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Harmonic Drive HMA Series, Manual

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Flat Hollow Shaft AC Servo Motors 

 H M A   s e r i e s   m a n u a l 

 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

 

ISO14001 

 
 

ISO9001 

 

Summary of Contents for HMA Series

Page 1: ...Flat Hollow Shaft AC Servo Motors H M A s e r i e s m a n u a l ISO14001 ISO9001...

Page 2: ...product life Read this manual carefully and use the product correctly so that the product can be used safely for many years The information contained in this manual is subject to change without notice...

Page 3: ...or malfunction of the product or negative effects on its performance or function LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below Spac...

Page 4: ...r damage to the output shaft OPERATIONAL PRECAUTIONS Do not exceed the allowable torque Do not apply a torque exceeding the maximum torque Be aware that if arms directly attached to the output shaft a...

Page 5: ...use damage to the driver Please consult our sales office if you intent to use the motor in such applications Use a fast response type ground fault detector designed for PWM inverters When using a fast...

Page 6: ...sts Do not operate the driver by switching the power ON OFF Frequent power ON OFF operations may cause deterioration of circuit elements inside the driver Use command signals to start or stop the moto...

Page 7: ...Rotation direction 1 14 1 10 Shock resistance 1 15 1 11 Resistance to vibration 1 16 1 12 Operable range 1 17 1 13 Cable specifications 1 20 Motor cable specifications 1 20 Encoder cable specification...

Page 8: ...allation 3 3 Use of positioning pins 3 4 Motor shaft material 3 4 3 3 Location and installation 3 5 Environment of location 3 5 Installation 3 6 Chapter 4 Options 4 1 Options 4 1 Cable taken out from...

Page 9: ...nameplate sticker According to the UL1004 1 UL1004 6 File No E243316 standards the following specifications are indicated on the HMA series motors Nameplate field Description 1 Output W at point A on...

Page 10: ...at point A Hz 250 250 6 Allowable ambient temperature 40 7 Number of phases 3 Model Item HMAB12 1 Output at point A W 406 2 Voltage at point A V 129 3 Allowable continuous current A 4 2 4 Speed at po...

Page 11: ......

Page 12: ...ions with drivers and extension cables 1 3 1 4 Specifications 1 4 1 5 Holding brake 1 6 1 6 External dimensions 1 7 1 7 Mechanical accuracy 1 12 1 8 Detector specifications Absolute encoder 1 13 1 9 R...

Page 13: ...c absolute encoder with safety function The serial communication requires fewer cables and provides not only a multi revolution counting function which is a must have feature of motors but it also has...

Page 14: ...V 100 V is compatible with model No 09 only 6 Encoder format 10 Compliant with format A transmission rate 2 5 Mbps 1 on 1 connection 7 Encoder type resolution S17b 17 bit multi turn absolute encoder 1...

Page 15: ...TROLINK II type HA 800B 3D E 200 HA 800B 3D E 200 HA 800B 6D E 100 HA 800B 6D E 200 HA 800B 24D E 200 HA 800B 24D E 200 CC Link type HA 800C 3D E 200 HA 800C 3D E 200 HA 800C 6D E 100 HA 800C 6D E 200...

Page 16: ...0 72 kgf m A 0 036 0 042 0 024 0 045 0 055 0 073 MEF constant 3 V r min 0 037 0 043 0 025 0 046 0 057 0 075 Phase resistance 20 1 43 1 2 0 4 0 33 0 19 0 028 Phase inductance mH 2 5 3 0 1 0 1 4 1 2 0...

Page 17: ...any direction Protection structure Totally enclosed self cooled type IP54 The table above shows the typical values 1 Indicates typical characteristics when combined with our driver driven using an ide...

Page 18: ...0 times Allowable number of emergency stops 4 200 times 1 The power supply for the brake is not included in the product Use a power supply that is capable of outputting enough current during brake suc...

Page 19: ...xternal dimensions see our illustrated specifications Tolerances may vary with the product manufacturing method foundry piece machine finished good Contact us for the differential range of the size th...

Page 20: ...fications Tolerances may vary with the product manufacturing method foundry piece machine finished good Contact us for the differential range of the size that is not described Encoder cable Motor cabl...

Page 21: ...fications Tolerances may vary with the product manufacturing method foundry piece machine finished good Contact us for the differential range of the size that is not described Encoder cable Motor cabl...

Page 22: ...fications Tolerances may vary with the product manufacturing method foundry piece machine finished good Contact us for the differential range of the size that is not described Encoder cable Motor cabl...

Page 23: ...ions see our illustrated specifications Tolerances may vary with the product manufacturing method foundry piece machine finished good Contact us for the differential range of the size that is not desc...

Page 24: ...Indicator Reading The methods for measurement are as follows 1 Output shaft surface runout The indicator on the fixed part measures the axial runout maximum runout width of the end surface of the outp...

Page 25: ...ain absolute positions even when the driver encoder extension cable is disconnected for initial startup of the device etc internal backup However the backup capacitor has a limited life and its perfor...

Page 26: ...tput shaft when a FWD command pulse is given from an HA 800 driver This rotation direction can be changed on the HA 800 driver by selecting SP50 Command polarity setting under System parameter mode 3...

Page 27: ...follows and this value is the same in up down left right and front rear directions Shock acceleration 300 m s2 In our shock resistance test the motor is tested three times in each direction Motor ope...

Page 28: ...tance to vibration of the motor is as follows and this value is the same in up down left right and front rear directions Vibration acceleration 25 m s2 frequency 10 to 400 Hz In our test the motor is...

Page 29: ...a range in which the motor can be operated continuously as shown by the relationship between the torque and rotational speed Note that values are measured with the radiation plate listed on the graph...

Page 30: ...3 3 5 0 1000 2000 3000 4000 5000 Nm r min 350 350 18 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and deceler...

Page 31: ...2500 3000 Nm r min 650 650 30 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and deceleration Continuous motion...

Page 32: ...connection Brake 6 Yellow No connection Brake Connector pin layout Model No 21A Pin No Color extension cable Name Without brake With brake A Blue No connection Brake B Yellow No connection Brake C No...

Page 33: ...nge Vbat Battery 4B Gray GND bat Battery GND Connector pin layout Model No 21A Pin No Color Signal name Remarks 1 Orange Vbat Battery 2 Gray GND bat Battery GND 3 NC No connection 4 Red Vcc Power supp...

Page 34: ...pter 2 Selection guidelines This chapter explains how to select a proper HMA series motor 2 1 HMA series selection 2 1 2 2 Verifying and examining load weights 2 2 2 3 Examining the operating status 2...

Page 35: ...MAA21A Allowable rotational speed r min 6 000 5 600 4 800 4 800 4 000 3 000 Inertia moment without brake 10 4 kg m2 0 734 1 78 6 45 15 8 125 10 4 kgf cm s2 7 49 18 2 65 8 161 1 280 Inertia moment with...

Page 36: ...radialload when stationary Allowable axial load when stationary mm N N N N HMAC08 17 8 175 100 800 1 900 HMAB09 21 7 185 105 800 2 400 HMAB12 25 0 233 130 1 200 3 600 HMAB15 27 3 530 180 2 400 5 000 H...

Page 37: ...eries motor For linear operation use the rotational speed conversion formula below Check that this rotational speed is less than the max rotational speed of the HMA series motor Calculating and examin...

Page 38: ...the mass and rotational radius of friction side respectively The motor toque shown in the graph indicates 20 of the maximum torque Linear operation horizontal operation The rotary torque for when mass...

Page 39: ...ed in the opposite direction Calculation example 1 Select a motor that best suits the following operating conditions Rotational speed 4800 r min Inertia moment of load 2 0 10 4 kg m2 Since the load me...

Page 40: ...ion example 1 The travel angle per cycle is 3 600 and the cycle time is 0 8 seconds 1 The travel angle is calculated from the area of the rotational speed vs time diagram shown above In other words th...

Page 41: ...Apply the following Ta 1 38 Nm Tr 0 Nm Td 1 29 Nm Tm 0 52 Nm ta 0 099 s tr 0 035 s td 0 080 s Then the following equation is obtained t 1 382 x 0 099 1 292 x 0 080 0 522 1 19 s Based on the result set...

Page 42: ...Chapter 3 Installing the HMA motor This chapter explains how to install the motor 3 1 Receiving inspection 3 1 3 2 Notices on handling 3 2 3 3 Location and installation 3 5...

Page 43: ...meplate on the HA 800 driver 4 Check if the driver input voltages being input are correct The driver s model code is shown in the TYPE field of the driver s nameplate The last three digits of this mod...

Page 44: ...n a very humid place or in areas where there are large temperature changes between day and night 6 Do not use or store the motor in locations subject to flammable or corrosive gases or dust particles...

Page 45: ...torque Nm 70 755 167 2 630 kgf m 7 2 77 1 17 0 268 2 Note 1 The female thread material is assumed to withstand the bolt tightening torque 2 Recommended bolt Hexagonal bolt per JIS B 1176 Strength cat...

Page 46: ...oning pins but keep proper fitting clearances to the motor shaft Failure to do so may result in damage to the motor deformation of the motor shaft or decreased pin positional accuracy Motor shaft mate...

Page 47: ...or is started stopped frequently Vibration 25 m s2 10 to 400Hz or less Refer to 1 11 Resistance to vibration P1 16 Impact 300 m s2 or less Refer to 1 10 Shock resistance P1 15 Use environment Free fro...

Page 48: ...onnectors Install the cable with slack and do not to apply any tension to the motor Provide a sufficient bending radius at least six times the cable diameter especially when the cable flexes Do not br...

Page 49: ...3 3 Location and installation 3 7 Installing the HMA motor 3 Appe...

Page 50: ...Chapter 4 Options This chapter provides information on the options 4 1 Options 4 1...

Page 51: ...e taken out from the side face of the motor Use this option if the motor is housed in a system and there is not enough space at the rear of the housing Please contact us for model No 08 This option is...

Page 52: ...er For motors Motor model Nos 08 09 12 EWD MB A06 TN3 Motor model No 15 EWD MB A06 TMC Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m Motor side Model No 15 Cable length Unit mm Outer...

Page 53: ...or model No 21A EWD MB D09 TMC Cable length 03 3m 05 5m 10 10m Cable length Outer diameter 13 4 Unit mm Motor side Model No 21A Driver side Waterproof cable clamp Angle plug U red V white W Black PE g...

Page 54: ...odel Nos 08 09 12 15 EWD S A08 3M14 Motor model No 21A EWD S D10 3M14 Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m Motor side Cable length Unit mm Outer diameter 8 4 Motor side Cabl...

Page 55: ...4 1 Options 4 5 Options 1 4 Appe...

Page 56: ...Chapter 5 Appendix A 1 Unit conversion 5 1 A 2 Calculating inertia moment 5 3...

Page 57: ...t s2 in s2 Factor 2 78x10 4 8 47x10 5 0 3048 0 0254 Unit m min2 ft min2 ft s2 in s2 Factor 3 600 1 18x104 3 281 39 37 SI system m s2 4 Force SI system N Unit kgf lb force oz force Factor 9 81 4 45 0 2...

Page 58: ...actor 9 81 1 356 0 1130 7 06 x 10 3 Unit kgf m lb ft lb in oz in Factor 0 102 0 738 8 85 141 6 SI system N m 10 Inertia moment SI system kg m2 Unit kgf m s2 kgf cm s2 lb ft2 lb ft s2 lb in2 lb in s2 o...

Page 59: ...linder Circular pipe Slanted cylinder Ball Ellipsoidal cylinder Cone Rectangular pillar Square pipe A 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 x y R1 Outer diamet...

Page 60: ...tary center is different from the gravity center I Inertia moment when the gravity center axis does not match the rotational axis kg m2 Ig Inertia moment when the gravity center axis matches the rotat...

Page 61: ...Since the outer diameter is 100 mm the radius is 50 mm Therefore the above graph gives the inertia moment as follows Approximately 1 9 x 10 4 kg m2 Calculated value 0 000186 m2 1 000 100 10 1 0 1 0 0...

Page 62: ...7 H HMA series selection 2 1 Holding brake 1 6 I Inertia moment 5 3 Inertia moment of cylinder 5 5 Installation 3 0 3 2 3 5 3 6 Installation Location 3 5 L Load inertia moment 2 3 Load torque 2 4 Loa...

Page 63: ......

Page 64: ...that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive Systems Inc 3 imperfection...

Page 65: ...G Hoenbergstra e 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 1810 0R THMA E Harmoni...

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