Harmonic Drive FHA Series, Руководство пользователя

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Chapter 4 Options
4-1 AC100V power supply (option code: A)
The actuators except FHA-40C for incremental encoder system allow power supply of AC100V.
Specifications of FHA-C series actuators with an incremental encoder are as follows:
Item FHA-17C FHA-25C FHA-32C
50 100 160 50 100 160 50 100 160
Max. torque
Note 2 N•m
39 57 64 150 230 260 281 398 453
Kgf•m
4.0 5.8 6.5 15.3 23.5 26.5 28.7 40.6 46.2
Maximum speed
r/min
96 48 27 90 45 28 80 40 25
Torque constant
N•m/A
10.3 20.9 33.4 10.8 21.9 35 13.8 28.1 44.9
Kgf•m/A
1.1 2.1 3.4 1.1 2.2 3.6 1.4 2.7 4.6
Max. current
Note 2 A
4.2 3.1 2.2 15.1 11.5 8.2 18.0 15.4 11.2
Inertia of (GD
2
/4)
kg•m
2
0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1
actuator (J)
Kgf•cm•s
2
1.7 6.9 17 8.3 33 85 18 72 185
EMF constant
V/(r/min)
1.2 2.3 3.7 1.2 2.5 3.9 1.5 3.1 4.9
Phase resistance
Ω
(20ºC)
2.0 0.6 0.38
Phase inductance mH 1.5 0.6 0.5
Reduction ratio 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160
Allowable radial load
kN
2.9 4.9 9.5
kgf
300 500 970
Allowable axial load
kN
9.8 14.7 24.5
kgf
1000 1500 2500
Allowable
N•m
188 370 530
torsional moment
Kgf•m
19 38 54
Moment stiffness
N•m/rad
220x10
3
490x10
3
790x10
3
Kgf•m/rad
22x10
3
50x10
3
80x10
3
One-way positioning arc
60 40 40 40 30 30 40 30 30
accuracy second
Motor encoder 2500 pulse/rev. 2500 pulse/rev. 2500 pulse/rev.
Quad encoder
Pulse/rev 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000
–resolution;
Note 4
Input voltage V 100 100 100
Mass Kg 2.5 4.0 6.5
Enclosure Totally enclosed, self-cooling (equivalent to IP44)
Environmental conditions Service / storage temperature: 0~40
ºC
/ -20~60
ºC
Service / storage humidity: 20~80%RH (no condensation)
Vibration / impact resistance: 24.5m/s
2
(frequency:10-400Hz) / 294 m/s
2
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist; install in room,
no direct sunlight
Altitude: less than 1,000 meters above sea level
Motor insulation Insulation resistance: 100M
Ω
or more (by DC500V insulation tester)
Withstanding voltage: AC1500V / 1 minute
Insulation class: F
Orientation All position
Note 1: The table shows typical output values of actuators.
Note 2: Values for saturated temperature under the conditions that the actuator is driven by an appropriate HA-655 driver.
Note 3: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]
Note 4: The continuous range of the torque-speed characteristics of each actuators for AC 100V power is different from the range for AC 200V.
For the detail of the range, please contact to Harmonic Drive System, Inc.
Chapter 4 Options