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AC Servo Actuators LynxDrive®

Engineering Data

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Summary of Contents for LynxDrive 14C

Page 1: ...AC Servo Actuators LynxDrive Engineering Data More information on our servo products can be found HERE Contact us today...

Page 2: ...e Characteristics 14 6 3 Actuator Data LynxDrive 17C 15 6 3 1 Technical Data 15 6 3 2 Moment of Inertia 15 6 3 3 Technical Data Brake 15 6 3 4 Performance Characteristics 16 6 4 Actuator Data LynxDriv...

Page 3: ...B MKE B 46 6 15 6 LynxDrive xxC yy Az L ROO B 47 7 Actuator Selection Procedure 48 7 1 Selection Procedure and Calculation Example 48 7 2 Calculation of the Torsion Angle 52 7 3 Output Bearing 53 7 3...

Page 4: ...products of Harmonic Drive AG you may require additional documents Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website www harmonicdr...

Page 5: ...d its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components Beware of electromagnetic environmental compatibility 1 2 Disclaimer and Cop...

Page 6: ...t mains Prevent reconnection Test for absence of harmful voltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been c...

Page 7: ...weight 20 kg INFORMATION Special versions of products may differ in the specification from the standard Further applicable data from data sheets catalogues and offers of the special version have to be...

Page 8: ...chinery Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the Machinery Directive 2 5 2 Servo Actuators and Motors The Harmonic Drive Servo Actua...

Page 9: ...rive Series offers many possible combinations when selecting the motor feedback brake as well as offering various cable and connector options With the servo controller YukponDrive a pre configured dri...

Page 10: ...turn Absolut HIPERFACE MEE EnDat MKE ROO Resolver Connector configuration Ordering Code Motor Motor feedback MGH ROO MEE MKE H 6 pol 12 pol 17 pol L 8 pol Series Size Ratio Motor winding Connector con...

Page 11: ...V04 5 Combinations Table 11 1 available on request not available Size 14C 17C 20C 25C 32C 40C 50C Ratio 30 50 80 100 120 160 Motor winding AO AR AT AW Connector configuration H L Motorfeedback MGH ME...

Page 12: ...humidity without condensation 20 80 Vibration resistance DIN IEC 68 Teil 2 6 10 500 Hz g 5 Shock resistance DIN IEC 68 Teil 2 27 18 ms g 30 Temperature sensor 1 x KTY 84 130 and 1 x PTC 91 K135 The c...

Page 13: ...m 0 5 0 8 2 No load running current constant 80 C KINL 10 3 Arms rpm 0 2 0 4 0 8 Torque constant at output kTout Nm Arms 11 3 16 8 34 4 Torque constant at motor kTM Nm Arms 0 39 AC voltage constant L...

Page 14: ...rbetrieb 0 6 9 70 6 9 70 0 70 0 70 0 Spannungsgrenze 0 0 0 0 0 2 4 6 8 10 12 14 16 18 20 0 50 100 150 200 Drehmoment Nm Torque Nm Drehzahl min 1 Speed rpm LynxDrive 14C 50 LynxDrive 14C 30 LynxDrive 1...

Page 15: ...constant at output kTout Nm Arms 11 1 17 9 37 1 Torque constant at motor kTM Nm Arms 0 39 AC voltage constant L L 20 C at motor kEM Vrms 1000 rpm 26 Motor terminal voltage fundamental wave only UM Vrm...

Page 16: ...0 Dauerbetrieb 0 26 70 26 70 0 70 0 70 0 Spannungsgrenze 0 0 0 0 0 5 10 15 20 25 30 35 40 0 50 100 150 200 Drehmoment Nm Torque Nm Drehzahl min 1 Speed rpm LynxDrive 17C 50 LynxDrive 17C 30 LynxDrive...

Page 17: ...8 0 08 No load running current constant 30 C KINL 10 3 Arms rpm 1 2 1 9 3 1 3 9 4 6 6 2 No load running current constant 80 C KINL 10 3 Arms rpm 0 5 0 7 1 3 1 6 1 9 2 5 Torque constant at output kTout...

Page 18: ...r ADC 0 2 Number of brake cycles at n 0 rpm 500000 Emergency brake cycles 1000 Opening time tO ms 25 Closing time tC ms 6 Symbol Unit LynxDrive 20C Ratio i 30 50 80 100 120 160 Moment of inertia at ou...

Page 19: ...m Drehzahl min 1 Speed rpm LynxDrive 20C 120 Berechnung von Antriebskennlinien LynxDrive 20C 160 Untersetzung 160 Drehzahl Drehmoment Maximal 0 92 40 6 92 40 6 0 40 6 0 40 6 0 S3 ED 50 0 61 7 40 6 61...

Page 20: ...12 0 13 No load running current constant 30 C KINL 10 3 Arms rpm 0 45 1 0 2 2 3 2 4 3 6 8 No load running current constant 80 C KINL 10 3 Arms rpm 0 14 0 31 0 65 0 93 1 3 2 0 Torque constant at outpu...

Page 21: ...o hold IHBr ADC 0 2 Number of brake cycles at n 0 rpm 500000 Emergency brake cycles 1000 Opening time tO ms 25 Closing time tC ms 6 Symbol Unit LynxDrive 25C Ratio i 30 50 80 100 120 160 Moment of ine...

Page 22: ...nlinien LynxDrive 25C 50 Drehzahl Drehmoment Maximal 0 98 96 98 96 0 96 0 96 0 S3 ED 50 0 68 96 68 96 0 96 0 96 0 Dauerbetrieb 0 55 60 55 70 44 70 0 70 0 Spannungsgrenze 0 0 0 0 0 20 40 60 80 100 120...

Page 23: ...21 0 15 0 14 0 13 0 12 No load running current constant 30 C KINL 10 3 Arms rpm 3 2 5 3 8 5 11 13 17 No load running current constant 80 C KINL 10 3 Arms rpm 1 3 2 1 3 3 4 2 5 0 6 7 Torque constant a...

Page 24: ...IHBr ADC 0 3 Number of brake cycles at n 0 rpm 500000 Emergency brake cycles 1000 Opening time tO ms 35 Closing time tC ms 7 Symbol Unit LynxDrive 32C Ratio i 30 50 80 100 120 160 Moment of inertia at...

Page 25: ...Drive 32C 120 0 50 100 150 200 250 300 350 400 0 10 20 30 40 50 LynxDrive 32C 120 Berechnung von Antriebskennlinien LynxDrive 32C 160 Untersetzung 160 Drehzahl Drehmoment Maximal 0 372 30 372 30 0 30...

Page 26: ...0 20 0 18 0 17 No load running current constant 30 C KINL 10 3 Arms rpm 8 8 14 2 18 21 28 3 No load running current constant 80 C KINL 10 3 Arms rpm 3 4 5 5 6 8 8 2 10 9 Torque constant at output kTou...

Page 27: ...d IHBr ADC 0 4 Number of brake cycles at n 0 rpm 500000 Emergency brake cycles 1000 Opening time tO ms 40 Closing time tC ms 7 Symbol Unit LynxDrive 40C Ratio i 50 80 100 120 160 Moment of inertia at...

Page 28: ...0 200 300 400 500 600 0 10 20 30 40 50 LynxDrive 40C 100 LynxDrive 40C 160 0 100 200 300 400 500 600 700 0 10 20 30 LynxDrive 40C 160 Berechnung von Antriebskennlinien LynxDrive 40C 120 Untersetzung 1...

Page 29: ...30 0 29 0 29 0 30 No load running current constant 30 C KINL 10 3 Arms rpm 4 7 8 6 8 8 9 8 No load running current constant 80 C KINL 10 3 Arms rpm 1 3 2 4 2 2 2 4 2 8 Torque constant at output kTout...

Page 30: ...to hold IHBr ADC 0 4 Number of brake cycles at n 0 rpm 500000 Emergency brake cycles 1000 Opening time tO ms 40 Closing time tC ms 7 Symbol Unit LynxDrive 50C Ratio i 50 80 100 120 160 Moment of iner...

Page 31: ...hnung von Antriebskennlinien LynxDrive 50C 80 Drehzahl Drehmoment Maximal 0 940 44 940 44 0 44 0 44 0 S3 ED 50 0 640 15 640 44 100 44 0 44 0 Dauerbetrieb 0 520 5 520 31 40 31 0 31 0 Spannungsgrenze 0...

Page 32: ...ve 14C LynxDrive 20C LynxDrive 25C Symbol Unit LynxDrive 14C LynxDrive 17C Motor feedback system MKE MKE Length without brake L mm 126 129 Table 32 3 Table 32 6 Symbol Unit LynxDrive 20C LynxDrive 25C...

Page 33: ...4 mm mm Symbol Unit LynxDrive 32C LynxDrive 40C Motor feedback system ROO MKE MGH MEE ROO MKE MGH MEE Length without brake L mm 159 184 169 192 Length with brake L1 mm 203 228 215 238 Symbol Unit Lyn...

Page 34: ...in 0 1 0 1 0 1 Hysteresis loss arcmin 3 1 3 1 3 1 Lost Motion arcmin 1 1 1 Symbol Unit LynxDrive 14C LynxDrive 17C LynxDrive 20C Limit torques T1 Nm 2 3 9 7 T2 Nm 6 9 12 25 Ratio i 30 50 50 30 50 50 3...

Page 35: ...fs 1 5 for size 25 58 4 These data are valid for n 15 rpm and L10 15000 h 3 4 These data are only valid if the following conditions are fulfilled for M0 Fa 0 N Fr 0 N Fa M 0 Nm Fr 0 N Fr M 0 Nm Fa 0...

Page 36: ...tion is for med by adding up the incremental position changes Where incremental encoders have square wave signals definition of the edge evaluation can be quadrupled quad counting Where incremental en...

Page 37: ...49 0 40 0 33 0 25 6 13 2 MEE Multiturn absolute motor feedback system with incremental SIN COS signals and EnDat data interface Table 37 2 Ordering code Symbol Unit MEE Manufacturer s designation EQN...

Page 38: ...upply1 Ub VDC 5 5 Current consumption typ 5 VDC without load 1 I mA 145 Incremental signals upp Vss 1 Signal form sinusoidal Number of pulses n1 SIN COS 16 Absolute position revolution motor side 3 26...

Page 39: ...4 130 the values given in the table can be parametrized in the servo controller or an external evaluation unit Table 39 1 Table 39 3 Illustration 39 2 4000 3000 2000 1000 0 TNAT 5 TNAT TNAT 5 Widersta...

Page 40: ...314260 314261 314262 Connecting cables LynxDrive MEE MKE to YukonDrive ROO H 314271 314272 314273 Connecting cables LynxDrive ROO to YukonDrive Connecting cables LynxDrive xx yy Az x yyy B For use of...

Page 41: ...wer Connection LynxDrive without brake 6FX8002 5CG01 1xx0 LynxDrive with brake 6FX8002 5DG01 1xx0 Motor feedback MEE MKE 6FX8002 2EQ10 1xx0 ROO 6FX8002 2CF02 1xx0 Connecting cables with flying leads A...

Page 42: ...Az H MGH B Motor connector 6 M23 x 1 Cable plug 6 M23 x 1 Mat no 301193 External diameter 26 mm Length 60 mm Encoder connector 12 M23 x 1 Cable plug 12 M23 x 1 Mat no 305068 External diameter 26 mm Le...

Page 43: ...onnector 12 M23 x 1 Cable plug 17 M23 x 1 Mat no 270199 External diameter 26 mm Length 60 mm LynxDrive xxC H Connector pin 1 2 3 4 5 6 Motorphase U V PE BR 1 BR 1 W Illustration 43 2 Illustration 43 5...

Page 44: ...Az H ROO B Motor connector 6 M23 x 1 Cable plug 6 M23 x 1 Mat no 301193 External diameter 26 mm Length 60 mm Encoder connector 12 M23 x 1 Cable plug 12 M23 x 1 Mat no 303494 External diameter 26 mm L...

Page 45: ...connector 12 M23 x 1 Cable plug 12 M23 x 1 Mat no 305068 External diameter 26 mm Length 60 mm LynxDrive xxC L Connector pin 1 2 3 4 A B C D Motorphase U PE W V Temp PTC Temp PTC BR 1 BR 1 Illustratio...

Page 46: ...M23 x 1 Cable plug 17 M23 x 1 Mat no 270199 External diameter 26 mm Length 60 mm LynxDrive xxC L Connector pin 1 2 3 4 A B C D Motorphase U PE W V Temp PTC Temp PTC BR 1 BR 1 Illustration 46 2 Illust...

Page 47: ...2 3 4 A B C D Motorphase U PE W V Temp PTC Temp PTC BR 1 BR 1 Illustration 47 2 1 only for LynxDrive with option brake B Motor connection Table 47 4 Encoder connector 12 M23 x 1 Cable plug 12 M23 x 1...

Page 48: ...e T1 Equation 38 1 Is the required acceleration torque less than max output torque of the actuator No Yes Determine the torque pattern and calculate the effective torque Trms Equation 38 2 Calculate a...

Page 49: ...ficiency TL Nm Coefficient of friction of bearing Speed pattern Torque pattern Speed n rpm Torque T Nm Operational cycle t0 Note t1 t3 Time t s Time t s TL m g r Nm g 9 81 m s2 JL m 8 D2 kgm2 1 JL 3 J...

Page 50: ...to cyclically position a mass with a horizontal axis of rotation Speed pattern Torque pattern n2 40 rpm Speed n rpm T1 T2 T3 t1 0 1 t2 0 1 t3 0 1 tP 1 Torque T Nm t0 1 3 Note t1 t3 Time t s Time t s...

Page 51: ...T1 5 2 1 3 0 86 40 103 8 Nm 60 0 1 Confirm Is the required acceleration torque less than the maximum output torque of the actuator Check according to the performance characteristics Trms and nav are...

Page 52: ...7 104 Nm rad 7 15 10 4 rad 2 5 arcmin 180 60 arcmin rad Example T 60 Nm K1 6 7 104 Nm rad T1 29 Nm K2 1 1 105 Nm rad T2 108 Nm K3 1 2 105 Nm rad T T1 K2 T1 K1 T1 T T2 T2 T1 K2 T1 K1 T T2 K3 7 2 Calcul...

Page 53: ...B Cross roller bearing 10 3 Four point bearing 3 At oscillating angles 5 fretting corrosion may occur due to insufficient lubrication In this case please contact our sales engineer for counter measure...

Page 54: ...maximum radial force Fax represents the maximum axial force tp represents the pause time between cycles Load factors x y 1 0 45 0 67 0 67 Frav 2 M dp 1 5 Faav Frav 2 M dp 1 5 Faav Illustration 44 5 I...

Page 55: ...g Equation 45 1 7 3 3 Permissible Static Tilting Moment In case of static load the bearing load capacity can be determined as follows fs Static load safety factor fs 1 5 3 Table45 3 C0 Static load rat...

Page 56: ...nit LynxDrive 14C 17C 20C 25C 32C 40C 50C Load side Fit of bearing inner ring mm 11 H7 10 H7 14 H7 20 H7 26 H7 32 H7 40 H7 Recomended tolerance area for transition fit mm h7 h7 h7 h7 h7 h7 h7 Housing...

Page 57: ...in the motor feedback systems do not contain more than 1 g of lithium or lithium alloy and are exempt from dangerous goods regulations 9 2 Installation Check the performance and protection and check t...

Page 58: ...umber of screws 6 6 6 8 12 8 12 Screw size M4 M4 M5 M5 M6 M8 M8 Screw quality 12 9 12 9 12 9 12 9 12 9 12 9 12 9 Pitch circle diameter mm 65 71 82 96 125 144 174 Screw tightening torque Nm 4 5 4 5 9 9...

Page 59: ...easures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handling can cause damage to persons and property The respective national local a...

Page 60: ...side the final mounting position should be limited to 5 minutes of continuous running at a motor speed of less than 1000 rpm These values should not be exceeded in order to avoid thermal damage to the...

Page 61: ...e of an additional shaft seal to be provided by the user or the maintenance of a constant pressure inside the actuator Please contact Harmonic Drive AG for further information ADVICE Specification sea...

Page 62: ...and property The respective national local and factory specific regulations must be adhered to ATTENTION Burns from hot surfaces with temperatures of over 100 C Let the motors cool down before startin...

Page 63: ...otor Feedback Systems DANGER 10 Decommissioning and Disposal The gears servo actuators and motors from Harmonic Drive AG contain lubricants for bearings and gears as well as electronic components and...

Page 64: ...is applied to the gear an average torque should be calculated for the complete operating cycle This value should not exceed the specified TA limit Backlash Harmonic Planetary Gears arcmin When subject...

Page 65: ...ng rotating this is the maximum allowable tilting moment with no additional axial forces or radial forces applied This value is not based on the equation for lifetime calculation of the output bearing...

Page 66: ...e lubrication for short period The maximum input speed can be applied as often as desired as long as the application s average speed is lower than the permitted average input speed of the gear Maximum...

Page 67: ...UM Vrms Required fundamental wave voltage to achieve the specified performance Additional power losses can lead to restriction of the maximum achievable speed Nominal Service Life Ln h When loaded wit...

Page 68: ...speed the Wave Generator Bearing will reach the nominal service life Ln with 50 propability of failure The rated torque TN is not used for the dimensioning of the gear Rated voltage UN Vrms Supply vo...

Page 69: ...d from the stall torque in Ncm 3 Direct drives from the TorkDrive Series The size of the TorkDrive Series is the outer diameter of the iron core of the stator Static load rating C0 N Maximum static lo...

Page 70: ...or a given torque and blocked input shaft The torsional rigidity of the Harmonic Planetary Gear describes the rotation of the gear above a reference torque of 15 of the rated torque In this area the t...

Page 71: ...s the applicable requirements of the EU harmonization legislation REACH Regulation REACH is a European Community Regulation on chemicals REACH stands for Registration Evaluation Authorization and Rest...

Page 72: ...Deutschland Harmonic Drive AG Hoenbergstra e 14 65555 Limburg Lahn info harmonicdrive de www harmonicdrive de Subject to technical changes T 49 6431 5008 0 F 49 6431 5008 119 1018856 08 2018 V04...

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