Harmonic Drive SHA Series, Руководство пользователя

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2-4 Examining operating conditions
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付
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e
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c
tion gui
de
line
s
(5) The figure on the right shows the point of operation determined by the effective torque and
average rotation speed calculated above, plotted on the graph of operable range of
SHA25A51, exceeding the continuous motion range. The conclusion is that this actuator
cannot be operated continuously under these conditions. Accordingly,
◆
the operation pattern
◆
load (possible reduction)
◆
actuator model number.
etc., must be reexamined.
The following formula is a modified
version of the formula for effective torque.
By applying the value of allowable
continuous torque to Tm in this formula,
the allowable cycle time can be calculated
.
2
2 2 2
m
d d r r a a
T
t T t T t T
t
× + × + ×
=
Apply the following:T
a
= 98 Nm, T
r
= 0 Nm, T
d
= 90 Nm
,
T
m
=41 Nm, t
a
= 0.177 s, t
r
= 0.091 s,
t
d
= 0.141 s Then, the following equation is obtained:
t = (98
2
x 0.177 + 90
2
x 0.141)/ 41
2
= 1.69 s
Based on the result, setting the cycle time to 1.7 seconds or more to provide a longer stopped
time gives T
m
= 41 Nm or less, thereby permitting continuous operation within the allowable
continuous torque.

The aforementioned continuous duty range represents an allowable range when the
actuator is installed on the specified aluminum heatsink and operated under natural air
cooling. If the radiation area of the mounting member is smaller or the heat conduction
of the material is poor, adjust the operating conditions to limit the temperature rise of
the actuator to 40º C or less as a guide.
放熱板：350*350*18
0
25
50
75
100
125
150
0 20 40 60 80 100 120
回転速度 [r/min]
ト
ル
ク
[N
m
] 加減速運転領域
連続使用領域
50%ﾃﾞｭｰﾃｨ領域
★
Operable range of SHA25A51
Radiation plate: 350*350*18
Motion range during
acceleration and
deceleration
50% duty motion range
Continuous
motion range
T
o
rq
u
e
[
N
m
]
Rotation speed [rpm]