Harmonic Drive FHA Mini Series Manual Download Page 50

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Rev 20191120

Group Companies

Harmonic Drive Systems, Inc.

6-25-3 Minami-Ohi, Shinagawa-ku

Tokyo 141-0013, Japan
Harmonic Drive AG

Hoenbergstrasse, 14, D-6555

Limburg/Lahn Germany

Harmonic Drive is a registered trademark of Harmonic Drive LLC.

Harmonic Drive LLC

Boston US Headquarters

247 Lynnfield Street

Peabody, MA 01960

New York Sales Office

100 Motor Parkway

Suite 116

Hauppauge, NY 11788

California Sales Office

333 W. San Carlos Street

Suite 1070

San Jose, CA 95110

Chicago Sales Office

137 N. Oak Park Ave., Suite 410

Oak Park, IL 60301

T: 800.921.3332

T: 978.532.1800

F: 978.532.9406
www.HarmonicDrive.net

Summary of Contents for FHA Mini Series

Page 1: ...F H A M i n i S e r i e s Total Motion Control HarmonicDrive actuator P r e c i s i o n G e a r i n g M o t i o n C o n t r o l Servo Actuators...

Page 2: ...s caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty o...

Page 3: ......

Page 4: ...ls printing machine roller etc 1 1 Features Super flat configuration FHA C mini series actuator is the union of Harmonic Drive gearing with a super flat AC servomotor for precise motion control The co...

Page 5: ...Chapter 1 Overview of the FHA C mini series FHA C mini 5 1 2 Ordering Code...

Page 6: ...Chapter 1 Overview of the FHA C mini series FHA C mini 6 1 3 Compatible Servo Drives HA 800 HA 680 are available for MECHATROLINK II CC Link...

Page 7: ...000 400000 800000 240000 400000 800000 240000 400000 800000 Absolute Counts rev 3 932 160 6 553 600 13 107 200 3 932 160 6 553 600 13 107 200 3 932 160 6 533 600 13 107 200 One way positioning accurac...

Page 8: ...l encoder resolutions are obtained by motor encoder resolution x 4 x reduction ratio Motor ABS encoder resolutions are obtained by motor encoder resolution x reduction ratio Note 5 Refer to the HA 680...

Page 9: ...s FHA C mini 9 1 5 External dimensions of FHA C mini actuators The external drawings are shown as follows 1 5 1 Actuators with side exiting cables standard Incremental encoder FHA 8C xxx US200 Unit mm...

Page 10: ...ni 10 FHA 14C xxx US200 Unit mm third angle projection Hollow Hollow Cables Common except size 14 24VDC version AWG20 4 for FHA 14C xxx US200 E FHA 11C xxx US200 K 1 5 2 Actuators with rear exiting ca...

Page 11: ...e FHA C mini series FHA C mini 11 1 5 3 Actuators with Absolute Encoder Hollow FHA 14C xxx US200 K FHA 8C xxx 12S17b C Unit mm third angle projection Cables Common except size 14 24VDC version AWG20 4...

Page 12: ...of the FHA C mini series FHA C mini 12 FHA 11C xxx 12S17b C Unit mm third angle projection FHA 14C xxx 12S17b C Unit mm third angle projection Cables Common except size 14 24VDC version AWG20 4 for FH...

Page 13: ...as follows 1 Axial run out of output flange The dial indicator 1 on a fixed portion measures the axial run out T I R of perimeter of output flange for one revolution 2 Radial run out of output flange...

Page 14: ...actor of the ratio 1 ratio and typically becomes negligibleat the output Therefore most of the error is represented by the transmission error of the Harmonic Drive gear itself The one way positioning...

Page 15: ...the output flange the face of the output flange tilts in proportion to the moment load The moment stiffness is expressed as the torsional moment angle Model Item FHA 8C FHA 11C FHA 14C Moment stiffnes...

Page 16: ...wind up for torque region over T2 3 2 Wind up T2 T The table below shows T1 T3 K1 K3 and 1 2 values of each actuator Model FHA 8C FHA 11C FHA 14C Reduction ratio 1 30 1 50 1 100 1 30 1 50 1 100 1 30 1...

Page 17: ...on 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 s2 Direction top bottom right left fro...

Page 18: ...Chapter 1 Overview of the FHA C mini series FHA C mini 18...

Page 19: ...Chapter 1 Overview of the FHA C mini series FHA C mini 19 1 14 Operating Range FHA 8C...

Page 20: ...Chapter 1 Overview of the FHA C mini series FHA C mini 20 FHA 11C...

Page 21: ...Chapter 1 Overview of the FHA C mini series FHA C mini 21 FHA 14C...

Page 22: ...uators 1 15 1 Incremental Encoder Motor cable Color Motor lead Red Motor phase U White Motor phase V Black Motor phase W Green yellow PE Encoder cable Color Signal Pin No Green A 1 Dark Green ______ A...

Page 23: ...6901 E 770210 1 Manufactured by AMP Encoder cable Pin No Color Signal Remarks 1A White Vcc Power supply input 5V 1B Black GND Vcc Power supply input 0V GND 2A Blue SD Serial signal differential output...

Page 24: ...to the servo drive system In comparison to direct servo systems this benefit will drive the load with a better servo response For example assume that the load inertia increases to N times during its...

Page 25: ...late the static equivalent radial load Po Verify the static safety coefficient Specifications of the cross roller bearing The following table shows the specifications of the cross roller bearings buil...

Page 26: ...ad in t3 range Average output speed Nav 4 Calculating radial load factor and axial load factor Both load factors are different with average loads as follows When the right formula is satisfied 5 X 1 0...

Page 27: ...n N kgf See Table 1 Pc equivalent dynamic radial load in N kgf obtained by formula 6 fw Load factor For smooth operation without shock or vibration fw 1 to 1 2 For normal operation fw 1 2 to 1 5 For o...

Page 28: ...N kgf See Fig 1 dp Circular pitch of roller See Fig 1 and Table 1 Static safety factor Generally the static safety factor is limited by the basic static load rating Co However for the heavy duty the f...

Page 29: ...ed value 2 4 3 Load torque Calculate the load torque as follows Rotary motion The torque for the rotating mass W on the friction ring of radius r as shown in the figure to the right T torque N m coeff...

Page 30: ...TM where KT torque constant N m A IM maximum current A TL load torque N m note that the polarity of the load torque is plus for counter direction of revolution and minus for same direction Example 1...

Page 31: ...maximum torque The displacement angle is 120 degrees and the cycle time is 0 8 s 1 KLa and KLd the speed is desided at 50 rpm as the average of 0 and 100 rpm Then KLa KLd 1 7 from the graph 2 KLr as...

Page 32: ...rque Nm Radiation plate 150 x 150 x 6 mm FHA 11C 30 KL 0 33 0 67 1 250 200 150 100 50 0 1 5 2 2 5 4 5 3 5 3 2 5 2 1 5 1 0 0 5 5 4 Operable range 100 V 200 V 24 V Rotation speed r min Torque Nm Radiati...

Page 33: ...Chapter 2 Guidelines for sizing FHA mini 33...

Page 34: ...5 117 70 35 100 60 30 Note The values for 24VDC are in parenthesis Example 3 getting effective torque and average speed The parameters are same as the example 1 and 2 for an FHA 11C 50 1 Effective tor...

Page 35: ...200VAC Input Voltage 24VDC incremental encoder FHA 8C 30 FHA 8C 50 FHA 8C 100 FHA 11C 30 FHA 11C 50 FHA 11C 100 FHA 14C 30 FHA 14C 50 FHA 14C 100 Torque Nm 0 5 0 7 1 2 3 4 5 7 10 20 30 40 50 Overloade...

Page 36: ...products you ordered by comparing with the model on the TYPE line of the label If it is different immediately contact the dealer it was purchased from The model ordering code can be found in section...

Page 37: ...ater drops and oil mist Do not install the actuator in corrosive gas environment Take notice that the protection degree of standard actuators is IP 44 that is all parts of the actuators except the rot...

Page 38: ...n damage to the output shaft Note 2 Do not apply shock or impact during installation 2 Fasten the flange of the actuator with flat washers and high strength bolts Use a torque wrench when tightening t...

Page 39: ...uarantee the actuator has been reassembled by others than the authorized persons by the Harmonic Drive LLC CAUTION CAUTION Do not apply torque load or thrust to the sleeve directly Since the sleeve is...

Page 40: ...length are available Ordering model For Motor EWC MBxx A06 SP For Absolute encoder EWD Sxx A08 SP 03 3m 05 5m 10 10m External view of extension cable for motor External view of extension cable for ab...

Page 41: ...ion facing the output flange end a b c d 0 25T 0 15T Tz T 0 5T The Z phase includes a HIGH state in case of both of A and B phase is H IGH state T 360 2000 3 Mechanical angle U N Motor EMF waveform R...

Page 42: ...Appendix 1 Incremental encoder FHA mini 42 Output Circuit and Example for Receiving Signal Fig 3 Output circuit of encoder and connection example...

Page 43: ...s Factor 0 0167 5 08x10 3 0 3048 0 0254 Unit m min ft min ft s in s Factor 60 196 9 3 281 39 37 SI system m s 3 Linear acceleration SI system m s2 Unit m min2 ft min2 ft s2 in s2 Factor 2 78 x10 4 8 4...

Page 44: ...kgf m lb ft lb in oz in Factor 9 81 1 356 0 1130 7 06x10 3 Unit kgf m lb ft lb in oz in Factor 0 102 0 738 8 85 141 6 SI system N m 10 Moment of inertia SI system kg m2 Unit kgf m s2 kgf cm s2 lb ft2...

Page 45: ...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 46: ...e rotary center is different from the gravity center I Inertia when both centers are not the same kg m2 Ig Inertia when both centers are the same kg m2 Calculate with formulas described in 1 m Mass kg...

Page 47: ...above graph would indicate that the inertia is Approx 1 9X10 4kg m2 Exact value 0 000186 kg m2 1000 100 10 1 0 1 0 01 0 001 10 4 10 5 10 6 10 100 1000 20 30 50 70 200 300 500 700 Inertia specific grav...

Page 48: ...caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty op...

Page 49: ...livery or 2 000 hours of operation Warranty terms All the FHA C mini series actuators are warranted against defects in workmanship and materials for the warranted period This limited warranty does not...

Page 50: ...tered trademark of Harmonic Drive LLC Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody MA 01960 New York Sales Office 100 Motor Parkway Suite 116 Hauppauge NY 11788 California Sa...

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