LCD panel manufacturing devices Main features Slim line body The FHA C mini series...

Page 11: ...8 C 30 D200 C J Model AC Servo Actuator FHA C mini series Model No 8 11 14 Version symbol Reduction ratio of the HarmonicDrive 30 1 30 50 1 50 100 1 100 With connector standard specification 1 Encoder...

Page 12: ...l No Input voltage V Encoder type Combined amplifier SSCNET H type FHA C mini 8 AC200 Incremental MR J4 10B RJ920J 11 AC200 14 AC200 MR J4 20B RJ920J 8 AC100 MR J4 10B1 RJ920J 11 AC100 14 AC100 MR J4...

Page 13: ...ent stiffness N m rad 2 x 10 4 4 x 10 4 8 x 10 4 kgf m rad 0 2 x 10 4 0 4 x 10 4 0 8 x 10 4 Encoding format Incremental encoder Encoder resolution Note 4 pls rev 2 000 8 000 Actuator resolution Note 4...

Page 14: ...000 Uni directional positional accuracy Sec angle 150 120 120 Mass kg 0 40 Protection structure Totally enclosed self cooled type Environmental conditions Operating temperature 0 to 40 C Storage tempe...

Page 15: ...f FHA C mini series actuators are shown below Side leading cables standard specification FHA 8C xx D200 CJ FHA 8C xx D200 CEJ Unit mm third angle projection FHA 11C xx D200 CJ FHA 14C xx D200 CJ Hollo...

Page 16: ...utlines Side leading rear cables option specification Unit mm third gle projection FHA 14C xx D200 CJK FHA 11C xx D200 CJK FHA 8C xx D200 CJK FHA 8C xx D200 CEJK Hollow shaft inside diameter Cable pul...

Page 17: ...t measures the axial runout maximum runout width of the outermost periphery of output shaft of the output rotary unit per revolution 2 Deflection of output shaft The dial gauge on the fixed part measu...

Page 18: ...recision control so the positioning error of the motor shaft is compressed to 1 30 1 50 or 1 100 by the gearing The actual angle transmission error of the speed reducer determines the uni directional...

Page 19: ...cordingly the resolution per a single revolution is 30 50 or 100 times In addition the resolution is electrically multiplied by 4 when an actuator is combined with a dedicated servo amplifier The reso...

Page 20: ...The moment stiffness is expressed as the tensional moment angle Model Item FHA 8C FHA 11C FHA 14C Moment stiffness N m rad 2 x 10 4 4 x 10 4 8 x 10 4 kgf m rad 0 2 x 10 4 0 4 x 10 4 0 8 x 10 4 kgf m...

Page 21: ...ge where torque T is T2 or above The table below shows the average value of each actuator Model Item FHA 8C FHA 11C FHA 14C 30 50 100 30 50 100 30 50 100 T1 N m 0 29 0 29 0 29 0 80 0 80 0 80 2 0 2 0 2...

Page 22: ...000 230 or MR J4W2 0303B MX940J Product Specifications No BCN B72000 227 1 11 Shock resistance The shock acceleration when applying a impact in the up down and left right directions with the center sh...

Page 23: ...ange allows instantaneous operation like acceleration and deceleration usually The continuous and 50 duty motion ranges shown on each graph are measured on the condition where the radiation plate spec...

Page 24: ...ing acceleration and deceleration 50 duty range Continuous motion range Rotation speed r min Torque Nm 140 120 80 60 20 0 Motion range during acceleration and deceleration 50 duty range Continuous mot...

Page 25: ...0 4 0 1 0 3 0 0 50 duty range Motion range during acceleration and deceleration Continuous motion range 250 200 100 50 0 150 Rotation speed r min Torque Nm Radiation plate 150 x 150 x 6 mm FHA 11C 30...

Page 26: ...0 50 0 150 Rotation speed r min Torque Nm Radiation plate 150 x 150 x 6 mm FHA 11C 30 Input voltage 100V 5 0 4 5 3 5 3 0 1 5 0 5 0 2 0 4 0 2 5 1 0 50 duty range Continuous motion range Continuous moti...

Page 27: ...on plate 200 x 200 x 6 mm FHA 14C 30 Input voltage 200V 250 200 100 50 0 150 Rotation speed r min 10 9 7 6 3 1 0 4 8 5 2 50 duty range Continuous motion range Continuous motion range Torque Nm Radiati...

Page 28: ...motion range 140 120 80 60 20 0 40 100 Rotation speed r min Torque Nm Radiation plate 200 x 200 x 6 mm FHA 14C 50 Input voltage 100V 20 18 14 10 4 2 0 8 6 12 16 50 duty range Continuous motion range...

Page 29: ...en Yellow GRN YEL PE 5 6 Pin position Encoder cable Pin layout Pin No Color Signal name Remarks 1A Green Phase A Phase A output 2A Gray Phase B Phase B output 3A Yellow Phase Z Phase Z output 4A Red 5...

Page 30: ...1 14 Cable specifications 1 21 1 2 3 4 5 6 7 8 9 10 11 Apx Outlines...

Page 31: ...he following explains the guidelines for selecting actuators 2 1 Connecting power cables 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 oper...

Page 32: ...eed the allowable values shown in the table below Actuator model FHA 8C FHA 11C FHA 14C 30 50 100 30 50 100 30 50 100 Reduction ratio 30 50 100 30 50 100 30 50 100 Max rotational speed r min 193 116 5...

Page 33: ...ertia moment converted to motor shaft which has an effect on servo response is as follows The symbols in the formulas are JS Total inertia moment converted to motor shaft L Ratio of load inertia momen...

Page 34: ...owable Verifying the static safety coefficient Calculate the static equivalent radial load Po Verify the static safety coefficient fs Specifications of the main roller bearing The following table show...

Page 35: ...t n Fr t n Fr 2 2 1 1 2 2 2 1 1 1 av The maximum radial load in section t1 is given by Fr1 while the maximum radial load in section t3 is given by Fr3 Formula 3 Average axial load Faav n n 10 3 n n n...

Page 36: ...kgf Obtained by formula 6 fw Load coefficient See Table 3 Formula 6 Dynamic equivalent radial load av av av av Fa Y dp La Fa R Lr 2 Fr Fr X Pc Symbols used in the formulas Pc Dynamic equivalent radia...

Page 37: ...radial load Po by formula 9 Formula 10 Static safety coefficient Po Co fs Symbols used in the formulas fs Static safety coefficient See Table 4 Co Basic static rated load N kgf See Table 1 Po Static...

Page 38: ...For linear operation use the rotation speed conversion formula below Select an appropriate reduction ratio from the 30 50 or 100 series so that the calculated rotation speed does not exceed the maxim...

Page 39: ...n the graph indicates 20 of the maximum torque Linear operation horizontal operation The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below T Rotary torque N m...

Page 40: ...owing operating conditions Rotation speed 100 r min Load inertia moment 0 04 kg m 2 Since the load mechanism is mainly inertia the load torque is negligibly small 1 After applying these conditions to...

Page 41: ...or and then let it move at a constant speed followed by deceleration by the maximum torque The travel angle per cycle is 120 and the cycle time is 0 8 second 1 KLa KLd Obtain KLa KLd 1 7 in the follow...

Page 42: ...150 x 150 x 6 mm FHA 8C 50 KL 0 33 0 67 1 1 5 150 100 50 0 4 3 5 3 2 5 2 1 5 1 0 0 5 FHA 11C 100 6 5 4 3 2 0 1 Torque Nm Operable range 100 V 200 V 24 V Rotation speed r min Rotation speed r min Torq...

Page 43: ...FHA 14C 100 KL 0 33 0 67 1 25 20 5 0 30 1 5 15 10 2 2 5 80 60 40 20 0 250 200 150 100 50 0 Rotation speed r min Nm Radiation plate 200 x 200 x 6 mm FHA 14C 30 KL 0 33 0 67 1 9 6 4 2 0 10 1 5 8 7 5 3 1...

Page 44: ...fective torque and average rotation speed Use the operating conditions found in example 1 and 2 to get the effective torque and average rotation speed Substituting 8 3 N m for Ta 8 3 N m for Td 0 N m...

Page 45: ...d detection function of the amplifier even within the allowable duty range This overload detection time is shown in the figure below Input voltage 100VAC 200VAC specification 0 1 1 10 100 1000 0 50 10...

Page 46: ...ification FHA 8C 0 1 1 10 100 1000 0 50 100 150 200 250 300 FHA DC24V Output torque coefficient Output torque Output torque coefficient x Allowable continuous torque Curved line indicating overload de...

Page 47: ...e for installing the FHA C mini series actuator 3 1 Receiving inspection 3 1 3 2 Notices on handling 3 2 3 3 Installation location and installation 3 3 3 4 Initial settings for amplifier 3 5 3 5 PL09...

Page 48: ...wrong immediately contact the dealer 1 The encoder line connectors may only be used for option J actuators 2 The model No of actuators with 24 VDC E input power supply is always 8 FHA 8 C 30 D200 C J...

Page 49: ...tput shaft 2 Do not put the FHA C mini series actuator on a table shelf etc where the actuator could easily fall 3 The allowable storage temperature is 20 to 60 C Do not expose the actuator to direct...

Page 50: ...ases water water droplets oil mist etc Protection class Standard products are structurally designed to meet the IP 44 requirements However rotating and sliding areas oil seal areas and connectors are...

Page 51: ...B MX940J Product Specifications No BCN B72000 227 4 Motor cable and encoder cable Do not pull the cables with a strong force The connection points may be damaged Install the cable wiring with slack so...

Page 52: ...64 FHA 11C 30 D200 CJ 1A1E FHA 11C 50 D200 CJ 1A32 FHA 11C 100 D200 CJ 1A64 FHA 14C 30 D200 CJ 1B1E MR J4 20B RJ920J MR J4 20B1 RJ920J FHA 14C 50 D200 CJ 1B32 FHA 14C 100 D200 CJ 1B64 FHA 8C 30 D200 C...

Page 53: ...6 0 FHA 14C 30 D200 CJ 8 4 FHA 14C 50 D200 CJ 12 4 FHA 14C 100 D200 CJ 19 2 FHA 8C 30 D200 CEJ 0 67 FHA 8C 50 D200 CEJ 1 44 FHA 8C 100 D200 CEJ 2 38 If the servo amplifier outputs the AL27 1 Initial m...

Page 54: ...3 5 PL09 Magnetic pole detection level setting Installation 3 7 1 2 3 4 5 6 7 8 9 10 11 Apx Installation...

Page 55: ...4 Option Options you can purchase as necessary are explained in this chapter 4 1 Extension cable 4 1 Chapter...

Page 56: ...r 10m 1 For encoder EWC Exx A12 3M10 M 100 200 VAC type Pin No Color Signal name Pin No Color Signal name 1A Blue Phase A 1B White Phase A 2A Yellow Phase B 2B Brown Phase B 3A Green Phase Z 3B Black...

Page 57: ...nal name 1A Blue Phase A 1B White Phase A 2A Yellow Phase B 2B Brown Phase B 3A Green Phase Z 3B Black Phase Z 4A Red 5V 4B Gray GND 5A 5B 6A Shield FG 6B Pin No Color Signal name Pin No Color Signal...

Page 58: ...10 11 Apx Option 2 For motors EWC Mxx A06 TMC M 100VAC 200VAC specification Install the connector supplied with the servo amplifier Pin No Color Signal name 1 Red U 2 White V 3 Black W 4 Green Yellow...

Page 59: ...to the MR J4W2 0303B6 MX940J amplifier has 1 shaft When the actuator connected to the MR J4W2 0303B6 MX940J amplifier has 2 shafts Pin No Color Signal name 1 Blue Phase A 2 Yellow Phase B 3 Green Phas...

Page 60: ...4 1 Extension cable Option 4 5 1 2 4 4 5 6 7 8 9 10 11 Apx Option...

Page 61: ...5 Appendix This chapter explains the default settings etc Apx 1 Unit conversion Apx 1 Apx 2 Calculating inertia moment Apx 3...

Page 62: ...ft min 2 ft s 2 in s 2 Factor 2 78 x 10 4 8 47 x 10 5 0 3048 0 0254 Unit m min 2 ft min 2 ft s 2 in s 2 Factor 3600 1 18 x 10 4 3 281 39 37 SI system m s 2 4 Force SI system N Unit kgf lb force oz for...

Page 63: ...m 2 Unit kgf m s 2 kgf cm s 2 lb ft 2 lb ft s 2 lb in 2 lb in s 2 oz in 2 oz in s 2 Factor 0 102 10 2 23 73 0 7376 3 42 x 10 3 8 85 5 47 x 10 4 141 6 Unit kgf m s 2 kgf cm s 2 lb ft 2 lb ft s 2 lb in...

Page 64: ...tia gravity center Cylinder Circular pipe Slanted cylinder Ball Ellipsoidal cylinder Cone Rectangular pillar Square pipe R L z x y L R m 2 2 R m 2 1 Ix 3 L R m 4 1 Iy 2 2 3 L R m 4 1 Iz 2 2 R1 L R2 z...

Page 65: ...different from the gravity center I Inertia moment when the gravity center axis does not match the rotational axis kg m2 Ig Inertia moment when the gravity center axis matches the rotational axis kg m...

Page 66: ...oment 2 2 Apx 3 Inertia moment of a cylinder 6 Initial settings for amplifier 3 5 Load 2 3 Load torque 2 9 Magnetic pole detection level setting 3 6 Maximum load 2 3 Model 1 2 Operating rotation speed...

Page 67: ...d or replaced free of charge This limited warranty does not apply to any product that has been subject to 1 Improper handling or use by the customer 2 Modification or repair carried out other than by...

Page 68: ...armonic Drive AG Hoenbergstrasse 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 1805 1...

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