Harmonic Drive FHA Series, Manual

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Chapter 4 Options
4-2 Brake for motor (option code: B)
FHA-C series actuators are possible to equip a brake on the motor shaft to hold its position during no power supply.
The brake of FHA-C series actuator provides two coils for activating and for holding respectively to decrease the current during holding by an
electric circuit in the actuator.
Use a DC power supply having proper output voltage and enough capacity for activating current presented in the table below.
4-2-1 Specifications for incremental encoder system
Model FHA-17C FHA-25C FHA-32C FHA-40C
Item 50 100 160 50 100 160 50 100 160 50 100 160
Type Dry-type non-excitation electro-magnetic brake with activating coil and holding coil
Power supply V DC24V +/-10%; no-polarity; note 1
Activating current
(20 ºC);
note 2
A 1.0 1.1 1.2 1.3
Holding current
(at 20 ºC)
A 0.15 0.15 0.2 0.25
Holding torque; N·m 24 49 78 49 98 157 75 150 240 108 216 345
note 3
kgf·m 2.5 5 8 5 10 16 7.7 15 24 11 22 35
Actuator inertia GD2/4)
0.24 0.96 2.5 1.0 4.1 10.6 2.1 8.4 22 5.5 22 57
converted for output kg·m
2
flange;
note 3
(J)
2.4 9.8 25 10 42 110 21 86 220 56 230 580
kgf·cm·s
2
Mass of actuator;
note 4
kg 2.9 4.8 7.4 14
Service time for normal
100,000 times
holding;
note 5
Service time for
emergency
stop;
note 6
200 times
Note 1: Power supply is user’s responsibility. Use a DC power supply having proper output voltage and enough capacity for activating
current presented in the table above.
Note 2: The duration for activating current is less than 0.5 second for the power supply of DC24V±10%.
Note 3: The values are converted for the output flange.
Note 4: The values present total mass of the actuator.
Note 5: The service time for normal holding is assured when the brake activates at motor speed of 150 r/min or less.
Note 6: The service time for emergency stop is assured when the brake activates at motor speed of 3000 r/min or less.
Do not use the holding brake exceeding the service times for normal holding
(100,000 times at the motor speed of 150r/min or less) nor for emergency stop
(200 times at the motor speed of 3000r/min or less).
Over service beyond a limited time may deteriorate holding torque, and may
consequently become out of use as a brake.
4-2-2 Brake leads
Brake leads are included with motor leads in a motor cable. Leads are distinguished by the colors shown in the table below.
Color Red White Black Green/yellow Blue Yellow shield
Lead
Motor-U Motor-V Motor-W PE Brake Brake FG
Note: the brake has no polarity.
!
CAUTION