Harmonic Drive FHA - C mini Series, Руководство пользователя

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2-1 Connecting power cables
Selection guidelines
2-1
1
2
3
4
5
6
7
8
9
10
11
Apx
Sel
ect
ion gui
del
ines
2-1 Connecting power cables
To achieve high accuracy and performance, select a FHA-C mini series actuator where the allowable
load inertia moment (reference value) specified for the applicable model No. is not exceeded.
Refer to "Apx-2 Calculating inertia moment“ (P.Apx-3) for the calculation of inertia moment.
When temporarily selecting an actuator, make certain that the inertia moment and rotation speed do
not exceed the allowable values shown in the table below.
Actuator model
FHA-8C FHA-11C FHA-14C
-30 -50 -100 -30 -50 -100 -30 -50 -100
Reduction ratio 30 50 100 30 50 100 30 50 100
Max. rotational
speed
r/min 193 116 58 193 116 58 193 116 58
In
er
tia
mo
me
nt
INC
(GD
2
/4)
kg·m
2
0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
(J) kgf·cm·s
2
0.027 0.075 0.30 0.061 0.17 0.68 0.18 0.51 2.0
Allowable load
inertia moment
kg·m
2 0.0078 0.022 0.087 0.018 0.051 0.20 0.054 0.15 0.60
kgf·cm·s
2 0.081 0.23 0.90 0.18 0.51 2.0 0.54 1.5 6.0
0.01
0.1
1
10
(kgf·cm·s
2
)
100 200
Rotation speed (r/min)
0
0.001
0.01
0.1
1
Inertia moment
(kg·m
2
)
FHA-11C
-100
FHA-14C
-100
FHA-8C
-100
FHA-8C
-50
FHA-11C
-50
FHA-14C
-50
FHA-8C-30
FHA-11C-30
FHA-14C-30