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Harmonic Drive FHA-Cmini Series Manual Download Page 68

 

 

 

 

 

 

Head Office

／

Ichigo Omori Building, 7F 6-25-3 Minami-Ohi, Shinagawa-ku, Tokyo, Japan 

〒

140-0013        TEL+81(0)3-5471-7800  FAX+81(0)3-5471-7811 

 

Overseas Division

／

1856-1 Hotakamaki    Azumino-shi Nagano, Japan 

〒

399-8305        TEL+81(0)263-83-6935  FAX+81(0)263-83-6901 

HOTAKA Plant

／

1856-1 Hotakamaki  Azumino-shi Nagano, Japan 

〒

399-8305        TEL+81(0)263-83-6800  FAX+81(0)263-83-6901 

Harmonic Drive AG

／

Hoenbergstrasse 14, 65555 Limburg, Germany 

TEL+049-6431-5008-0  FAX+049-6431-5008-18 

Harmonic Drive L.L.C

／

247 Lynnfield Street, Peabody, MA, 01960, U.S.A. 

TEL+1- 978-532-1800 FAX+1- 978-532-9406

 

 

No.2006-6R-TFHAmini2-E 

"HarmonicDrive

®

" is a trademark of Harmonic Drive Systems, Inc. 

The academic or general nomenclature of our products "HarmonicDrive

®

" is "strain wave gearing." 

 

Certified to ISO14001

／

ISO9001 (TÜV Management Service GmbH) 

All specifications and dimensions in this manual subject to change without notice. 

This manual is correct as of June 2020. 

 

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 

 

Overseas Division: 

1856-1 Hotakamaki, Azumino-shi, Nagano, Japan, 399-8305 

TEL: +81(0)263-83-6935  FAX: +81(0)263-83-6901 

 
HOTAKA Plant: 

1856-1 Hotakamaki, Azumino-shi, Nagano, Japan, 399-8305 

TEL: +81(0)263-83-6800  FAX: +81(0)263-83-6901 

 

Harmonic Drive SE: 

Hoenbergstrasse 14, 65555 Limburg, Germany 
TEL: +049-6431-5008-0 

FAX: +049-6431-5008-18 

 

Harmonic Drive 

247 Lynnfield Street, Peabody, MA, 01960, U.S.A. 

L.L.C

: 

TEL: +1-978-532-1800 

FAX: +1-978-532-9406

 

Summary of Contents for FHA-Cmini Series

Page 1: ...AC Servo Actuator FHA Cmini series 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: ...d 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...

Page 4: ...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 driver Fail...

Page 5: ...ales office if you intent to apply products for inverse load Use a fast response type ground fault detector designed for PWM inverters Do not use a time delay type ground fault detector Safety measure...

Page 6: ...its by means of power ON OFF switching Start stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic parts DISPOSAL OF AN ACTUATO...

Page 7: ...etc are explained Chapter 2 Selection guidelines Selection guidelines for the FHA C mini series actuator are explained in this chapter Chapter 3 Installation This chapter explains the procedure for i...

Page 8: ...d specification incremental encoder model 1 6 Side leading rear cables option specification incremental encoder model 1 7 Side leading cables standard specification absolute encoder model 1 8 1 6 Mech...

Page 9: ...8 Acceleration time and deceleration time 2 9 Duty cycles 2 10 Duty factor graphs 2 11 Examining effective torque and average rotation speed 2 13 Overload detection time 2 14 Chapter 3 Installation 3...

Page 10: ...8...

Page 11: ...ations with drivers 1 3 1 4 Specifications 1 4 1 5 External drawing 1 6 1 6 Mechanical accuracy 1 9 1 7 Uni directional positional accuracy 1 10 1 8 Detector resolution 1 11 1 9 Rigidity 1 12 1 10 Rot...

Page 12: ...tures Slim line body The FHA C mini series actuator is the union of a thin type speed reducer HarmonicDrive for precision control and a flat AC servo motor The length from the mounting flange face to...

Page 13: ...mental encoder 2 000 p rev Input power supply None 100VAC 200V specification E 24VDC specification Cable lead out direction None Lateral standard specification K Rear option specification FHA 8 C 30 1...

Page 14: ...saving incremental HA 800A 1C 200 HA 800B 1C 200 HA 800C 1C 200 11 AC200 14 AC200 8 AC100 HA 800A 1C 100 HA 800B 1C 100 HA 800C 1C 100 11 AC100 14 AC100 FHA C mini series 8 AC200 17 bit absolute HA 8...

Page 15: ...0 4 x 104 0 8 x 104 Motor position detector INC Incremental encoder 2 000 pulse rev ABS Absolute encoder Multi rev 16 bit 65 536 rev 1 rev 17 bit 131 072 pulse rev Detector resolution Note 5 INC quadr...

Page 16: ...on ratio 30 50 100 30 50 100 30 50 100 Permissible moment load N m 15 40 75 kgf m 1 5 4 1 7 7 Moment stiffness N m rad 2 x 104 4 x 104 8 x 104 kgf m rad 0 2 x 104 0 4 x 104 0 8 x 104 Motor position de...

Page 17: ...C xx E200 C Unit mm third angle projection FHA 11C xx E200 C FHA 14C xx E200 C Hollow shaft inside diameter Hollow shaft inside diameter Motor connector Encoder connector Motor cable Encoder cable Not...

Page 18: ...C xx E200 CK FHA 8C xx E200 CK Hollow shaft inside diameter Hollow shaft inside diameter Note Tolerances may vary due to product manufacturing method foundry piece machine finished good Please contact...

Page 19: ...rd angle projection Cable pullout common specification FHA 8C xx 12S17bA C Output rotary unit Output rotary unit FHA 11C xx 12S17bA C Note Tolerances may vary due to product manufacturing method found...

Page 20: ...sures 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 measures t...

Page 21: ...angle transmission error of the speed reducer is expressed as the uni directional positioning accuracy of the FHA C mini series The uni directional positional accuracy is shown in the table below Mod...

Page 22: ...encoder signal has a x4 electrical interpolation The high resolutions obtained from the information above are summarized in the table below Incremental encoder Model Item FHA 8C FHA 11C FHA 14C 30 50...

Page 23: ...sed 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 arc min 0 59 1 2 2 4 Do not app...

Page 24: ...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 25: ...de when a forward command is given to a FHA C mini series actuator from a driver This rotation direction can be changed on the driver by selecting Parameter settings For details on the settings refer...

Page 26: ...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 27: ...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 400Hz This specification does not have a warranty period and...

Page 28: ...ion and deceleration 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 FHA 8C 100V Motion...

Page 29: ...0 FHA 8C 50 40 100 3 5 3 0 2 5 2 0 1 0 0 5 0 1 5 Motion range during acceleration and deceleration 50 duty range Continuous motion range Radiation plate 150 x 150 x 6 mm Rotation speed r min Torque Nm...

Page 30: ...tation speed r min Motion range during acceleration and deceleration 50 duty range Continuous motion range Radiation plate 150 x 150 x 6 mm Torque Nm Rotation speed r min 140 120 80 60 20 0 40 100 FHA...

Page 31: ...ation speed r min Torque Nm Radiation plate 150 x 150 x 6 mm Input voltage 200V Motion range during acceleration and deceleration 50 duty range Continuous motion range 70 60 40 30 10 0 20 50 FHA 11C 1...

Page 32: ...5 2 Motion range during acceleration and deceleration 50 duty range Continuous motion range Radiation plate 200 x 200 x 6 mm Torque Nm Rotation speed r min 140 120 80 60 20 0 40 100 FHA 14C 50 20 18...

Page 33: ...n range 250 200 100 50 0 150 Rotation speed r min 10 9 7 6 3 1 0 4 8 5 2 140 120 80 60 20 0 40 100 FHA 14C 50 20 18 14 10 4 2 0 8 6 12 16 Torque Nm Radiation plate 200 x 200 x 6 mm Input voltage 200V...

Page 34: ...uous motion range Input voltage 24V Radiation plate 200 x 200 x 6 mm Torque Nm Rotation speed r min Motion range during acceleration and deceleration 50 duty range Continuous motion range Input voltag...

Page 35: ...No Color Motor cable 1 Red Motor phase U 2 White Motor phase V 3 Black Motor phase W 4 Green Yellow PE 5 6 Pin position Encoder cable Incremental encoder Pin layout Pin No Color Signal name Remarks 1...

Page 36: ...A White Vcc Power supply input 5V 1B Black GND Vcc Power supply input 0V GND 2A Blue SD Serial signal differential output 2B Purple SD Serial signal differential output 3A No connection 3B Shield FG 4...

Page 37: ...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 38: ...A 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 200 120 60 200 120 60 200 120 60 Inertia moment INC GD 2 4 kg m 2 0 0026 0 0074 0 029 0 006...

Page 39: ...ls 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 in load inertia moment R Redu...

Page 40: ...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 bearing T...

Page 41: ...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 42: ...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 43: ...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 44: ...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 maximum rotational speed of the FH...

Page 45: ...culation example when the friction coefficient is assumed as 0 1 and the horizontal axis and vertical axis represent mass and rotational radius of friction side respectively The actuator toque shown i...

Page 46: ...oment kg m 2 N Actuator rotation speed r min TM Maximum actuator torque N m TF Actuator friction torque N m TF KT x IM TM KT Torque constant N m A IM Max current A TL Load torque N m The polarity is p...

Page 47: ...cceleration time KLr Duty factor for operation time at constant speed KLd Duty factor for deceleration time Example 2 Calculating duty and getting KLa KLr and KLd With the duty factor graph for FHA 11...

Page 48: ...ate 150 x 150 x 6 mm FHA 8C 30 250 200 150 100 50 0 2 1 8 1 6 1 4 1 2 1 0 8 0 6 0 4 0 2 0 KL 0 33 0 67 1 1 5 Operable range 100 V 200 V 24 V Rotation speed r min Torque Nm Radiation plate 150 x 150 x...

Page 49: ...0 6 4 2 0 12 1 5 8 Operable range 100 V 200 V 24 V 250 200 150 100 50 0 Rotation speed r min Torque 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 2 2 5 3 Ope...

Page 50: ...24VDC input power model Example 3 Examining effective torque and average rotation speed Use the operating conditions found in example 1 and 2 to get the effective torque and average rotation speed 1 E...

Page 51: ...ion times are shown in the graph below Input voltage 100VAC 200VAC specification Input voltage 24VDC specification will only support the incremental encoder model FHA 8C 30 FHA 8C 50 FHA 8C 100 FHA 11...

Page 52: ...2 4 Examining operating status Selection guidelines 2 15 1 2 3 4 5 6 7 8 9 10 11 Apx Selection guidelines...

Page 53: ...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 3 3 3 Installation location and installation 3 4 Cha...

Page 54: ...late on the HA 800 or HA 680 drivers Make sure your actuator is combined with the correct driver Only connect the actuator specified on the driver label The characteristics of this driver have been ad...

Page 55: ...to be input 200 3 phase single phase 200V power supply 100 indicates a 100VAC power 24 indicates a 24VDC power If the input voltage to be supplied is different from the label voltage immediately cont...

Page 56: ...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 57: ...gases 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 58: ...with a strong force The connection points may be damaged Install the cable wiring with slack so that no tension is applied to the actuator Provide a sufficient bending radius R 40 mm or more especiall...

Page 59: ...4 Appendix This chapter explains the default settings etc Apx 1 Unit conversion Apx 1 Apx 2 Calculating inertia moment Apx 3...

Page 60: ...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 fo...

Page 61: ...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 62: ...nertia 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...

Page 63: ...ifferent 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 rotational axis kg m...

Page 64: ...is 50 mm Therefore the above graph gives the inertia moment as approx 1 9 x 10 4 kg m 2 Calculated value 0 000186 kg m 2 Radius Length 1000 100 10 1 0 1 0 01 0 001 10 4 10 5 10 6 10 100 1000 20 30 50...

Page 65: ...l drawing 1 6 I Inertia moment 2 2 Apx 3 Inertia moment of a cylinder Apx 5 L Load 2 3 Load torque 2 8 M Maximum load 2 3 Model 1 2 O Operating rotation speed 2 7 Outlines 1 1 P Power supply 2 1 R Rad...

Page 66: ......

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: ...e academic or general nomenclature of our products HarmonicDrive is strain wave gearing Certified to ISO14001 ISO9001 T V Management Service GmbH All specifications and dimensions in this manual subje...

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