Harmonic Drive FHA Mini Series, Manual

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Chapter 1 Overview of the FHA-C mini series
FHA-C mini
7
1-4 Specifications of FHA-C mini actuators
1-4-1 Supply voltage 100V/200VAC
Specifications of FHA-C mini series actuators are as follows:
Model
Item
FHA-8C FHA-11C FHA-14C
30 50 100 30 50 100 30 50 100
Max. torque
Note 2
N
･
m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
kgf ･ m 0.18 0.34 0.49 0.46 0.85 1.1 0.92 1.8 2.9
Maximum speed rpm 200 120 60 200 120 60 200 120 60
Torque constant
N ･
m/A(rms)
3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
Kgf
･
m/A
(rms)
0.40 0.68 1.4 0.39 0.67 1.4 0.43 0.74 1.5
Max. current
Note 2
A(rms) 0.61 0.64 0.48 1.5 1.6 1.1 2.9 3.2 2.4
Power supply voltage V AC200 or AC100 AC200 or AC100 AC200 or AC100
EMF constant V/(rpm) 0.48 0.80 1.6 0.48 0.80 1.6 0.52 0.86 1.70
Phase resistance
Ω
(20
℃
) 14 3.7 1.4
Phase inductance mH 5.8 3.4 1.8
Number of poles 10 10 10
Moment
of Inertia
(GD
2 /4)
Incremental
kg ･ m
2
0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.200
Absolute
kg
･
m
2
0.0026 0.0073 0.029 0.0062 0.17 0.069 0.019 0.054 0.215
Reduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
Allowable
torsional moment
N ･ m 15 40 75
kgf
･
m 1.5 4.1 7.7
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
Motor
encoder
Incremental
2000 pulse/revolution
Absolute
Multi-turn 16 bit (65536 revolution), Single (motor) turn 17 bit (131072 pulse/revolution)
Quad encoder-
resolution
Note 4
Note 4
Incremental
Counts/rev 240000 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
accuracy
Arc sec
150 120
120 120 90 90 120 90 90
Compensated
The accuracies are improved 30% of the above values at no disturbances by
the compensating function of HA-800 driver
Note 5
Mass
Incremental
kg 0.40 0.62 1.2
Absolute
kg
0.50 0.75 1.3
Enclosure Totally enclosed, self-cooling (equivalent to IP44, Note 6)
Environmental conditions
Service / storage temperature: 0
～
40
℃
/ -20
～
60
℃
Service / storage humidity: 20 ～ 80%RH (no condensation)
Vibration / impact resistance: 25m/s
2
(frequency:10-400Hz) / 300 m/s
2
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist; install
in room, no direct sunlight
Altitude: less than1, 000 meters above sea level
Magnetic noise resistance: 0.01 telsa (ABS)
Motor insulation
Insulation resistance: 100M
Ω
or more (by DC500V insulation tester)
Withstanding voltage: AC1500V / 1 minute
Insulation class: B
Safety standard Compliant with the CE marking
Orientation All position
Note 1: The table shows typical output values of actuators.
Note 2: Values for saturated temperature under the conditions that the actuator is driven by an appropriate driver.
Note 3: All values are typical.
Note 4: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]
Note 5: Refer to the HA-800 manual for details.
Note 6: All parts, except the rotary sliding parts (oil seal) and connectors, are protected against solid bodies of
superior dimensions to 1mm, and against the water sprays.