Harmonic Drive FHA-Cmini Series, Manual

Page: 38 / 68

2-1 Connecting power cables
Selection guidelines
2-1
1
2
3
4
5
6
7
8
9
10
11
Apx
Se
lec
tion gui
de
lin
es
2-1 Connecting power cables
To achieve high accuracy and performance, select a FHA-C mini series actuator where the allowable
load inertia moment (reference value) specified for the applicable model No. is not exceeded.
Refer to appendix 2 (Apx-3) for the calculation of inertia moment.
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-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
In
er
tia m
omen
t
INC
(GD
2
/4)
kg·m
2
0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
(J) kgf·cm·s
2
0.027 0.075 0.30 0.061 0.17 0.68 0.18 0.51 2.0
ABS
(GD
2
/4)
kg·m
2
0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
(J)
kgf·cm·s
2
0.027 0.0747 0.298 0.063 0.176 0.705 0.197 0.547 2.189
Allowable load
inertia moment
kg·m
2
0.0078 0.022 0.087 0.018 0.051 0.20 0.054 0.15 0.60
kgf·cm·s
2
0.081 0.23 0.90 0.18 0.51 2.0 0.54 1.5 6.0
0.01
0.1
1
10
(kgf·cm·s
2
)
100 200
Rotation speed (r/min)
0
0.001
0.01
0.1
1
Inertia moment
(kg·m
2
)
FHA-11C
-100
FHA-14C
-100
FHA-8C
-100
FHA-8C
-50
FHA-11C
-50
FHA-14C
-50
FHA-8C
-30
FHA-11C
-30
FHA-14C
-30