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Harmonic Drive MMA Series, Manual, Page: 10 / 62

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Harmonic Drive MMA Series Manual Download Page 10

Conformance to overseas standards 

8 

 

Summary of Contents for MMA Series

Page 1: ...Flat Hollow Shaft AC Servo Motors compatible with Mitsubishi Electric MELSERVO J4 series M M A s e r i e s m a n u a l ISO14001 ISO9001...

Page 2: ...ectly so that the product can be used safely for many years The information contained in this manual is subject to change without notice Company names and product names in this document are generally...

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: ...mage 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 are h...

Page 5: ...lt in an electric shock or uncontrollable operation Do not touch the terminals for at least 5 minutes after turning OFF the power supply Even after the power supply is turned OFF electric charge remai...

Page 6: ...1 9 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 19 Motor cable specifications 1 19 Encoder cable specifica...

Page 7: ...tallation 3 3 Use of positioning pins 3 4 Motor 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 side...

Page 8: ...motors are compliant with the following overseas standards UL standards UL1004 1 UL1004 6 File No E243316 CSA standards C22 2 No 100 European Low Voltage EC Directives EN60034 1 EN60034 5 UL nameplat...

Page 9: ...Allowable continuous current A 4 2 4 Speed at point A r min 2500 5 Frequency at point A Hz 208 6 Allowable ambient temperature 40 7 Number of phases 3 Model Item MMAB15 1 Output at point A W 754 2 Vo...

Page 10: ...Conformance to overseas standards 8...

Page 11: ...plifier and extension cables 1 2 1 3 Model 1 4 1 4 Specifications 1 5 1 5 Holding brake 1 7 1 6 External dimensions 1 8 1 7 Mechanical accuracy 1 12 1 8 Detector specifications Absolute encoder 1 13 1...

Page 12: ...standard with a 17 bit magnetic absolute encoder The MMA series AC servo motors are equipped with a highly reliable 17 bit magnetic absolute encoder with safety function The serial communication requ...

Page 13: ...ire Note 1 MR EKCBL M H Long flex life product or MR EKCBL M L Standard product and in the extension cable model indicates the cable length See below for details Motor wire 02 2 m 05 5 m 10 10 m Encod...

Page 14: ...to FFFFh PA18 MTY Motor type setting When driving MMA motor select the motor type with Pr PA17 and Pr PA18 Set at the same time as Pr PA17 For the setting values refer to the following table Motor ser...

Page 15: ...fier input voltage 200 200 V 6 Encoder format 16 Conforming to Mitsubishi format transmission rate 2 5 Mbps 1 on 1 connection 7 Encoder type resolution S17b 17 bit multi turn absolute encoder 131072 p...

Page 16: ...72 kgf m A 0 042 0 045 0 055 0 073 EMF constant 3 V r min 0 043 0 046 0 057 0 075 Phase resistance 20 1 2 0 33 0 19 0 028 Phase inductance mH 3 0 1 4 1 2 0 29 Inertia moment Values in parentheses are...

Page 17: ...ucture Totally enclosed self cooled type IP54 The table above shows the typical values 1 This displays representative characteristics for when combined with a dedicated amplifier driven using an ideal...

Page 18: ...ble 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 suction 2 The dur...

Page 19: ...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 that is n...

Page 20: ...ns 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 cable Motor...

Page 21: ...ns 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 cable Motor...

Page 22: ...ces 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 connector Motor connector Fix the...

Page 23: ...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 output shaft per revolutio...

Page 24: ...he servo amplifier encoder extension cable is disconnected for initial startup of the device etc However the backup capacitor has a limited life and its performance deteriorates Therefore switch OFF e...

Page 25: ...rvo amplifier in the direction of rising position addresses This rotation direction can be switched with the MELSERVO J4 servo amplifier Basic setting parameters Pr PA_ _ PA14 Rotation direction selec...

Page 26: ...follows and this value is the same in up down left right and front rear directions Shock acceleration 300 m s 2 In our shock resistance test the motor is tested three times in each direction Motor op...

Page 27: ...ance 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 s 2 frequency 10 to 400 Hz In our test the motor is...

Page 28: ...be operated instantaneously as shown by the relationship between the torque and rotational speed This range is normally used for acceleration or deceleration The continuous motion range represents an...

Page 29: ...cceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and deceleration Continuous motion range Continuous motion range Continuous motion range...

Page 30: ...on 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 connecti...

Page 31: ...layout Model No 21A Pin number Signal name Remarks 1 Vbat Battery 2 GND bat Battery GND 3 No connection 4 Vcc Power supply input 5 V 5 GND Vcc Power supply input 0 V GND 6 No connection 7 No connecti...

Page 32: ...1 13 Cable specifications 1 21 Outlines 1 Appe...

Page 33: ...pter 2 Selection guidelines This chapter explains how to select a proper MMA series motor 2 1 MMA series selection 2 1 2 2 Verifying and examining load weights 2 2 2 3 Examining the operating status 2...

Page 34: ...t speed is required Model MMAB09 MMAB12 MMAB15 MMAA21A Allowable rotational speed r min 5600 4800 4000 3000 Inertia moment without brake 10 4 kg m2 1 78 6 45 15 8 125 10 4 kgf cm s2 18 2 65 8 161 1280...

Page 35: ...aft does not exceed the permissible load in the table below Values shown in the table are permissible loads when applied individually Permissible output shaft load Item Model L When operated at the ra...

Page 36: ...motor For linear operation use the rotational speed conversion formula below Check that this motor rotational speed is less than the max rotational speed of the MMA series motor Calculating and examin...

Page 37: ...Average radius of friction side m Linear operation horizontal operation The rotary torque for when mass W moves horizontally due to the screw of pitch P is shown below T Rotary torque N m Friction co...

Page 38: ...applied in the opposite direction Calculation example 1 Select a motor that best suits the following operating conditions Rotational speed 4000 r min Inertia moment of load 3 0 10 4 kg m 2 Since the l...

Page 39: ...ed in calculation example 1 The travel angle per cycle is 3600 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 o...

Page 40: ...N m Td 2 53 N m Tm 0 80 N m ta 0 087 s tr 0 069 s td 0 075 s Then the following equation is obtained t 2 30 2 0 087 2 53 2 0 075 0 80 2 1 46 s Based on the result setting the cycle time to 1 5 second...

Page 41: ...Chapter 3 Installing the 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 42: ...ocument in Chapter 1 Section 2 Combinations with servo amplifier and extension cables column 4 Check if the power voltages being input are correct The value of the power voltage input is shown in the...

Page 43: ...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 7 T...

Page 44: ...7 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 category JIS B 1051 12 9 or higher 3 Calcu...

Page 45: ...t 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 material The MMA series...

Page 46: ...istance to vibration P1 16 Impact 300 m s 2 or less Refer to 1 10 Shock resistance P1 15 Use environment Free from condensation metal powder corrosive gases water oil mist flammable gases etc Protecti...

Page 47: ...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 bring strong...

Page 48: ...3 3 Location and installation 3 7 Installing the motor 3 Appe...

Page 49: ...Chapter 4 Options This chapter provides information on the options 4 1 Options 4 1...

Page 50: ...encoder wires are 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 This option is not available fo...

Page 51: ...ng brake wire and encoder You must use an extension cable to connect your MMA series motor and MELSERVO J4 servo amplifier Motor extension cable Motor model Nos 09 12 15 EWD MB A06 TMC M in the model...

Page 52: ...dard product For details on encoder extension cable contact Mitsubishi Electric customer support in the model code indicates the cable length 02 2m 05 5m 10 10m Servo amplifier side Moor side Cable le...

Page 53: ...Chapter 5 Appendix A 1 Unit conversion 5 1 A 2 Calculating inertia moment 5 3...

Page 54: ...2 in s 2 Factor 2 78x10 4 8 47x10 5 0 3048 0 0254 Unit m min 2 ft min 2 ft s 2 in s 2 Factor 3600 1 18x10 4 3 281 39 37 SI system m s 2 4 Force SI system N Unit kgf lb force oz force Factor 9 81 4 45...

Page 55: ...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 m 2 Unit kgf m s 2 kgf cm s 2 lb ft 2 lb ft s 2 lb in 2 lb in s 2 o...

Page 56: ...r cylinder 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 di...

Page 57: ...e gravity center I Inertia moment when the gravity center axis does not match the rotational axis kg m 2 Ig Inertia moment when the gravity center axis matches the rotational axis kg m 2 Calculate acc...

Page 58: ...ngth 7 mm Shape Column Outer diameter 100 mm Inner diameter 50 mm Inertia moment Approx 1 9 10 4 kg m 2 by the graph on the right Calculated value 0 000186 m 2 1000 100 10 1 0 1 0 01 0 001 10 4 10 5 1...

Page 59: ...2 External dimensions 1 8 H Holding brake 1 7 I Inertia moment 5 3 Inertia moment of cylinder 5 5 Installation 3 0 3 2 3 5 3 6 Installation Location 1 6 3 5 L Load inertia moment 2 3 Load torque 2 4 L...

Page 60: ......

Page 61: ...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 62: ...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 No 1907 0R TMMA E Harm...

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