Harmonic Drive FHA Mini Series, Manual

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Chapter 1 Overview of the FHA-C mini series
FHA-C mini
17
1-10 Rotary direction
Forward rotary direction is defined as clockwise (CW) rotation
viewing the output flange of the actuator when a driver signals
forward commands.
The direction can be reversed by the setting of [parameter mode]
→
[8: rotary direction] of the driver.
Value
FWD
command
REV
command
Setting
0 FWD rotation REV rotation Default
1 REV rotation FWD rotation
1-11 Impact resistance
The actuators are resistant to impacts along the radial axes.
Impact acceleration: 294 m/s
2
Direction: top/bottom, right/left, front/back
Repeating times: three
However, do not apply impact to the output flange.
1-12 Vibration resistance
The allowable vibration from all directions is as follows:
Vibration acceleration: 24.5 m/s
2
(Frequency:10
～
400Hz)
FWD
：
CW rotation
Rear
Impact resistance
Horizontal
installation
Left
Up
Right
Front
Rear
Vibration resistance
Horizontal
installation
Right
Left
Up
Front