Harmonic Drive KDU Series Manual Download

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Direct Drive Motor

K D U S e r i e s M a n u a l

ISO14001

ISO9001

Summary of Contents for KDU Series

Page 1: ...Direct Drive Motor K D U S e r i e s M a n u a l ISO14001 ISO9001 ...

Page 2: ...of the product Read this manual carefully and use the product correctly so that the product can be used safely for many years Product specifications are subject to change without notice for improvement purposes Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units The end user of the motor should have a copy of this manual ...

Page 3: ...r 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 Space equipment Aircraft aeronautic equipment Nuclear equipment Household apparatus Vacuum equipment Automobile automotive parts Amusement equipment sport equipment game machines Machine or devices acting ...

Page 4: ...on may lead to vibration resulting in damage of output shafts OPERATIONAL PRECAUTIONS Never connect cables directly to a power supply socket Each motor must be operated with a proper driver Do not directly apply a commercial power supply Failure to observe this caution may lead to fire or damage to the motor Do not apply impacts and shocks Because the motor is directly connected to the encoder wit...

Page 5: ...mages to the drivers Please consult our sales office if you intend to make a voltage resistance test Use a fast response type ground fault detector designed for PWM inverters When using a fast response type ground fault detector use one that is designed for PWM inverters Do not use a time delay type ground fault detector If this product is utilized in any facility in which human life is at stake o...

Page 6: ... make a voltage resistance test Do not operate control units by means of power ON OFF switching Frequent power ON OFF operations may cause deterioration of circuit elements inside the driver Start stop operation should be performed via input signals DISPOSAL All products or parts have to be disposed of as industrial waste Since the case or the box of drivers have a material indication classify par...

Page 7: ...apter explains overviews of motor models specifications external dimensions etc Chapter 2 Installation This chapter explains how to install the motor Chapter 3 Option This chapter explains options Appendix This chapter explains unit conversion and method of calculating inertia moment ...

Page 8: ...5 External dimensions 6 1 6 External drawing 8 1 7 Absolute positional accuracy 9 1 8 Repeatability 10 1 9 Moment stiffness 11 1 10 Axial load and moment load 12 1 11 Rotation direction 13 1 12 Resistance to vibration and impact 14 1 13 Allowable load inertia moment 15 1 14 Operable range 16 1 15 Cable specifications 17 Chapter 2 2 1 Receiving inspection 1 2 2 Notices on handling 2 2 3 Installatio...

Page 9: ...cation 3 Installation 5 Chapter 3 3 1 Extension cable 1 3 2 Communication cable 2 3 3 Standard combination 3 Appendix Appendix 1 Unit conversion 1 Appendix 2 Inertia moment calculation 3 1 Formula of mass and inertia moment 3 2 Inertia moment of cylinder 6 ...

Page 10: ...Contents 8 Memo ...

Page 11: ... with driver 3 1 4 Specifications 4 1 5 External dimensions 6 1 6 External drawing 8 1 7 Absolute positional accuracy 9 1 8 Repeatability 10 1 9 Moment stiffness 11 1 10 Axial load and moment load 12 1 11 Rotation direction 13 1 12 Resistance to vibration and impact 14 1 13 Allowable load inertia moment 15 1 14 Operable range 16 1 15 Cable specifications 17 ...

Page 12: ...ution of 11 840 000 pulse rev This makes possible smooth indexing operations and precise indexing positioning for ultra high accuracy measuring devices ultra precise semiconductor manufacturing devices etc High positional accuracy Achieves absolute positional accuracy of 10 s with position correction control and highly accurate repeatability of 0 5 s Large hollow diameter It has a large hollow str...

Page 13: ...ined below KDU 13S B E 10 Model KDU Series Direct Drive Motor Model No 13S 13W Encoder resolution 10 11 840 000 p rev Version symbol Encoder type E Incremental encoder Specification symbol No symbol Standard specification product SP Special specification product KDU 13SB D3 100 Motor model KDU Series Direct Drive Motor KDU 13SB KDU 13SB E10 KDU 13WB KDU 13WB E10 System designation Combined with th...

Page 14: ...name 100V KDU 13SB D3 100 KDU 13SB E10 HA 770 2 KDU 13WB D3 100 KDU 13WB E10 200V KDU 13SB D3 200 KDU 13SB E10 KDU 13WB D3 200 KDU 13WB E10 Use the KDU Series motor combined with a driver as a set The KDU Series motor s absolute positional accuracy of 10 seconds is based on correction data from the driver memory If you use a motor and driver combination that is not shown the absolute positional ac...

Page 15: ...20 to 80 RH no condensation Resistance to vibration while transporting or mounting the motor 25 m s2 frequency 10 to 400Hz Resistance to impact while transporting or mounting the motor 300 m s2 No dust metal powder corrosive gas inflammable gas or oil mist To be used indoors no direct sunlight Altitude less than1 000 m above sea level Motor insulation Insulation resistance 100MΩ or more by DC500V ...

Page 16: ...ar due to the cross roller bearing grease running out for devices used in operation environments with fine operations periodically rotate the output shaft at least 90 in order to maintain accuracy Mounting direction check The mounting condition for our accuracy measurement is to have the output shaft facing up When using the motor with the output shaft not facing up contact us for more information...

Page 17: ...rd angle Unit mm third angle projection Encoder Interpolator Interpolator Motor connector Hole for fixing the stopper part 6 5 5 Encoder Interpolator Interpolator Motor connector Tap for fixing the rotating part 6 M5X8 Rotating part Fixed part Hollow shaft diameter Hollow shaft diameter Fixed part Rotating part Hole for fixing the stopper part 6 5 5 Tap for fixing the rotating part 6 M5X8 ...

Page 18: ...1 5 External dimensions 7 Overviews 付 11 10 9 8 7 6 5 4 1 Encoder Interpolator Unit mm third angle projection ...

Page 19: ...tion of the output shaft The specified deflection of output shaft value of 0 040 mm is due to the assembly error of the KDU parts The method for reducing deflection of the output shaft is shown below 1 When producing the mounted load disk at your company produce it with circularity of 1 µm or less 2 Temporarily mount the load on the KDU output shaft 3 Set the dial gauge on the side of the mounted ...

Page 20: ... is shown as the absolute positional accuracy Reference encoder Resolution 57 600 000 pulse rev Absolute positional accuracy 0 26 arc sec Absolute position compensation function The uni directional positional accuracy means the maximum positional difference between the actual rotated angle from the datum position and its theoretical rotational angle in one revolution when series of positioning are...

Page 21: ...om the P1 point repeat the same operations as in 1 and measure the P2 point 3 Repeat the same operations 7 times 4 Take one half the value of the maximum value minus the minimum value for the measured values P1 through P7 and add the sign to give the repeatability The repeatability is shown in the table below Model Item KDU 13 Repeatability arc sec 0 5 To find the above repeatability maintain the ...

Page 22: ...f the KDU Series motor shown in the figure to the right For example when a load is applied to the end of an arm attached on the output shaft of the KDU Series motor the face of the output shaft tilts in proportion to the moment load The moment stiffness is expressed as the tensional moment angle Model Item KDU 13 Moment stiffness Nm rad 2 4 10 5 kgfm rad 2 4 10 4 kgfm arc min 7 12 Load ...

Page 23: ... load For the positional accuracy of the KDU Series motor the accuracy is checked with an output shaft load of 16 kg or less for an axial load If an axial load larger than 16 kg or a moment load is applied this affects the positional accuracy Contact us for more information Axial load 16 kg or less CAUTION ...

Page 24: ...tation direction Forward rotation direction of the motor is defined as counter clockwise rotation as viewed from the output shaft when a Forward command is given to a KDU Series motor from a HA 770 driver FWD rotation counter clockwise as viewed from the output shaft ...

Page 25: ...2 frequency 10 to 400Hz Resistance to impact Shock acceleration 300 m s 2 No of times 3 Accuracy cannot be guaranteed in environments subject to vibration and impact The resistance to vibration and impact in the specifications table are standard values for the vibration and impact that occur while transporting or mounting the motor While transporting or mounting the motor do not subject the motor ...

Page 26: ...ions refer to the load inertia moment in the graph below For larger load inertia moments or shorter positioning times than in the graph below contact us for more information The values in the graph below are reference values Load inertia moment and 90 positioning time 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 負荷イナーシャ kgm2 GD 2 4 90度位置決め時間 sec KDU 13SB KDU 13WB Momen...

Page 27: ... and the maximum torque the range in which the product can be operated in the instant are shown For position indexing operations for normal acceleration and deceleration use the motor within the operable range KDU 13SB E10 0 20 40 60 80 100 120 140 0 1 2 3 4 5 6 7 8 トルク Nm 回転速度 r min 100V 200V KDU 13WB E10 0 20 40 60 80 100 120 140 0 2 4 6 8 10 12 14 16 18 Torque Nm 100V 200V Rotation speed r min ...

Page 28: ...or phase W 4 Green Ｅ Ground Pin position Connector used Plug 172167 1 AMP Pin 170364 1 Connector used Cap 172159 1 AMP Socket 170366 1 Encoder cable Pin layout Pin position Pin No Signal name Remarks 1 Cannot be connected 2 GND Power input GND 3 Cannot be connected 4 Z Phase Z output 5 B Phase B output 6 A Phase A output 7 5V Power input 8 5V Power input 9 GND Power input GND 10 Cannot be connecte...

Page 29: ...Chapter 2 Installation This chapter explains how to install the motor 2 1 Receiving inspection 1 2 2 Notices on handling 2 2 3 Installation location and installation 3 ...

Page 30: ...anual for details of the model codes 3 The serial number of the KDU Series motor that should be combined with the HA 770 is written on the HA 770 driver nameplate Make sure your motor is combined with the correct driver The motor and driver are combined as a set The position correction data for the combination with the KDU Series motor is stored into memory in the HA 770 driver The same serial num...

Page 31: ...the KDU Series motor 2 Do not put the KDU Series motor on a table shelf etc where the motor could easily fall 3 The allowable storage temperature is 10 to 60 ﾟ C Do not expose the motor to direct sunlight for long periods of time or store it in areas in low or high temperature 4 The allowable relative storage humidity is 80 or less In particular do not store the motor in a very humid place or in a...

Page 32: ...note that condensation is likely to occur in a place where there is a large temperature change between day and night or when the motor is started stopped frequently Vibration In an environment with vibration it may be impossible to achieve the stopping stability of 1 pulse Use the motor in an environment where vibration is not transmitted to it Impact Never subject the motor to impact There must b...

Page 33: ...to prevent uneven wear due to the cross roller bearing grease running out for devices used in operation environments with fine operations periodically rotate the output shaft at least 90 in order to maintain accuracy Mounting direction check The mounting condition for our accuracy measurement is to have the output shaft facing up When using the motor with the output shaft not facing up contact us ...

Page 34: ...own in the table below Model Item KDU 13SB KDU 13WB Output shaft Flange Output shaft Flange Tightening torque Screw hole depth 6 M5 Depth 8 6 M5 6 M5 Depth 8 6 M5 Nm 7 4 7 4 7 4 7 4 kgfcm 75 75 75 75 3 Mount the encoder interpolator This unit has a function for converting encoder signals into high resolution digital signals Fasten securely It is also necessary to always ground the interpolator and...

Page 35: ...Chapter 3 Option The following explains the options 3 1 Extension cable 1 3 2 Communication cable 2 3 3 Standard combination 3 ...

Page 36: ...e are two types of relay cable for motors and incremental encoder Extension cable model indicates the cable length of 3m or 5m For motors EWA M A04 WG04 01 Incremental encoder only EWA E OM15 3M14 Symbol L 03 3m 05 5m Symbol L 015 1 5ｍ 035 3 5ｍ Driver side HA 770 2 Motor side KDU 13SB 13WB Driver side HA 770 2 Motor side KDU 13SB 13WB Cable length L Cable length L ...

Page 37: ...The RS 422 RS 485 cable is used to communicate with the HA 770 driver Cable model HDM RS422 HA770 Connector cable Pin No Color Signal cable RS422 RS485 1 Red TxD TRX 2 Red White NTXD NTRX 3 Green RXD 4 Green White NRXD 5 Yellow RT1 RT1 6 Yellow White RT2 RT2 7 Black GND GND 8 Shield FG FG ...

Page 38: ... encoders Extension cable model name Entire length of cable excluding connector Motor extension cable model name KDU 13SB D3 7 0Nm KDU 13SB E10 HA 770 2 EWA E015 OM15 3M14 Encoder cable 3 m Motor cable 3 3 m EWA M03 A04 WG04 01 EWA E035 OM15 3M14 Encoder cable 5m Motor cable 5 3m EWA M05 A04 WG04 01 KDU 13WB D3 15 0Nm KDU 13WB E10 EWA E015 OM15 3M14 Encoder cable 3 m Motor cable 3 3 m EWA M03 A04 ...

Page 39: ...Appendix Appendix 1 Unit conversion 1 Appendix 2 Inertia moment calculation 3 ...

Page 40: ... ft min 2 ft s 2 in s 2 Factor 2 78 x10 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 0 278 Unit kgf lb force oz force Factor 0 102 0 225 4 386 SI system N 5 Mass SI system kg Unit lb oz Factor 0 4535 0 02835 Unit lb oz Factor 2 205 35 27 SI system kg 6 Angle SI system ...

Page 41: ...tem 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 oz in 2 oz in s 2 Factor 0 102 10 2 23 73 0 7376 3 42x10 3 8 85 5 47x10 4 141 6 Unit kgf m s 2 kgf cm s 2 lb ft 2 lb ft s 2 lb in 2 lb in s 2 oz in 2 oz in s 2 Factor 9 81 0 0981 0 0421 1 356 2 93x10 4 0 113 1 829x10 5 7 06x10 3 SI system kg m 2 11 Torsional spring constant moment stiffness SI 単位 N m rad Unit kgf m rad kgf m ...

Page 42: ...enter Cylinder Circular pipe Slanted cylinder Ball Ellipsoidal cylinder Cone Rectangular pillar Square pipe ρ L R m 2 π ρ L BC m 4 1 2 2 C B m 16 1 Ix 3 L 4 C m 4 1 Iy 2 2 3 L 4 B m 4 1 Iz 2 2 ρ π 1 L R 3 m 2 2 2 D D B m 3 1 Ix 2 2 2 D D B A m 6 1 Iy 2 R L z x y 2 R m 2 1 Ix 3 L R m 4 1 Iy 2 2 3 L R m 4 1 Iz 2 2 ρ π L R R m 2 2 2 1 3 L R R m 4 1 Iy 2 2 2 2 1 2 2 2 1 R R m 2 1 Ix 3 L R R m 4 1 Iz 2...

Page 43: ...sin 2 20 2 Both centerlines of rotation and gravity are not the same The following formula calculates the moment of inertia when the rotary center is different from the 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 does not match the rotational axis kg m 2 Calculate according to the shape by usi...

Page 44: ...nearly moving objects The inertia moment converted to FHA C actuator axis of a linear motion object driven by a screw etc is calculated using the formula below I Inertia moment of a linear motion object converted to actuator axis kg m 2 m mass kg P Linear travel per actuator revolution m rev 2 2 P m I π ...

Page 45: ...umn Because the outer diameter is 100mm the radius is 50mm Therefore the above graph gives the inertia moment as follows Approximately 1 9 x 10 4 kg m 2 Calculated value 0 000186 kg m 2 Radi us Lengt h 1000 1000 100 10 1 0 1 0 01 0 001 10 4 10 5 10 6 10 100 1000 20 30 50 70 200 300 500 700 Moment of inertia Specific gravity 2 7 Moment of inertia kgm2 Radius R mm Length mm 1000 100 10 1 1000 100 10...

Page 46: ...al dimensions 6 External drawing 8 Inertia moment 3 Inertia moment of cylinder 7 Installation 5 load inertia moment 16 Model 2 Moment stiffness 11 Operable range 17 Overviews 1 Repeatability 10 Resistance to vibration and impact 14 Specifications 4 Standard combination 3 Unit conversion 1 ...

Page 47: ...t 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 caused by the other than the KDU series actuator and the HA 720 servo driver 4 disaster or others that does not belong to the responsibility of Harmonic Drive Systems Inc Our liability shall be limited exclusively to rep...

Page 48: ...ttps www hds co jp Head Office Ichigo Omori Building 6 25 3 Minami Ohi Shinagawa ku Tokyo Japan 140 0013 TEL 81 0 3 5471 7800 FAX 81 0 3 5471 7811 5103 1 Hotakaariake Azumino shi Nagano Japan 399 8301 TEL 81 0 263 81 5950 FAX 81 0 263 50 5010 HOTAKA Plant 1856 1 Hotakamaki Azumino shi Nagano Japan 399 8305 TEL 81 0 263 83 6800 FAX 81 0 263 83 6901 Hoenbergstrasse 14 D 65555 Limburg a d Lahn German...

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