HarmonicDrive SHA - Y series, Manual, Page: 8 / 103

Contents
6
2-2 Change in load inertia moment .................................................................... 2-5
2-3 Verifying and examining load weights ................................................................. 2-6
Maximum load moment load ................................................................................ 2-7
Verifying life ......................................................................................................... 2-7
Verifying static safety coefficients ........................................................................ 2-9
2-4 Examining operating status ........................................................................ 2-10
Examining actuator rotation speed .................................................................... 2-10
Calculating and examining load inertia moment ................................................. 2-10
Load torque calculation ..................................................................................... 2-11
Acceleration time and deceleration time ............................................................ 2-12
Examining effective torque and average rotation speed..................................... 2-13
Chapter 3 Installing the SHA-Y actuator
3-1 Receiving Inspection ...................................................................................... 3-1
Inspection procedure ........................................................................................... 3-1
3-2 Notices on handling ........................................................................................ 3-2
Installation and transmission torque .................................................................... 3-2
Precautions on installation ................................................................................... 3-4
Use of positioning pins ........................................................................................ 3-5
Surface treatments .............................................................................................. 3-5
3-3 Location and installation ................................................................................. 3-6
Environment of location ....................................................................................... 3-6
Installation ........................................................................................................... 3-7
Chapter 4 Options
4-1 Options ....................................................................................................... 4-1
With near origin and end limit sensors (option code: L) ....................................... 4-1
Side exit cable (option code: Y) ........................................................................... 4-1
Output shaft single revolution absolute model (option code: S) ..................................... 4-1
With stand (CG only, option code: V) ................................................................... 4-2
Extension cables ................................................................................................. 4-4
Appendix
A-1 Unit conversion ............................................................................................ 5-1
A-2 Calculating inertia moment .......................................................................... 5-3
Formula of mass and moment of inertia............................................................... 5-3
Moment of Inertia of cylinder ............................................................................... 5-5