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Chapter 3 Installing the FHA-C mini actuator

FHA-C mini

39

Do not disassemble and re-assemble the actuator.

Harmonic Drive LLC does not guarantee the actuator has been reassembled
by others than the authorized persons by the Harmonic Drive LLC.

CAUTION

CAUTION

Do not apply torque, load or thrust to the sleeve directly.

Since the sleeve is adhered to the output flange,
the adhered sleeve may detached from the output
flange by the illegal torque or load.

Sleeve

Output flange

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Содержание FHA Mini Series

Страница 1: ...F H A M i n i S e r i e s Total Motion Control HarmonicDrive actuator P r e c i s i o n G e a r i n g M o t i o n C o n t r o l Servo Actuators...

Страница 2: ...s caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty o...

Страница 3: ......

Страница 4: ...ls printing machine roller etc 1 1 Features Super flat configuration FHA C mini series actuator is the union of Harmonic Drive gearing with a super flat AC servomotor for precise motion control The co...

Страница 5: ...Chapter 1 Overview of the FHA C mini series FHA C mini 5 1 2 Ordering Code...

Страница 6: ...Chapter 1 Overview of the FHA C mini series FHA C mini 6 1 3 Compatible Servo Drives HA 800 HA 680 are available for MECHATROLINK II CC Link...

Страница 7: ...000 400000 800000 240000 400000 800000 240000 400000 800000 Absolute Counts rev 3 932 160 6 553 600 13 107 200 3 932 160 6 553 600 13 107 200 3 932 160 6 533 600 13 107 200 One way positioning accurac...

Страница 8: ...l encoder resolutions are obtained by motor encoder resolution x 4 x reduction ratio Motor ABS encoder resolutions are obtained by motor encoder resolution x reduction ratio Note 5 Refer to the HA 680...

Страница 9: ...s FHA C mini 9 1 5 External dimensions of FHA C mini actuators The external drawings are shown as follows 1 5 1 Actuators with side exiting cables standard Incremental encoder FHA 8C xxx US200 Unit mm...

Страница 10: ...ni 10 FHA 14C xxx US200 Unit mm third angle projection Hollow Hollow Cables Common except size 14 24VDC version AWG20 4 for FHA 14C xxx US200 E FHA 11C xxx US200 K 1 5 2 Actuators with rear exiting ca...

Страница 11: ...e FHA C mini series FHA C mini 11 1 5 3 Actuators with Absolute Encoder Hollow FHA 14C xxx US200 K FHA 8C xxx 12S17b C Unit mm third angle projection Cables Common except size 14 24VDC version AWG20 4...

Страница 12: ...of the FHA C mini series FHA C mini 12 FHA 11C xxx 12S17b C Unit mm third angle projection FHA 14C xxx 12S17b C Unit mm third angle projection Cables Common except size 14 24VDC version AWG20 4 for FH...

Страница 13: ...as follows 1 Axial run out of output flange The dial indicator 1 on a fixed portion measures the axial run out T I R of perimeter of output flange for one revolution 2 Radial run out of output flange...

Страница 14: ...actor of the ratio 1 ratio and typically becomes negligibleat the output Therefore most of the error is represented by the transmission error of the Harmonic Drive gear itself The one way positioning...

Страница 15: ...the output flange the face of the output flange tilts in proportion to the moment load The moment stiffness is expressed as the torsional moment angle Model Item FHA 8C FHA 11C FHA 14C Moment stiffnes...

Страница 16: ...wind up for torque region over T2 3 2 Wind up T2 T The table below shows T1 T3 K1 K3 and 1 2 values of each actuator Model FHA 8C FHA 11C FHA 14C Reduction ratio 1 30 1 50 1 100 1 30 1 50 1 100 1 30 1...

Страница 17: ...on REV rotation Default 1 REV rotation FWD rotation 1 11 Impact resistance The actuators are resistant to impacts along the radial axes Impact acceleration 294 m s2 Direction top bottom right left fro...

Страница 18: ...Chapter 1 Overview of the FHA C mini series FHA C mini 18...

Страница 19: ...Chapter 1 Overview of the FHA C mini series FHA C mini 19 1 14 Operating Range FHA 8C...

Страница 20: ...Chapter 1 Overview of the FHA C mini series FHA C mini 20 FHA 11C...

Страница 21: ...Chapter 1 Overview of the FHA C mini series FHA C mini 21 FHA 14C...

Страница 22: ...uators 1 15 1 Incremental Encoder Motor cable Color Motor lead Red Motor phase U White Motor phase V Black Motor phase W Green yellow PE Encoder cable Color Signal Pin No Green A 1 Dark Green ______ A...

Страница 23: ...6901 E 770210 1 Manufactured by AMP Encoder cable Pin No Color Signal Remarks 1A White Vcc Power supply input 5V 1B Black GND Vcc Power supply input 0V GND 2A Blue SD Serial signal differential output...

Страница 24: ...to the servo drive system In comparison to direct servo systems this benefit will drive the load with a better servo response For example assume that the load inertia increases to N times during its...

Страница 25: ...late the static equivalent radial load Po Verify the static safety coefficient Specifications of the cross roller bearing The following table shows the specifications of the cross roller bearings buil...

Страница 26: ...ad in t3 range Average output speed Nav 4 Calculating radial load factor and axial load factor Both load factors are different with average loads as follows When the right formula is satisfied 5 X 1 0...

Страница 27: ...n N kgf See Table 1 Pc equivalent dynamic radial load in N kgf obtained by formula 6 fw Load factor For smooth operation without shock or vibration fw 1 to 1 2 For normal operation fw 1 2 to 1 5 For o...

Страница 28: ...N kgf See Fig 1 dp Circular pitch of roller See Fig 1 and Table 1 Static safety factor Generally the static safety factor is limited by the basic static load rating Co However for the heavy duty the f...

Страница 29: ...ed value 2 4 3 Load torque Calculate the load torque as follows Rotary motion The torque for the rotating mass W on the friction ring of radius r as shown in the figure to the right T torque N m coeff...

Страница 30: ...TM where KT torque constant N m A IM maximum current A TL load torque N m note that the polarity of the load torque is plus for counter direction of revolution and minus for same direction Example 1...

Страница 31: ...maximum torque The displacement angle is 120 degrees and the cycle time is 0 8 s 1 KLa and KLd the speed is desided at 50 rpm as the average of 0 and 100 rpm Then KLa KLd 1 7 from the graph 2 KLr as...

Страница 32: ...rque Nm Radiation plate 150 x 150 x 6 mm FHA 11C 30 KL 0 33 0 67 1 250 200 150 100 50 0 1 5 2 2 5 4 5 3 5 3 2 5 2 1 5 1 0 0 5 5 4 Operable range 100 V 200 V 24 V Rotation speed r min Torque Nm Radiati...

Страница 33: ...Chapter 2 Guidelines for sizing FHA mini 33...

Страница 34: ...5 117 70 35 100 60 30 Note The values for 24VDC are in parenthesis Example 3 getting effective torque and average speed The parameters are same as the example 1 and 2 for an FHA 11C 50 1 Effective tor...

Страница 35: ...200VAC Input Voltage 24VDC incremental encoder FHA 8C 30 FHA 8C 50 FHA 8C 100 FHA 11C 30 FHA 11C 50 FHA 11C 100 FHA 14C 30 FHA 14C 50 FHA 14C 100 Torque Nm 0 5 0 7 1 2 3 4 5 7 10 20 30 40 50 Overloade...

Страница 36: ...products you ordered by comparing with the model on the TYPE line of the label If it is different immediately contact the dealer it was purchased from The model ordering code can be found in section...

Страница 37: ...ater drops and oil mist Do not install the actuator in corrosive gas environment Take notice that the protection degree of standard actuators is IP 44 that is all parts of the actuators except the rot...

Страница 38: ...n damage to the output shaft Note 2 Do not apply shock or impact during installation 2 Fasten the flange of the actuator with flat washers and high strength bolts Use a torque wrench when tightening t...

Страница 39: ...uarantee the actuator has been reassembled by others than the authorized persons by the Harmonic Drive LLC CAUTION CAUTION Do not apply torque load or thrust to the sleeve directly Since the sleeve is...

Страница 40: ...length are available Ordering model For Motor EWC MBxx A06 SP For Absolute encoder EWD Sxx A08 SP 03 3m 05 5m 10 10m External view of extension cable for motor External view of extension cable for ab...

Страница 41: ...ion facing the output flange end a b c d 0 25T 0 15T Tz T 0 5T The Z phase includes a HIGH state in case of both of A and B phase is H IGH state T 360 2000 3 Mechanical angle U N Motor EMF waveform R...

Страница 42: ...Appendix 1 Incremental encoder FHA mini 42 Output Circuit and Example for Receiving Signal Fig 3 Output circuit of encoder and connection example...

Страница 43: ...s Factor 0 0167 5 08x10 3 0 3048 0 0254 Unit m min ft min ft s in s Factor 60 196 9 3 281 39 37 SI system m s 3 Linear acceleration SI system m s2 Unit m min2 ft min2 ft s2 in s2 Factor 2 78 x10 4 8 4...

Страница 44: ...kgf m lb ft lb in oz in Factor 9 81 1 356 0 1130 7 06x10 3 Unit kgf m lb ft lb in oz in Factor 0 102 0 738 8 85 141 6 SI system N m 10 Moment of inertia SI system kg m2 Unit kgf m s2 kgf cm s2 lb ft2...

Страница 45: ...tia gravity center Cylinder Circular pipe Slanted cylinder Ball Ellipsoidal cylinder Cone Rectangular pillar Square pipe 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...

Страница 46: ...e rotary center is different from the gravity center I Inertia when both centers are not the same kg m2 Ig Inertia when both centers are the same kg m2 Calculate with formulas described in 1 m Mass kg...

Страница 47: ...above graph would indicate that the inertia is Approx 1 9X10 4kg m2 Exact value 0 000186 kg m2 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 Inertia specific grav...

Страница 48: ...caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty op...

Страница 49: ...livery or 2 000 hours of operation Warranty terms All the FHA C mini series actuators are warranted against defects in workmanship and materials for the warranted period This limited warranty does not...

Страница 50: ...tered trademark of Harmonic Drive LLC Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody MA 01960 New York Sales Office 100 Motor Parkway Suite 116 Hauppauge NY 11788 California Sa...

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