Harmonic Drive FHA - C mini Series, Руководство пользователя

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1-4 Specifications
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1-4 Specifications
Input voltage 100VAC/200VAC specification
The specifications for the FHA-C mini series actuators with 100VAC/200VAC input voltages are as follows.
Model
Item
FHA-8C FHA-11C FHA-14C
30 50 100 30 50 100 30 50 100
Maximum torque
Note 2
N
･
m
1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
kgf
･
m
0.18 0.34 0.49 0.46 0.85 1.1 0.92 1.8 2.9
Allowable continuous torque
Note 2, Note 5
N
･
m
0.75 1.5 2 1.8 2.9 4.2 3.5 4.7 6.8
kgf
･
m
0.08 0.15 0.2 0.18 0.3 0.43 0.36 0.48 0.69
Maximum rotational speed r/min
193 116 58 193 116 58 193 116 58
Torque constant
N
･
m/A
3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
kgf
･
m/A
0.40 0.68 1.4 0.39 0.67 1.4 0.43 0.74 1.5
Maximum current
Note 2
A
0.61 0.64 0.48 1.5 1.6 1.1 2.9 3.2 2.4
Allowable continuous current
Note 2
A
0.31 0.34 0.26 0.74 0.69 0.54 1.27 1.06 0.85
Input power supply
(amplifier)
V
AC200(3 phase/single phase), AC100(single phase)
MEF constant
Note 6
V/(r/min)
0.48 0.80 1.6 0.48 0.80 1.6 0.52 0.86 1.70
Phase resistance
Ω
(20
℃
)
14 3.7 1.4
Phase inductance mH
5.7 3.2 1.8
Inertia moment
(GD
2
/4)
(J)
kg
･
m
2
0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
kgf
･
cm
･
s
2
0.0270 0.0750 0.30 0.0610 0.170 0.680 0.180 0.510 2.00
Reduction ratio 30 50 100 30 50 100 30 50 100
Permissible moment load
N
･
m
15 40 75
kgf
･
m
1.5 4.1 7.7
Moment stiffness
N
･
m/rad
2 x 10
4
4 x 10
4
8 x 10
4
kgf
･
m/rad
0.2 x 10
4
0.4 x 10
4
0.8 x 10
4
Encoding format
Incremental encoder
Encoder resolution
Note 4
pls/rev
2,000
［
8,000
］
Actuator resolution
Note 4
pls/rev
［
240,000
］ ［
400,000
］ ［
800,000
］ ［
240,000
］ ［
400,000
］ ［
800,000
］ ［
240,000
］ ［
400,000
］ ［
800,000
］
Uni-directional positional
accuracy
Sec.
(angle)
150 120 120 120 90 90 120 90 90
Mass kg 0.40 0.62 1.2
Protection structure Totally enclosed self-cooled type
Environmental conditions
Operating temperature: 0 to 40°C /Storage temperature: -20 to 60°C
Operating humidity/storage humidity: 20 to 80% RH (no condensation)
Resistance to vibration: 24.5 m/s
2
(frequency 10 to 400 Hz)
Shock resistance: 294 m/s
2
No dust, metal powder, corrosive gas, inflammable gas, or oil mist.
To be used indoors, no direct sunlight.
Altitude: less than 1,000 m above sea level
Motor insulation
Insulation resistance: 100 MΩ or more (by 500VDC insulation tester)
Dielectric strength: 1,500VAC/1 min
Insulation class: B
Safety standard compliance
CE marking
Mounting direction
Can be installed in any direction
Note 1: The table above shows the values for the output shaft.
Note 2: The values obtained when combined with an MR-J4-**B-RJ920J servo amplifier.
Note 3: All values shown are typical values.
Note 4: The values in brackets are resolution obtained when combined with an amplifier and multiplied by 4.
Note 5: Value with saturated temperature rise when installed on the following aluminum radiation plate.
FHA-8/11C: 150×150×6 [mm]
FHA-14C: 200×200×6 [mm]
Note 6: Value with 3× phase induced voltage.