Harmonic Drive FHA-C mini Series, Manual

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Selection guidelines

The following explains the guidelines for selecting actuators.

FHA-C mini series selection ················································· 2-1

Change in moment of inertia of load ······································ 2-2

Verifying and examining load weights ····································· 2-3

Examining operating status ·················································· 2-7

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Summary of Contents for FHA-C mini Series

Page 1: ...AC Servo Actuator FHA C mini Series Panasonic Corporation AC Servo Amplifier MINAS A6 Manual ISO14001 ISO9001...

Page 2: ...correctly so that the product can be used safely for many years Product specifications are subject to change without notice for improvement purposes Company names and product names in this document ar...

Page 3: ...or avoided 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 f...

Page 4: ...n may lead to vibration resulting in damage of output elements CAUTION FOR ACTUATORS IN OPERATIONS Never connect cables directly to a power supply socket Each actuator must be operated with a proper s...

Page 5: ...g the products Failure to observe this caution may result in an electric shock or uncontrollable operation Do not touch the terminals for at least 15 minutes after turning OFF the power supply Even af...

Page 6: ...eries functions are explained Realtime Express RTEX Functional Specification No SX DSV03027 Servo amplifier MINAS A6N series functions are explained Realtime Express RTEX Communication Specification N...

Page 7: ...irection 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...

Page 8: ...ication steps 3 1 3 2 Notices on handling 3 2 3 3 Installation location and installation 3 3 Environment of installation location 3 3 Installation 3 3 Appendix Apx 1 Unit conversion Apx 1 Apx 2 Calcul...

Page 9: ...vo 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 Rigidi...

Page 10: ...ation FA equipment such as robot joints alignment mechanisms for semi conductor LCD devices etc Slim line body Combines an ultra thin speed reducer HarmonicDrive for precision control with an ultra fl...

Page 11: ...17b G C A6 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 Encoder type a...

Page 12: ...D MB A06 TN P Encoder wire MFECA0 0EAE With battery box and in the servo amplifier model are the function classifications for safety functions and interface specifications See below for details Symbol...

Page 13: ...0 4 8 x 10 4 kgf m rad 0 2 x 10 4 0 4 x 10 4 0 8 x 10 4 Encoder type Absolute encoder Encoder resolution Single turn detector 2 17 131072 Multi turn detector 2 16 65536 Output shaft resolution Pulse r...

Page 14: ...nal drawings of FHA C mini series are shown below Use the included accessory encoder connector converter cable to connect the encoder Unit mm third angle projection FHA 8C xx 14S17bG C A6 Output rotar...

Page 15: ...contact us for the tolerance when it is not indicated in the dimensions Encoder connector converter cable Note For details on the connector refer to 1 14 Cable specifications P1 18 Servo amplifier si...

Page 16: ...xed part 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 par...

Page 17: ...ve for precision 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 dire...

Page 18: ...tion The function reduces the motor output to 1 30 1 50 and 1 100 by using a speed reducer HarmonicDrive for precision control The output shaft resolution per revolution is 30 50 or 100 times Speed ra...

Page 19: ...own below For example when a load is applied to the end of an arm attached on the actuator output shaft the face of the output shaft tilts in proportion to the moment load shown below The moment stiff...

Page 20: ...ere 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 0 kg...

Page 21: ...pplied to the MINAS A6 servo amplifier This rotation direction can be changed with the MINAS A6 servo amplifier parameter Pr 0 00 Setting of Pr 0 00 Rotation direction setting Set value Actuator rotat...

Page 22: ...up down and left right directions with the center shaft of the actuator installed horizontally is as follows Shock acceleration 294 m s 2 Direction top bottom right left front back Repeating times thr...

Page 23: ...is as follows and this value is the same in up down left right and front rear directions Vibration acceleration 24 5 m s 2 frequency 10 to 400 Hz This specification does not have a warranty period and...

Page 24: ...ation usually The continuous and 50 duty motion ranges shown on each graph are measured on the condition where the radiation plate specified in the graph is installed Note1 If you are continuously usi...

Page 25: ...single direction for the continuous motion range please consult us Note2 The graph shows typical values of 3 phase 200 VAC 140 120 80 60 20 0 40 100 FHA 11C 50 10 9 7 5 2 1 0 4 3 6 8 Rotation speed r...

Page 26: ...n range during acceleration and deceleration 50 duty range Continuous motion range Rotation speed r min Torque N m Radiation plate 200 200 6 mm FHA 14C 30 Motion range during acceleration and decelera...

Page 27: ...in position Encoder connector converter cable servo amplifier side Pin layout Pin No Color Signal name Remarks 1 Orange BAT Battery 2 Gray BAT Battery GND 3 Shield FG 4 Yellow PS Serial signal differe...

Page 28: ...tery GND Connector pin layout Encoder connector actuator side Pin layout Pin No Color Signal name Remarks 1A White E5 V Power supply input 5 V 1B Black E0 V Power supply input 0 V GND 2A Blue PS Seria...

Page 29: ...following explains the guidelines for selecting actuators 2 1 FHA C mini series selection 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 op...

Page 30: ...ent PApx 3 When temporarily selecting an actuator make certain that the inertia moment and rotation speed do not exceed the allowable values shown in the table below Actuator model FHA 8C FHA 11C FHA...

Page 31: ...onse is as follows The symbols in the formulas are JS Total inertia moment converted to motor shaft L Ratio of load inertia moment to inertia moment of motor JM Motor inertia moment N Rate of change i...

Page 32: ...and verify the life is allowable Verifying the static safety coefficient Calculate the static equivalent radial load Po Verify the static safety coefficient fs Specifications of the main roller bearin...

Page 33: ...Fr 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...

Page 34: ...ial load N 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...

Page 35: ...uivalent 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 See Table 1 Po Sta...

Page 36: ...ct an appropriate reduction ratio from the 30 50 or 100 series so that the calculated actuator rotation speed does not exceed the maximum rotational speed of the FHA C mini series actuator Calculating...

Page 37: ...efficient W Mass kg r Average radius of friction side m 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 t...

Page 38: ...ollowing 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 According to the conditions abov...

Page 39: ...nd then let it move at a constant speed followed by deceleration based on conditions similar to those used in calculation example 1 The travel angle per cycle is 120 and the cycle time is 0 8 seconds...

Page 40: ...e can be calculated Apply the following Ta 8 3 N m Tr 0 N m Td 8 3 N m Tm 2 9 N m ta 0 072 s Tr 0 141 s Td 0 047 s Then the following equation is obtained t 8 3 2 0 072 0 2 0 141 8 3 2 0 047 2 9 2 0 9...

Page 41: ...stallation This chapter explains the procedure 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 Cha...

Page 42: ...odel combination given in this document in 1 3 Combinations with servo amplifier and extension cables P1 3 4 Check if the input voltage being input are correct The value of the power voltage input is...

Page 43: ...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 44: ...ses 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 n...

Page 45: ...12 46 28 92 55 3 Connect the servo amplifier and wiring An extension cable is provided Use it when wiring the servo amplifier For details on wiring refer to 1 14 Cable specifications P1 18 and the ma...

Page 46: ...3 3 Installation location and installation Installation 3 5 1 2 3 4 5 6 7 8 9 10 11 Apx Installation...

Page 47: ...4 Appendix This chapter explains the default settings etc Apx 1 Unit conversion Apx 1 Apx 2 Calculating inertia moment Apx 3...

Page 48: ...2 ft min 2 ft s 2 in s 2 Factor 2 78x10 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 49: ...g 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 i...

Page 50: ...ter 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 x y R1 outer di...

Page 51: ...ary center is different from the gravity center I Inertia moment when the gravity center axis does not match the rotational axis kg m 2 Ig Inertia moment when the gravity center axis matches the rotat...

Page 52: ...Calculating inertia moment Appendix Apx 5 1 2 3 Apx 5 6 7 8 Appendix Apx 10 11 Apx Apx...

Page 53: ...rnal drawing 1 5 FHA C mini series selection 2 1 Inertia moment 2 2 Apx 3 Load 2 3 Load torque 2 8 Maximum load 2 3 Model 1 2 Operating rotation speed 2 7 Outlines 1 1 Radial load 2 6 Related manual 4...

Page 54: ......

Page 55: ...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 56: ...https www hds co jp Head Office Ichigo Omori Building 6 25 3 Minami Ohi Shinagawa ku Tokyo Japan 140 0013 TEL 81 0 3 5471 7800 FAX 81 0 3 5471 7811 5103 1 Hotakaariake Azumino shi Nagano Japan 399 83...

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