FHA C User Manual PDF
Contents
1. 1000 FHA 250 160 2 ty A 2 FHA 32C 1007 O FHA 17C 50 O 49 D 10 9 FHA 40C 50 10 100 1000 Torque Nm 2 4 8 Regeneration energy When a large inertia is accelerated and decelerated frequently the regenerated energy will be quite large The HA 650 driver is equipped with a regeneration resistor of 40W capacity to consume the energy If the energy is larger than the capacity an additional resistor is required externally The required capacity of the external resistor is 2 We ied ee 2 60 Wr capacity of external resistor W JA actuator inertia JL load inertia kgem N actuator speed at deceleration r min T time for one duty cycle s Additional resistors are not required for FHA 17C and FHA 25C actuators However it is sometimes required for FHA 32C and FHA 40C actuators For reference the graph to the right shows the required capacity of the resistor when load inertia is three times of actuator inertia External resistor for FHA 32C JL 3JA External resistor for FHA 40C JL 3JA Speed r min Speed r min Bo T 80 osque 70 E 7 om ees e d M fll EN 60 CT mm Unnecessary Unnecessary F PENNE EN m m m 40 40 2 4 6 2 4 6 8 10 Time for one2. A x ey s bees Ele ac e 9 LP A oO o e um j 2 f fo Output flange o ry ACT 8 911 11 4 97 118 127 1 148 1 Note 1 The parenthesized dimensions are applied for the actuators with a brake option Note 2 For detail dimensions make sure of them referring our drawings for shipping Fa Harmonic Drive LLC 800 921 3332 B Chapter 1 Overview of the FHA C series 1 6 Mechanical accuracy of FHA actuators The machining accuracy of the output flange and the mounting flange are indicated in the table below Machined accuracy of the output flange unit mm Machined parts FHA 17C FHA 25C FHA 32C FHA 40C 1 Axial run out of output flange 0 010 0 012 0 012 0 014 2 Radial run out of output flange 0 010 0 012 0 012 0 014 3 Parallelism between output flange and mounting flange 0 040 0 050 0 050 0 060 4 Concentricity between output flange to fitting face 0 040 0 050 0 050 0 060 Note All values are T I R Total Indicator Reading The measuring for the values are as follows Axial run out of output flange The indicator 1 on a fixed portion measures the axial run out of perimeter of output flange for one revolution Radial run out of output flange The indicator 2 on a fixed portion measures the radial run out of perime
3. Object form Mass inertia gravity center Cylinder 4 m Lo Ix 1 2 2 ly E 4 3 2 4 3 m nR Lp 1 I 2 m 12 x BR 1 cos 9 L sino m BCLp 2 4 B Ix m B dnl OL y 4 4 8 L 1 12 Iz m 4 4 3 Rectangular pillar ABCp 1 Unit Length m Mass kg Inertia Object form Circular pipe Mass inertia gravity center T R R JL NA 12 Rz inner 4 R 0uter Ball m IR p R 3 5 m HR Lp 3 Ix R 10 ty L Y 2 ler 12 80 4 Square pipe Harmonic Drive LLC 800 921 3332 m Appendix 2 Moment of inertia Object form Mass inertia gravity center Object form Mass inertia gravity center Rhombus pillar Hexagonal pillar m gt 33 Ix 3 c Iy 2 mc 2A Isosceles triangle 1 pillar be SPEED NL 12 2 3 2 2 12 3 2 Iz ES 12 2 3 Example of specific gravity The following tables show references of specific gravity Confirm the specific gravity for the material of the drive load Material Gravity Material Gravity Material Gravity SS45C 7 86 Bronze 8 5 Epoxy resin 1 9 SS41C 7 85 Aluminum 2 7 ABS 1 1 Cast steel 7 85 Duralumin 2 8 Silicon resin 1 8 Cast iron 7 19 Teflon 2 2 Polyurethane rubber 1 25 802000 Flu
4. 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 T298xuxWxr Friction 30 100 300 1000 3000 Linear speed mm min Ex torque calculation friction 0 1 torque Nem coefficient of friction W mass kg u S of fri ct n face m ae es CAS In the right graph the oblique solid lines f S for torque have been calculated with the etme NANOS coefficient of the friction of 20 1 1 1 The oblique dot chain lines show 20 torque of actuators converted from 300 torque corresponding to its maximum torque 30 100 FHA ratio 1 50 20 torque of maximum torque em 100N m 2 300 1000 3000 Mass W kg Harmonic Drive LLC 800 921 3332 E Horizontal linear motion The following formula calculates the torque for horizontal linear motion of mass W fed by the screw of pitch P _ P T 98xuxWx 25 torque N m Coefficient of friction mass kg Screw pitch m Vertical linear motion ECC 72 The following formula calculates the torque for vertical linear motion of mass W fed by the screw of pitch P T 9 8x Wx P 2 XT maaadaaa 2 4 4 Acceleration time and deceleration time Calculate acceleration and deceleration times for the select
5. Encoder Leads 0 5mmx 6wires amp shield v W y 22AWG P L 1000 2 mm 24AWG 6P e Shield Ground wire green yellow 1033 mm t 402 102 THES RO 4MAX C 985 H7 Ej WONG 54 0 0 040 L p128 h7 TOJ 2 65 5 85 90 5 4 1101 Note 1 The parenthesized dimensions are applied for the actuators with a brake option Note 2 For detail dimensions make sure of them referring our drawings for shipping Chapter 1 Overview of the FHA C series Unit mm third angle projection FHA 32C xx US250 INC Wi Motor cable Encoder Leads O smrix wires amp shield 22AWG 1P 4 C 210002 mm 40 10 24AWG 6P4 Shield utput fange Ground wire green yellow L 1200 1 p AL ES v 7552 E e ol e INE o zx E e el _ lee pese Loo o COs 1 16 M6x10 77 7 12 26 6 7 0 _ 17_ _18_ 4 22 89 5 110 B 1115 132 FHA 40C xx US250 INC erae TEE 0 5mmx wires amp shield 22AWG 1P L 1000 mn 24 AWG 6P Shield 8 M10 X15 Ground wire green yellow L 1005 9 Tm 9 109 vli i pe eem 8 RO AMAX RO AMAX CC 05 d commis
6. It is possible to set both outlets for motor cable and the encoder cable on the back face of the actuator instead of the side face 25 Chapter 4 Options 4 7 Rotary position sensor set option code L The rotary position sensor set is composed of three sensors for an origin and for both stroke ends The set is assembled on the actuator shaft extended to the opposite side of the output flange The sensor set option is effective to sense a origin for cyclic motions and to sense a stroke end for increasing safety level 4 7 1 Specifications 1 Origin sensor Model EE SX672 manufactured by OMRON eOutput circuit P Output status Light ON or Dark ON selectable Power supply 5 to 24V 10 D including 10 p p maximum ripple 1 Current consumption 35mA or less cy OUT Control output DC5 to 24V load current Ic 100mA residual voltage Vce 0 8V maximum For TTL load load current Ic 40mA residual voltage Vce 0 4V maximum K Circuit e iming chart Light ON Dark ON Opening and terminals Connecting amp and terminals Sensor status Incident Incident Interrupted Sensor status Interrupted Operation indicator ON Operation indicator ON OFF Output transistor ON Output transistor ON OFF OFF 2 Limit switches for both stroke ends Model D2JW 01K21 manufactured by OMRON eContact specifications Electrical ratin
7. Static safety factor Generally the static safety factor is limited by the basic static load rating Co However for the heavy duty the factor is limited by the following formula fs 10 Where the variables of the formula are fs Static safety factor For precise positioning operation fs gt For operation with shock and or vibration fs gt 2 For normal operation is gt 149 Co Basic static load rating in N kgf See Table 1 Equivalent static radial load in N kgf obtained by formula 9 2 4 Duty cycles When a duty cycle includes many frequent start and stop operations crow Big mm the actuator generates heat by high starting and braking current F Therefore it is necessary to study the duty cycle profile 30 femme ene The study is as follows 10 2 4 1 Actuator speed Calculate the required actuator speed r min to drive the load 77777 For linear motion convert with the formula below eee m tum Linear speed mm min 0 p Pitch of screw mm Select a reduction ratio from 50 100 and 160 of an actuator of which the maximum speed is more than the required speed 2 4 2 Load inertia Calculate the load inertia driven by the FHA C series actuator Refer to appendix 1 for the calculation Tentatively select an FHA C actuator referring to section 2 1 allowable load inertia with the calculated value 2 4 3 Load torque
8. The range allows instantaneous operation like acceleration and deceleration usually The continuous and 50 ranges in each graph are measured on the condition of the FHA C actuator attached on the heat radiation plate described in the figure Harmonic Drive LLC 800 921 3332 t Chapter 1 Overview of the FHA C series BFHA 176 50 BFHA 256 50 Radiation plate 300x300x15 mm Radiation plate 350x350x1 8 mm B _ range _ cm Z 5 0 2 5 i 50 duty range 5 m 50 duty range 10 Continuous range Continuous range eo a o mnm amp Speed r min m m oc m Speed r min l 170 100 25 100 Radiation plate 300 300 15 Radiation plate 350x350x18 mm BO Acc dec range m Acc dec range n gt 50 duty range S 100 50 duty range on 0 9 E wm zo X b Speed r min Speed r min _FHA 17C 160 EHA 25C 160 Radiation plate 300x300x15 mm aa Radiation plate 350x350x18 mm zu Acc dec range Acc dec range 3 Torque Nm Torque Nm e 50 duty range ii 50 duty range Continuous range TI Continuous range 0 5 10 15 20 25 3 3 0 5 Speed r min Speed r min Chapter 1 Overview of the FHA C series FHA 32C 50 Radiation plate 400x400x20 mm Acc dec range 8 Torque Nm 50 duty range if ww m
9. 05250 XX US250 24V DDP 090 36 DEP 090 36 AC200 RIL 230 18 HIL 230 18 HIL 230 18 RTL 230 36 1 50 REL 230 18 REL 230 18 REL 230 18 REL 230 36 1 50 RTL 230 18 1 100 1 160 REL 230 18 1 100 1 160 100 RIL 230 18 RTL 230 36 1 50 RTL 2380 36 1 50 1 100 HEL 230 18 REL 230 36 1 50 REL 230 36 1 50 1 100 RTL 230 18 1 100 1 160 RTL 230 18 1 160 E REL 230 18 1 100 1 160 REL 230 18 1 160 200V HA 655 2 200 HA 655 2 200 HA 655 4 200 HA 655 4 200 HA 675 2 200 HA 675 2 200 HA 675 4 200 HA 675 4 200 100V HA 655 2 100 HA 655 4 100 HA 655 4 100 HA 675 2 100 HA 675 4 100 HA 675 4 100 Harmonic Drive LLC 800 921 3332 ER 1 4 1 4 1 Chapter 1 Overview of the FHA C series Specifications of FHA C actuators INCREMENTAL SYSTEM INC Specifications of FHA C series actuators with the 14 Wire Incremental Encoder are as follows FHA 25C xx US250 FHA 32C xx US250 FHA 40C xx US250 FHA 17C xx US250 50 100 160 50 100 160 50 100 160 50 100 160 Maximum Torque Note 2 Nem 39 27 64 150 230 260 281 398 453 500 690 820 Maximum Speed r min 96 48 27 90 45 28 80 40 25 70 25 22 Torque Constant 200V Nem A 21 42 67 22 45 72 54 86 31 64 102 100V Nem A 11 21 229 11 22 36 le n 43 Maximum Current 200V A 2 1 1 6 Tal 7 3 5 6 4 0 11 4 8 0 5 9 17 3 11 8 9 0 Note
10. 2 100V A 4 2 22 2 2 15 11 8 0 23 16 12 EMF Voltage Constant 200V V rpm 4 7 1 8 2 5 51 8 1 3 0 5 9 9 5 3 6 7 2 11 4 100V V rpm 1 2 24 20 Ike 2 6 4 1 1 8 3 0 4 8 phase 200V 209C 7 9 2 6 1 0 0 73 100V 20 C 2 0 0 65 0 25 Phase Inductance 200V mH 6 0 2 6 1 5 15 100V mH 1 5 0 65 0 33 ierit Actuator GD 4 kgem 0 17 0 67 1 7 0 81 3 2 8 3 1 8 fa 18 1 4 9 19 5 50 J kgfecmes 1 7 6 9 17 8 3 33 85 18 12 185 50 200 510 Reduction Ratio 1 50 1100 1 160 1 50 1 100 1 160 1 50 1100 1 160 1 50 1 100 1 160 Allowable Radial Load kN 2 9 4 9 9 5 14 7 Allowable Axial Load kN 9 8 14 7 24 5 39 2 Allowable Torsional Moment Nem 188 370 530 690 Moment stiffness Nem rad 220x102 490x10 790x102 1400x10 One way AGES arc sec 60 40 40 40 30 30 40 30 30 40 30 30 Motor encoder 2500 pulse rev Quad encoder resolution Note 3 Pulse rev 500 000 1 000 000 1600000 500 000 1 000 000 1 600 000 500 000 1 000 000 1 600 000 500 000 1 000 000 1 600 000 Mass Kg 2 5 4 0 6 5 12 Enclosure Totally enclosed self cooling equivalent to IP44 Note 4 Environmental conditions Service Storage temperature 0 40 C 20 60 C Service storage humidity 20 80 RH no condensation Vibration impact resistance 24 5m s freq 10 400Hz shock resistance 294 m s No dust no metal powder no corrosive gas no inflammable gas no oil mist install in room no direct sunlight Altitude less
11. B Gray White B Yellow Z Yellow White Ed Brown U Brown White Blue V Blue White W Orange White Output circuit Input circuit of user s device Ex EN R1 120_ C1 09 G2 Ero 1 FG A eee ee i PEENE Voltage strength of capacitor C1 C2 50V Encoder Cable for 4 Wire Incremental Encoder INC Color Signal Reference Red 5V Power Black OV Supply Yellow SD Serial Signal Blue SD Differential Output Shield FG Chapter 1 Overview of the FHA C series 1 15 Signal Waveform Signal waveform specifications of new version FHA 17C 25C 32C 40C for US market Figure 1 shows A B and Z signal and relationship with U signal with CW rotation facing the encoder end the end of the actuator output shaft Figure 1 T b c d 1 4T 1 10T A a b b c 1 2T 1 8T Ze 1 27 3 27 B The Z phase includes a HIGH state in case of both of A and B phase is Z HIGH state 1 2 T 360 2500 lt 10 6 Mechanical angle U Figure 2 shows U V and W signal and relationship with motor s EMF with CW rotation facing the encoder end the end of the actuator output shaft Figure 2 U W G V U G W V G y Voltage of U W G means of voltage of U terminal grounding W terminal pU 27 H6 Hn 10 3 Mechanical angle U V T W NU mim lt 10 6 Mechanical angle Encod
12. duty cycle s Time for one duty cycle s Harmonic Drive LLC 800 921 3332 Chapter 3 Installing the FHA actuator Chapter 3 Installing the FHA C actuator 3 1 Receiving Inspection Check the following when products are received Inspection procedure 1 Check the shipping container and item for any damage which may have been caused during transportation If the item is damaged immediately report the damage to the dealer it was purchased from 2 A label is attached on the right side of the FHA actuator Confirm the 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 code is interpreted as follows AC servo actuator FHA series Frame size 17 25 32 40 Design version Reduction ratio of Harmonic Drive gear Encoder specifications Encoder resolution Option Refer the section 1 2 in this manual for the detail of the model codes 3 On the label of the driver the model code of the FHA C series actuator to be driven is indicated on the ADJUSTED FOR USE WITH line Match the actuator with its driver so as not to confuse the item with the other actuators Only connect the actuator specified on the driver label The drivers have been tuned for the actuator specified on the driver label Wrong combination of drivers and FHA actuators may cause low torque CAUTION problems or over current that may cause physi
13. m Length mm 011 0 014 10 20 30 50 70 100 200 300 500 700 1000 Radius R mm Moment of inertia m Length mm 10007 eee 1004 0 1 0 0014 10 20 30 50 70 100 200 300 500 700 1000 Radius R mm Harmonic Drive LLC 800 921 3332 Warranty Period amp Terms The FHA C series actuators are warranted as follows Warranty period Under the condition that the actuator are handled used and maintained properly followed each item of the documents and the manuals all the FHA C series actuators are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2 000 hours of operation time Warranty terms All the FHA C series actuators are warranted against defects in workmanship and materials for the warranted period This limited warranty does not apply to any product that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive LLC 3 imperfection caused by the other than the FHA C series actuator and the servo driver 4 disaster or others that is not the responsibility of Harmonic Drive LLC All products are warranted to be free from design or manufacturing defects for a period of one year from the date of shipment Such items will be repaired or replaced at the discretion of Harmonic Drive LLC The seller makes no warran
14. than 1 000 meters above sea level Motor insulation Insulation resistance 100MQ or more by DC500V insulation tester Withstanding voltage AC1500V 1 minute Insulation class F Orientation All position Note 1 Note 2 Note 3 Note 4 and against the water sprays The table shows output values of actuators Values for saturated temperature under the conditions that the actuator is driven by an appropriate driver Quad encoder resolutions are obtained by motor encoder resolution x 4 x reduction ratio All parts except the rotary sliding parts oil seal of the actuators are protected against solid bodies of superior dimensions to 1mm 1 5 1 5 1 The external drawings are shown as follows FHA 17C xx US250 INC 0 0 035 6 3 3 5 7 FHA 25C xx US250 8 M6x10 128 905 h7 Chapter 1 Overview of the FHA C series External dimensions of FHA actuators Incremental Systems INC Encoder Leads 22AWG 1P 24AWG CP Shield 1990 mm Motor cable 0 5mmx wires amp shield 1000 mn Ground wire green yellow 970 h7 355 0 y 0 021 40 018 5 25 Hollow diameter Output flange O08 77 Bos INC 8 96 6 7 155 125 h7 0 0 040 icm dd BY P 8 m 2 57 72 5 761 93 5 Motor cable
15. 1 Environment of location The environmental conditions of the location must be as follows e Service temperature 0 C 40 C When the actuator is installed in a closed space the temperature in the space may be higher than the atmosphere because of heat generation by the actuator Design the closed space size ventilation system and device locations so the ambient temperature near the actuator is always less than 40 C e Service humidity 20 80 relative humidity without condensation Make sure no water condensation occurs at the place where there is a large temperature change in a day or due to frequent heat and cool cycles due to the operation of the actuator e Vibration less than 24 5m sec 2 5G 10Hz 400Hz Impact less than 294 m sec 30G Make sure the actuator is in an area free from dust water condensation metal powder corrosive gas water water 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 except the rotary sliding parts oil seal of the actuators are protected against solid bodies of superior dimensions to 1mm and against the water sprays Locate the driver indoors or within an enclosure Do not expose it to the sunlight e Altitude lower than 1000m above sea level Harmonic Drive LLC 800 921 3332 E Chapter 3 Installing the FHA actuator _ i i 3 3 2 Installation The FHA C series
16. 2 Guidelines for sizing 2 4 6 Effective torque and average speed Additionally to the former studies the effective torque and the average speed should be studied 1 The effective torque should be less than allowable continuous torque specified by the driver 2 The average speed should be less than allowable continuous speed of the actuator Calculate the effective torque and the average speed of an operating cycle as shown in the former figure Tm effective torque Nem Ta maximum torque Nem af Texte ta Tr load torque Nem t ta acceleration time s td deceleration time s tr running time at constant speed s Nav pe Ne t time for one duty cycle s t Nav average speed rom N driving speed rom If the result is greater than the value in the table below calculate once again after reducing the duty cycle FHA 25C FHA 32C FHA 40C FHA 17C Reduction Ratio 50 1 50 100 1 100 160 1 160 50 1 50 100 1 100 160 1 160 50 100 1 100 160 1 160 50 100 1 100 160 1 160 Continuous torque Nem 15 24 24 35 75 85 60 130 200 85 190 300 Continuous speed rom 70 35 22 70 35 22 60 30 19 50 25 16 Example 3 getting effective torque and average speed The parameters are the same as the example 1 and 2 for an FHA 25C 50 1 Effective torqu
17. HOLLOW SHAFT ACTUATORS FHA Series Motion Control FHA C series FHA C series AC Servo Actuator Manual NN 7 CONTENTS Chapter 1 Chapter 2 Chapter 3 Chapter 4 1 1 1 2 1 8 1 4 1 4 1 1 5 1 5 1 1 6 127 1 8 1 9 1 9 1 129 0 1 10 3211 1 15 1 13 1244 1 15 2 1 2 2 2 3 2 4 2 4 1 2 4 2 2 4 3 2 4 4 2 4 5 2 4 6 2 4 7 2 4 8 3 1 3 2 3 3 3 3 1 3 3 2 4 1 4 2 4 2 1 4 2 2 4 3 4 4 4 5 4 6 4 7 4 7 1 4 7 2 4 7 3 4 8 4 9 Appendix 1 Appendix 2 2 Safety Guide Overview of the FHA C series Features Ordering information Combinations with drivers Specifications of FHA C actuators For incremental positioning system External dimensions of FHA C actuators For incremental positioning system Mechanical accuracy of FHA C actuators One way positioning accuracy Encoder resolution Torsional Stiffness of actuators Moment stiffness Torsional stiffness Rotary direction Impact resistance Vibration resistance Torque speed characteristics Cable specifications Signal Waveforms Selection Guidelines Allowable load inertia Variable load inertia Verifying loads Duty cycles Actuator speed Load inertia Load torque Acceleration time and deceleration time Calculating equivalent duty Effective torque and average speed Permissible overloaded time Regeneration energy Installing the FHA actuator Receiving Inspection Notice on handling Location and installatio
18. actuator is a high precision servo mechanism and great care is required for proper installation Install the actuator taking care not to damage accurately machined surfaces Note that actuators are equipped with a glass encoder which may be damaged by impact Procedure 1 Align the axis of rotation of the actuator and the load mechanism precisely Note 1 Very careful alignment is required especially when a rigid coupling is applied Slight differences between centerlines will cause failure of the drive end of the actuator Note 2 If needed carefully use a wooden hammer for coupling installation 2 Fasten the flange of the actuator with flat washers and high strength bolts Use a torque wrench when tightening the fasteners The recommended tightening torque is shown in the table below Model FHA 17C FHA 25C FHA 32C FHA 40C Item Output Output Output Output Flange Flange Flange Flange Flange Flange Flange Flange Screw 6 M5 6 M5 8 M6 8 M6 16 M6 12 M6 8 M10 8 M10 hole depth depth 8 depth 10 depth 12 depth 15 Wrenching Torque Nem 5 5 12 7 12 7 45 25 Kgfecm 50 30 120 70 120 70 450 250 3 Refer to the driver manual for cable installation 4 Motor cable and encoder cable Do not pull the cable with strong force which may damage the connection Install the cable with slack not to apply tension to the actuator Keep the minimum bending radius more than 40mm if the cable will be bent and st
19. anwa Supply 4 8 2 For HDLLC driver e Extension cable Encoder US Motor EWC MB M08 SP Driver Actuator Cable length 0323m 05 5m 10 10 Connector kit Ordering Code depends on the driver please refer to the Data sheet Communication cable Communication between driver and PC Via RS 232C Ordering Code SER CK Appendix 1 Unit conversion Appendix 1 Unit conversion This manual employs SI system for units Conversion factors between the SI system and other systems are as follows 1 Length ol system m po Unit ft in Factor 3 281 39 37 20 Linear speed system m s 3 4 Unit ft min ft s in s Factor 60 196 9 3 281 39 37 Linear acceleration ft min ft s Factor 3600 1 18x10 3 281 Force SI system N Unit Ib force oz force Factor 0 102 0 225 4 386 5 Mass SI system kg Unit Ib OZ Factor 2 205 99 27 6 Angle SI system Second Factor 3 44x10 2 06 102 ft In Factor 0 3048 0 0254 3 i system Unit Factor 0 0167 5 08x10 0 3048 0 0254 system m s Unit m min ft min in s Factor 2 78 10 8 47x10 0 3048 0 0254 SI system m s Unit Ib force oz force Factor 4 45 0 278 system N Unt oz Factor 0 4535 0 02835 51 system kg Unit Second Factor 0 01755 2 93 10 4 88 102 system rad Harmonic Drive LLC 800 921 3332 E App
20. ax 24 5 m S2 No contamination by water oil or foreign matters No corrosive inflammable or explosive gas Follow all instructions exactly when designing the equipment e Ensure exact alignment of motor shaft center and corresponding center in the application e Failure to observe this caution may lead to vibration resulting in damage of output elements FHA C series Safety Guide CAUTION FOR ACTUATORS OPERATION Do not exceed the allowable torque of the actuator Be aware that if a load arm attached to the output hits an obstacle by accident the output shaft may become uncontrollable Never connect cables directly to a power supply socket e An actuator must not be operated without a corresponding driver e Failure to observe this caution may lead to injury fire or damage of the actuator Protect the actuator from impact and shocks e Do not use a hammer to position the actuator during installation e Failure to observe this caution could damage the encoder and may cause uncontrollable operation e Avoid handling the actuator by its cables e Failure to observe this caution may damage the wiring causing uncontrollable or faulty operation CAUTION FOR SERVO DRIVES IN APPLICATION DESIGN Always use drivers under the following conditions e Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely e Ambient temperature O to 50 Ambient hu
21. cal injury and fire 4 A model of the driver is marked on the TYPE line of the label The last three digits indicate the voltage of power supply 200 3 phase or single phase 200V 100 single phase 100V If the voltage to be supplied is different from the label voltage immediately contact the dealer it was purchased from Do not connect a supply voltage other than the voltage specified on the label The wrong power supply voltage may damage the driver resulting in physical injury and fire CAUTION Chapter 3 Installing the FHA actuator 3 2 Notice on handling Handle FHA C series actuators with care specifically Do not apply impact or unnecessary excessive force to output flange of actuators Do not put actuators on or in a location where the driver could easily fall Do not plug the actuators directly into a commercial line power source This could burn out the actuator potentially resulting in a fire and or electrical hazard The allowable temperature for storage is from 20 C to 60 C Do not expose it to direct sunlight for a long time and do not store CAUTION it in areas with widely fluctuating temperatures The allowable relative humidity for storage is less than 80 Do not storage it in a highly humid place or in a place where temperature changes excessively during the course of a day Do not store units in locations with corrosive gas or particles 3 3 Location and installation 3 3
22. d by motor encoder resolution x 4 x reduction ratio Note 4 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 LLC Note 5 All parts except the rotary sliding parts oil seal of the actuators are protected against solid bodies of superior dimensions to 1mm and against the water sprays Harmonic Drive LLC 800 921 3332 E Chapter 4 Options 4 2 Brake for motor option code B FHA C series actuators are possible to equip a brake on the motor shaft to hold its position during no power supply The brake of FHA C series actuator provides two coils for activating and for holding respectively to decrease the current during holding by an electric circuit in the actuator Use a DC power supply having proper output voltage and enough capacity for activating current presented in the table below 4 2 1 Specifications for incremental encoder system ode 4 A A 40 Type Dry type non excitation electro magnetic brake with activating coil and holding coll Power supply V DC24V 10 no polarity note 1 Activating current 20 C note 2 A LO 1 1 1 2 18 Holding current at 20 C A 0 15 015 0 2 0 25 Holding torque N m 24 49 78 49 98 157 75 150 240 108 216 345 note 3 kgf m Zo 5 8 D 10 16 5 24 11 22 35 902 4 024 096 2 5 10 41 10 6 21 84 22 55 22 57 c
23. e From the parameters of Ta 2150 Nem Ir O Nem ta 0 097 s tr 0 243 s td 0 085 5 t 2 s 150 x 0 097 40 085 2 0 Tm 45 Nem As the value of Tm 45Nem exceeds its allowable continuous torque 35 it is impossible to drive the actuator continuously on the duty cycle The following equation is introduced by converting the equation for effective torque The limited time for one duty cycle can be obtained by substituting the continuous torque for the Tm of the following equation x ta td Tr Tr Tm Substituting 150 Nem for 150 Nem for 0 Nem for Tr 35 Nem Tm 0 097 3 for ta 0 243 s for tr and 0 085 s for td 1502 x 0 097 0 085 95 Namely when the time for one duty cycle is set more than 3 4s the effective torque Tm becomes less than 34 0 Nem and the actuator can drive the load with lower torque than the continuous torque continuously T 2 94 2 From the parameters of N 60 r min ta 0 097 s tr 0 243 s td 0 085 s t 3 5 s 60 2 x 0 097 60 x 0 242 60 2 x 0 085 3 4 As the speed is less than the continuous speed of the FHA 25C 50 it is possible to drive it continuously on new duty cycle Nav 5 88 r min Chapter 2 Guidelines for sizing 2 4 7 Permissible overloaded time The overloaded time is limited by the protective function in the driver even if the duty cycle is allowed The limits are shown in the figure below
24. e formula below is satisfied Faav Frav 2 Frav Lr Faav La dp 5 X 0 67 and Y 0 67 Where the variables of the formula are Mmax Maximum torsional moment in Nem kgfem obtained by the formula 1 Frmax Maximum radial load in N kgf See Fig 1 Famax Maximum axial load in N kgf See Fig 1 Lr La Loading point in mm See Fig 1 R Offset See Fig 1 and Table 1 dp Circular pitch of roller See Fig 1 and Table 1 Chapter 2 Guidelines for sizing Equivalent dynamic radial load The equivalent dynamic radial load is 2 Frav Lr R Faav La dp Pos X re t 6 Where the variables of the formula are Frav Average radial load in N kgf obtained by formula 2 Faav Average axial load in N kgf obtained by formula 3 dp Circular pitch of roller See Fig 1 and Table 1 X Radial load factor obtained by formula 5 Y Axial load factor obtained by formula 5 Lr La Loading point in mm See Fig 1 R Offset See Fig 1 and Table 1 Life of cross roller bearing Calculate the life of cross roller bearing with the formula below 6 10 3 Leas E X 7 60 x Nav fw Pc Where the variables of the formula are LB 10 Nav C Pc fw Life Life of cross roller bearing in hour Average output speed in r min obtained by formula 4 Basic dynamic load rating in N kgf See Table 1 Average dynamic radial load in N kgf obtained by formula 6 bel
25. ed actuator Pitch P Acceleration ta Ja JL x 2X2 x N 60 TM TL Deceleration td Ja J x 2X2 N 60 2 acceleration time sec Td deceleration time sec JA actuator inertia kgem JL load inertia kgem N actuator speed r min TM maximum torque of actuator Nem TF actuator friction torque at max speed Nem KT x 1 TM where KT torque constant Nem A IM maximum current A TL load torque Nem note that the polarity of the load torque is plus for counter direction of revolution and minus for same direction s Example 1 The load conditions are Rotary speed 60r min Moment of inertia 1 5 kgem Load torque is so small as to be neglected 1 Referring the figure in section 2 1 FHA 25C 50 actuator is selected for the load 2 Referring the specification table provided in section 1 4 0 81 kgem TM 2150 Nem 22 Nem A and 7 8A are obtained for the FHA 25C 50 3 TF 22x 7 3 150 10 6 Nem is obtained with the formula above 4 Acceleration and deceleration times are ta 0 8141 5 x 2 x T 60 x 60 150 0 097 s td 0 81 1 5 x 2 x T 60 x 60 150 2x 10 6 0 085 s 5 If the calculated acceleration times are too long correct the situation by eHeducing load moment of inertia m eSelecting an actuator with a larger frame size Chapter 2 Guidelines for sizing 2 4 5 Calculating equivalent duty Speed The load c
26. endix 1 Unit conversion 7 Angular speed system rad s Unit deg min 9 r min Factor 573 3 44x10 0 1592 9 55 7 Angular acceleration SI system rad s Unit deg s deg min Factor 9753 3 44x10 9 Torque ol system Nem Unit ozein Factor 0 102 0 738 8 85 141 6 10 Moment of inertia system Unit deg s deg min r min Factor 0 01755 2 93x10 6 28 0 1047 system rad s Unit deg min Factor 0 01755 2 93 10 SI system rad s Unit kgfem ozein Factor 1 356 0 1130 7 06x10 system Nem kgem Unit kgfecmes Ib eft Ibeines ozein ozeines Factor 0 102 23 73 0 7376 3 42x10 5 47 10 141 6 Unit bet dbeftes ozeines Factor 0 0981 0 0421 1 356 2 93 104 0 113 1 829 105 7 06 103 system kgem 11 Torsional spring constant moment stiffness system Nem rad Unit Ibein deg Factor E 102 i 97x10 78x10 0129 0 1546 Unit kgfem rad kgfem deg Ibeft dec Ibein deg Factor 3 37 10 SI system 6 47 Nem rad Appendix 2 Moment of inertia Appendix 2 Moment of inertia 1 Calculation of mass and moment of inertia 1 Both centerlines of rotation and gravity are the same The following table includes formulas to calculate mass and moment of inertia m mass kg Ix ly 12 moment of inertia for rotation center of x y Z axis respectively kgem2 G distance from gravity center to the surface p specific gravity
27. er Output Harmonic Drive LLC 800 921 3332 15 Chapter 2 Guidelines for sizing 9 Inertia kgem 2 kgfecmes 2 Chapter 2 Selection guidelines 2 1 Allowable load inertia 100 1000 FHA 40C 100 32 1 To achieve high accuracy performance select an 10 320 100 FHA actuator wherein the allowable moment of inertia reference value is greater than the load inertia 000A Refer to appendix 1 for the calculation of moment inertia When selecting the actuator make certain that the load 0 1 inertia and the maximum speed are less than the allowable 420 values that are indicated in the table below Max speed r min Actuator model FHA 17C FHA 25C FHA 32C FHA 40C Reduction ratio 50 1 100 1 160 1 501 100 1 160 1 50 1 100 1 160 1 50 1 100 1 160 1 Maximum speed r min 96 48 30 90 45 28 80 40 25 70 35 22 Moment of inertia Kgem 0 17 0 67 uM 0 81 3 2 8 3 1 8 7 1 18 1 4 9 19 5 50 of actuator kgfecmes 1 7 6 9 17 8 3 33 85 18 72 185 50 200 510 Allowable moment Kgem 0 54 2 1 5 1 2 4 10 25 5 4 21 54 15 60 150 of inertia kgfecmes 5 4 21 52 24 100 260 55 210 550 150 610 1500 2 2 Variable load inertia FHA C series actuators include Harmonic Drive gear that has a high reduction ratio Because of this there are minimal effects of variable load inertias to the servo drive system In comparison to direct servo
28. erview of the FHA C series EMEN 1 10 Rotary direction Forward rotary direction is defined as clockwise CW rotation viewing the output flange of the actuator when the HA800 signals forward commands The direction can be reversed by the setting of parameter mode 8 rotary direction of the driver FWD command REV command Setting 0 FWD rotation 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 s However do not apply impact to the output flange Horizontal F A i E DM X t El 1QU ZZ Ib o avc 98 JIF amp 5 m installation Impact resistance 1 12 Vibration resistance The allowable vibration from all directions is as follows Vibration acceleration 24 5 m s Frequency 10 400HZz 1 13 Torque speed characteristics Horizontal The following are actuator speed torque characteristics in combination installation with a proper the HA800 drive showing allowable Vibration resistance duty range Refer to chapter 2 selection guidelines for using the FHA C series actuators most suitably e Continuous duty range The range allows continuous operation for the actuator e 5096 duty range The range allows the 5096 duty time operation of a cycle time Refer section 2 4 5 duty cycle Acceleration and deceleration range
29. formula are Maximum torsional moment in Nem kgfem Frmax Maximum radial load in N kgf See Fig 1 gt Famax Maximum axial load in N kgf See Fig 1 Lr La Loading point in mm See Fig 1 R Offset See Fig 1 and Table 1 Figure 1 Loads Harmonic Drive LLC 800 921 3332 17 Chapter 2 Guidelines for sizing Calculating average loads average radial and axial loads average output speed When the radial and or axial loads vary during motion calculate and verify the life of the cross roller bearing converting the loads to their average values Average radial load Frav 10 3 n t Frav Note Fri is the maximum radial load in t4 range and Fra is the maximum radial load in range Frn 0 3 Axial load Fr 19 34 Noto Fro 19 9 2 Niti noto N th Average axial load Faav 10 3 n t Fa Faav Nyt Noto tn Axial load 3 Note Fa is the maximum radial load in t4 range Fas is the maximum radial load in range Average output speed Nav t noto nata 4 Nav tf tto t Axial load Calculating radial load factor and axial load factor Both load factors are different with average loads as follows When the right formula is satisfied Faav Frav 2 Frav r Faav La dp is 9 1 0 0 45 e When th
30. g Verifying procedures 1 Verifying the maximum load Calculate the maximum load Mmax Frmax Famax Verify the maximum loads Mmax Frmax Famax are less than allowable loads Mc Fr Fa 2 Verifying the life of the cross roller bearing Calculate the average radial load Frav and the average axial load Faav Calculate the radial load coefficient X and the axial load coefficient Y Calculate the life of the bearing and verify the life is allowable 3 Verifying the static safety coefficient Calculate 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 built in FHA C actuators Table 1 Specifications of the cross roller bearings Circular Offset R Basic dynamic Basic static Allowable Allowable Allowable pitch of roller load rating load rating radial load axial load torsional moment dp R C Co Fr Fa Mc mm mm N N N N Nem FHA 17C TT 17 10800 18700 2940 9800 188 FHA 25C 96 2 18 0 18000 33300 4900 14700 370 FHA 32C 112 2 18 5 24100 44300 9500 24500 530 FHA 40C 148 8 26 5 44900 88900 14700 39200 690 e Calculating the maximum load Load Calculate the maximum load Mmax Frmax Famax with the following formula and verify that they are less than their allowances Mmax Frmax Lr R Famax La 1 Where the variables of the
31. g DC30V 100mA resistive load Operating frequency Mechanical 240 operations min Electrical 60 operations min Life expectancy Mechanical 1 000 000 operations min Electrical 100 000 operations min COM NO NC For details refer OMRON s catalog Harmonic Drive LLC 800 921 3332 Chapter 4 Options 4 7 2 Adjusting procedures for sensor locations The adjusting procedures are presented as follows 1 Loosen each two screws fixing a disk with an origin slit and dogs for limit switch 1 and 2 respectively as easily as turning the dogs by hand 2 Adjust the clockwise actuating position turning the dog for the limit switch 2 and fix it with the two loosened screws 3 Adjust the counter clockwise actuating position turning the dog for the limit switch 1 and fix it with the two loosened screws 4 Turn the actuator at low speed while the origin sensor is active and find the best position for the origin monitoring the output of the origin sensor After finding the origin position fix the disk with the two loosened screws Note 1 The screws for the disk and the dogs are fixed temporarily Fix them tightly after adjusting above Note 2 Fixing measure against looseness is recommended after fixing the screws Note 3 Confirm generation of sensor signals at proper actuator position during test run after the adjusting Fixing screws for limit switch 2 2 M3 Fixing screws for limit switch 1 2 M3 Limit switch 2 Origin sen
32. i E m a Se E 20 0 0 0 10 2 40 60 70 9 100 0 10 2 40 7 80 100 Speed r min 250 100 300 77177 Allowed range 250 r Torque Nm i0 25 30 Speed r min BFHA 25C 150 80 300 gt lt Allowed range 1 10 250 60 200 50 ce 15 E 40 D 30 5 100 2 50 10 0 0 20 20 30 Speed r min Chapter 2 Guidelines for sizing BFHA 32C 50 Allowed range 350 7 800 300 1 5 1 1 500 100 2 100 2 LI oO 2 100 2 wees 2 E S NE EM eee ees 100 0 0 0 10 20 30 40 50 60 70 80 90 Speed r min BI HA 320 100 Allowed range 450 800 400 700 300 500 250 gt 4 S 200 p c 300 5 150 5 50 100 0 I B9 o 0 0 5 10 15 20 25 30 35 40 45 Speed r min 320 100 60 gt 1000 a Allowed range e 900 UE ME EE a 700 600 300 o 0 2 S 400 100 200 100 0 0 5 10 15 20 25 30 Speed r min BFHA 40C 90 Allowed range 10 20 50 60 70 80 30 40 Speed r min 40 100 Allowed range 9 10 15 20 2 30 30 40 Speed r min 40 150 Allowed range 5 10 15 2 25 Speed r min Harmonic Drive LLC 800 921 3332 25 Chapter
33. inductance mH 1 5 0 6 0 5 Reduction ratio 1 50 1 100 1 160 1 50 1 100 1 160 1 50 1100 1 160 Allowable radial load ae ai kgf 300 500 970 Allowable axial load ER she ur 8 kgf 1000 1500 2500 Allowable Nem 188 370 530 torsional moment Kgfem 19 38 54 Moment stiffness Nem rad 220x10 490x10 790x10 Kgfem rad 22x105 50x10 80x10 Sea d 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 11 000 000 11 600 000 500 000 11 000 000 1 600 000 resolution Note 3 Input voltage V 100 100 100 Mass Kg 2 5 4 0 0 5 Enclosure Totally enclosed self cooling equivalent to IP44 Note 5 Environmental conditions oervice storage temperature 0 409 20 60 C oervice storage humidity 20 80 RH no condensation Vibration impact resistance 24 5m s frequency 10 400Hz 294 m s 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 100MQ 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 obtaine
34. midity less than 9596 RH Non condensation No contamination by water oil or foreign matters e No corrosive inflammable or explosive gas Use sufficient noise suppressing means and safe grounding Keep signal and power leads separated e Keep leads as short as possible Ground actuator and servo drive at one single point minimum ground resistance class D less than 100 ohms Do not use a power line filter in the motor circuit Pay attention to negative torque by inverse load Inverse load may cause damages of drivers e Please consult our sales office if you intent to apply products for inverse load Use a fast response type ground fault detector designed for PWM inverters o not use a time delay type ground fault detector CAUTION FOR SERVO DRIVES IN OPERATION Never change wiring while power is active Make sure of power non active before servicing the products e Failure to observe this caution may result in electric shock or personal injury Do not touch the terminals or inspect products for at least 5 minutes after turning OFF power e Otherwise residual electric charges may result in electric shock e Make installation of products not easy to touch their inner electric components Do not make a voltage resistance test e Failure to observe this caution may result in damage of the control unit e Please consult our sales office if you intent to make a voltage resistance test Do not operate contr
35. n Environment of location Installation Options AC100V power supply Brake for motor Specifications for incremental encoder system Brake leads Cable end connectors Clamp for output 5 meter cables Cable outlets from back face Rotary position sensor set Specifications Adjusting procedure for sensor locations Movable range for each limit switch Extension cables Connectors Unit conversion Moment of inertia Calculation of mass and moment of inertia Inertia of cylinder Warranty and terms Noo 2 BWW 44 COS CO CE Qo N A AAR WWNHNNNNNNN H oo A HAP 1 oco 0000000 FPP PPPs 00 000 0 0 CQ NH DOTA AH FH FHA C series Safety Guide FHA C Series AC SERVO ACTUATOR MANUAL e Thank you very much for your purchasing our FHA C series servo actuator e Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation e Product specifications are subject to change without notice for improvement purposes e Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units e he end user of the actuator should have a copy of this manual SAFETY GUIDE For actuators motors contr
36. ng time is calculated as the area of the Duty Factor FHA 25C 50 trapezoid of speed time graph Then the displacement angle is N 60 x tr ta td 2 x 360 Then tr 0 6 x N ta td 2 As the 120 deg is equal to 0 33rev 120 360 the driving angle at the speed of 60 z1r s is tr 0 333 0 091 1 0 242 5 4 Because the cycle time is 2 0s the 96ED is obtained as follows ED 7 x 0 09741 x 0 242 7 x 0 085 2 x 100 76 It is possible to drive the actuator with the load specifications continuously because the ED is less than 100 If the ED is excesses 100 correct the situation by Changing the speed time profile e Reducing load moment of inertia e Selecting an actuator with a larger frame size Harmonic Drive LLC 800 921 3332 Chapter 2 Guidelines for sizing Graphs of duty factor Torque Nm Speed r min BFHA 1 6 100 Allowed range 20 25 Speed r min 176 160 10 15 20 Speed r min 25 BFHA 176 50 BFHA 256 50 Allowed range Allowed range 45 lt 180 40 160 35 140 30 120 onmes Pg ZU paras pera da eee Z 80 i 1 2 15 E Oo 60 067 10 x nan Le 4 KLO 5
37. ng various factory automation FA equipment such as robot joints alignment mechanisms for semiconductor and LCD equipment ATC of machine tools printing machine roller etc 1 1 Features Super flat configuration FHA C series actuator is the union of Harmonic Drive gear for precise motion control with a super flat AC servomotor The dimension from the coupling flange face to the actuator end is less than half the size of our previous models The total thickness including the output flange is 30 flatter than our previous models The compact size allows smaller machines to be designed Through hole shaft The center through hole shaft allows for the insertion of electric cables air pipes or laser beams through the actuator to supply power and signals to moving parts This feature will simplify the driven machine High torque FHA C series actuators have a much higher torque per volume than direct drive motors FHA C series actuators have a higher rating than our previous models High positioning accuracy FHA C series actuators provide superior positioning accuracy The FHA 25C 32C 40C 160 actuators achieve positioning accuracy of 30 arc seconds exceptionally FHA 17C 160 40arc seconds as well as an encoder resolution of 1 600 000 pulses per output revolution High torsion stiffness FHA C series actuators provide from 3096 to 100 greater torsion stiffness when compared with the previous series This feature shorten
38. ol units and drivers manufactured by Harmonic Drive LLC e Read this manual thoroughly before designing the application installation maintenance or inspection of the actuator WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious personal injury CAUTION Indicates a potentially hazardous situation which if not avoided may result in minor or moderate personal injury and or damage to the equipment LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the following applications Space equipment e Automobile automotive parts e Aircraft aeronautic equipment e Amusement equipment sport equipment game machines Nuclear equipment e Machine or devices acting directly on the human body Household apparatus e Instruments or devices to transport or carry people e Vacuum equipment e Apparatus or devices used in special environments Please consult us if you intend to use our products in one of the areas mentioned above Safety measures are essential to prevent accidents resulting in death injury or damage of the equipment due to malfunction or faulty operation Precautions When Using An Actuator and or Driver CAUTIONS FOR ACTUATORS IN APPLICATION DESIGN The actuator must only be used indoors where the following conditions are provided Ambient temperature 0 C to 40 C Ambient humidity 20 to 80 RH Non condensating Vibration M
39. ol units by means of power ON OFF switching Start stop operation should be performed via input signals e Failure to observe this caution may result in deterioration of electronic parts DISPOSAL OF ACTUATOR MOTOR CONTROL UNIT AND OR THEIR PARTS All products or parts should be disposed of as industrial waste e he case or the box of servo drives has a material indication classify parts and dispose of them separately Follow all applicable laws regarding waste disposal Harmonic Drive LLC 800 921 3332 E Chapter 1 Overview of the FHA C series a Chapter 1 Overview of the series FHA series servo actuators provide high torque and high accuracy rotary motion The actuators are comprised of Harmonic Drive gear components from size 17 to 40 for precise motion control and a super flat AC servomotor The first feature of the FHA series actuators is their super flat shape The body width is less than half of our previous models The second feature is a large through hole in the center of the shaft through which electric cables air pipes and even laser beams can be passed to supply power and signals to moving parts The HA 655 series and th HA 675 series are dedicated servo drivers for the FHA C series actuator to control its position and speed The small and intelligent driver controls the FHA C series actuators with great accuracy and reliability FHA C series actuators play an important role for drivi
40. onditions which is torque speed moment of inertia acceleration deceleration time loading time are limited by the actuator to drive the load To select the proper actuator the equivalent duty of the load should be calculated The 96ED percent equivalent duty is 100 where ta acceleration time in second td deceleration time in second tr driving time in second single cycle time in second Time duty factor for acceleration time Ta duty factor for driving time duty factor for deceleration time Torque bid Example 2 getting duty factors of and KLa KLd Allowed range With an example of the duty factor graph for FHA 25C 50 actuator the way of getting the duty factors of Kur and KLd is described as follows The load conditions are the same as the example described in example 1 the inertia load is accelerated by the maximum torque and is driven with a constant speed and decelerated by the maximum torque The displacement angle is 120 degrees and the cycle time is 2 0 s 1 and Kid the speed is desired at 30 r min as the average of O and 60 r min Then 7 0 from the graph 2 Kir ex Kur 21 0 from the graph pointing the load torque 10 20 80 40 50 60 80 90 100 Tr ex Tr 0 and driving speed ex Nr 60r min Speed r min 3 The drivi
41. onverted for output V 24 98 25 10 42 110 24 86 220 56 230 580 kgf cm s Mass of actuator note4 2 9 4 8 7 4 14 Service time for normal holding note 5 Service time for emergency stop note 6 100 000 times 200 times Note 1 Power supply is user s responsibility Use a DC power supply having proper output voltage and enough capacity for activating current presented in the table above Note 2 duration for activating current is less than 0 5 second for the power supply of DC24V 10 Note 3 The values are converted for the output flange Note 4 The values present total mass of the actuator Note 5 service time for normal holding is assured when the brake activates at motor speed of 150 r min or less Note 6 service time for emergency stop is assured when the brake activates at motor speed of 3000 r min or less Do not use the holding brake exceeding the service times for normal holding 100 000 times at the motor speed of 150r min or less nor for emergency stop 200 times at the motor speed of 3000r min or less Over service beyond a limited time may deteriorate holding torque and may CAUTION consequently become out of use as a brake 4 2 2 Brake leads Brake leads are included with motor leads in a motor cable Leads are distinguished by the colors shown in the table below White Black Green yellow Blue Yellow shield Lead Motor U Motor V Motor W PE B
42. orocarbon resin 220000 Chloroprene rubber 1 15 2 Both center lines of rotation and gravity are not the same The following formula calculates the moment of inertia when the rotary center is different from the gravity center lg mF Inertia when both centers are not the same kgem lg Inertia when both centers are the same kgem Calculate with formulas described in 1 m Mass kg F Distance between rotary center and gravity center m F i 3 Inertia of linearly moving objects The inertia converted to the actuator axis of linear moving objects is calculated with the formula as follows Rotary Gravity 2 center center Im 2T Inertia of linearly moving objects converted to the actuator axis kgem m Mass kg P Displacement per one revolution of actuator m rev Moment of inertia 2 Inertia of cylinder The moment of inertia of a cylinder may be obtained from the graphs to the right Radius Length The above graph is applied for aluminum specific gravity 2 7 and the lower for steel specific gravity 7 85 The double dot chain lines indicate the allowable inertia for each actuator Example Material Aluminum Diameter 100mm Length 7mm Form cylinder As the diameter is 100mm the radius is 50mm Therefore the above graph would indicate that the inertia is Approx 1 9X10 kgem Exact value 0 000186 kgem Moment of inertia kg
43. orque region over 2 p 02 Ka Q Wind up The table below shows T1 T3 K1 K3 01 02 values of each actuator Model FHA 17C FHA 25C FHA 32C FHA 40C Reduction Ratio BOs 10D 19910071 DOE 1607 100 160 T1 Nem 7 0 7 0 7 0 29 29 29 54 54 54 108 108 108 kgfem 0 7 O7 0 7 3 0 3 0 3 0 55 5 9 11 11 11 Ki x10 Nem rad 1 1 1 9 129 4 7 6 1 6 1 8 8 11 11 17 21 21 kgfem arc min 0 32 0 4 0 4 1 4 1 8 1 8 2 8 3 2 3 2 5 0 6 3 6 3 01 x10 rad 6 4 92 53 6 2 4 8 4 8 6 1 4 9 4 9 6 4 o 5 arc min 2 2 1 8 1 8 2 1 1 7 1 7 2 1 1 7 1 7 2 2 1 8 1 8 T2 Nem 25 29 25 108 108 108 196 196 196 382 B2 382 kgfem 2 5 2 5 2 0 11 11 11 20 20 20 39 39 39 K2x10 Nem rad 1 3 1 7 lee 6 1 rev 7 7 11 14 14 21 29 29 kgfem arc min 0 4 05 0 5 1 8 2 29 9 4 4 2 4 2 6 3 9 8 5 02 x10 rad 19 5 15 6 126 19 2 15 15 19 1 15 1 15 1 19 3 14 7 14 7 arc min 6 7 5 4 5 4 6 6 94 S 6 4 5 2 5 2 6 6 5 0 5 0 K3 x104 Nem rad 2 0 2 5 20 8 4 11 11 15 20 20 30 or of kgfem arc min 0 6 0 75 0 75 24 20 dud 4 5 5 8 5 8 9 11 11 The table below shows torque wind up relation for reference unit Nem Model FHA 17C FHA 25C FHA 32C FHA 40C Reduction Ratio BOSE TOD STO oU THO TEE OI 50 1 100 1 16071 2 arc min 6 9 8 1 8 1 27 of 37 51 63 63 98 129 129 4 arc min 14 18 18 62 82 82 117 148 148 220 300 300 6 arc min 22 29 29 97 136 136 179 243 243 340 490 490 Chapter 1 Ov
44. ow Load factor For smooth operation without shock or vibration For normal operation For operation with shock and or vibration of cross roller bearing for swaying motion Calculate the life of cross roller bearing with the formula below 6 10 3 us X X 22 8 60 x ni 0 fw Pc Where the variables of the formula are OC n C fw Life of cross roller bearing in hour Average output speed in r min obtained by formula 4 Basic dynamic load rating in N kgf See Table 1 Equivalent dynamic radial load in N kgf obtained by formula 6 Load factor For smooth operation without shock or vibration fw 1 to 1 2 For normal operation fw 1 2 to 1 5 For operation with shock and or vibration 1 6 10 3 Half of sway angle See the right figure When the sway angle is less than 5 degrees consult Harmonic Drive Systems fw 1 to 1 2 fw 1 2 to 1 5 fw 1 5 to 3 Sway Motion Harmonic Drive LLC 800 921 3332 19 Chapter 2 Guidelines for sizing Equivalent static radial load Equivalent static radial load is obtained by formula 9 below 2Mmax dp Po Frmax 0 44 Famax 9 Where the variables of the formula are Equivalent static radial load in kgf Mmax Maximum torsional moment in Nem kgfem obtained by the formula 1 Frmax Maximum radial load in N kgf See Fig 1 Famax Maximum axial load in N kgf See Fig 1 dp Circular pitch of roller See Fig 1 and Table 1
45. rake Brake FG Note the brake has no polarity Chapter 4 Options 4 3 Cable end connectors option code C Connectors optionally attached to the end of both cables of the motor and the encoder are convenient for connection with the drivers using the optional extension cables for the driver 4 3 1 Encoder Specification E or S The option is effective as measures for noise suppression and additionally increases connection reliability e Connector for motor cable receptacle 5557 08R female terminal 5556PBTL manufactured by Molex recommended connector for extension motor cable plug 5559 08P male terminal 5558 manufactured by Molex Connector for incremental encoder cable 09 0009 02 04 manufactured by Franz Binder recommended connector for extension encoder cable 09 0010 02 04 4 3 2 Encoder Specification US e Connector for motor cable Receptacle 5557 08 female terminal 5556PBTL Manufactured by Molex Recommended connector for extension motor cable Plug 5559 08P male terminal 5558 manufactured by Molex mme B e Connector for incremental encoder cable Receptacle 5557 16R Terminal 5556 Manufactured by Molex CC H Harmonic Drive LLC 800 921 3332 Chapter 4 Options 4 5 5 meter cables option code F5 Each cable for the motor and the encoder can be 5 meters long Omm x L 5000 5 2 6 11 5000 4 6 Cable outlets on back face option code K
46. retched Do not apply torque load or thrust to the sleeve directly The sleeve is adhered to the output flange the adhered sleeve may CAUTION become detached from the output flange by the illegal torque or load Do not disassemble and re assemble the actuator Harmonic Drive LLC does not guarantee the actuator if it has been disassembled or CAUTION reassembled by any unauthorized non HDLLC employee Chapter 4 Options 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 FHA 17C FHA 25C FHA 32C 50 100 160 50 100 160 50 100 160 Max torque Note 2 Nem 39 64 150 230 260 281 398 453 Kgfem 4 0 5 0 6 5 15 9 28 5 26 5 28 7 40 6 46 2 Maximum speed r min 96 48 27 90 45 28 80 40 25 Torque constant Nem A 10 3 20 9 33 4 10 8 21 9 35 13 8 28 1 44 9 Kgfem A 1 1 2 1 3 4 1 1 2 2 1 4 2T 4 6 Max current Note 2 A 4 2 92 2 2 15 1 11 5 8 2 18 0 15 4 11 2 Inertia of GD 4 kgem 0 17 0 67 0 81 2 2 8 3 1 8 7 1 18 1 actuator J Kgfecmes 1 7 6 9 17 8 3 33 85 18 72 185 EMF constant V r min 1 2 2 9 3 7 1 2 2 5 3 9 1 5 3 1 4 9 Phase resistance Q 20 C 2 0 0 6 0 38 Phase
47. rs are equipped with an incremental encoder of 2500 resolutions Because the motor rotation is reduced to 1 50 or 1 100 or 1 160 by the gear component the resolution of the output flange is 50 or 100 or 160 times the encoder revolution Additionally the incremental encoder signal is used in signal is used in quadrature The following high resolutions are obtained Incremental Encoder resolution 2 500 10 000 quadruplicated Reduction Ratio 50 1 100 1 160 1 Resolution of output flange Pulse rev 500 000 1 000 000 1 600 000 Resolvable angle per pulse arc sec 2 6 152 All values approximate 1 9 Torsional Stiffness of Actuators Deflection 1 9 1 Moment stiffness The moment stiffness refers to the stiffness when a moment load is applied to the output flange of the actuator shown in the figure For example when a load is applied to the end of an arm attached on the output flange of the actuator the face of the output flange of the actuator tilts in proportion to the moment load The moment stiffness is expressed as the load deflection angle DO NOT APPLY TORQUE LOAD OR THRUST TO THE HOLLOW SHAFT DIRECTLY The sleeve hollow shaft is bonded to the output rotary shaft Accordingly the adhered sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve hollow shaft Do not apply any torque moment load or thurst load directly to the sleeve hollow
48. s positioning time and decreases the vibration during servo lock stop 1 2 Chapter 1 Ordering Information for the FHA C series Ordering Information for the FHA actuators Model number of FHA C series actuators are as follows AC servo actuator FHA series Frame size 17 25 32 40 Design Reduction ratio of Harmonic Drive gear 50 1 100 1 160 1 Encoder specifications US 14 wire incremental encoder standard E 4 wire incremental encoder optional Encoder resolution 250 2500 p rev incremental Optional specifications Details of the optional specifications are as follows Optional spec Details Symbol AC100V power supply available for FHA 17C 25C 32C only A Brake for motor for holding motor shaft B Position sensors origin and end limits L Cable end connectors for motor cable IP 20 for encoder cable IP 40 amp for extension cable C Cable outlet on back face from back bracket face K 5 meter cables om for each motor cable and encoder cable F5 24V available for FHA 17C only E Note 1 For more details refer to chapter 4 Note 2 For requirement of two or more optional items please contact Harmonic Drive LLC for availability and delivery date 1 3 Recommended Drivers The drives are available for use with FHA C actuators The correct actuator drive combinations are as follows Incremental System INC Volt FHA 17C FHA 25C FHA 32C FHA 40C xx US250 xx US250 72
49. shaft Model FHA 17C FHA 25C FHA 32C FHA 40C Item Nem rad 220 x 10 490 x 10 790 x 10 1400 x 10 Moment Stiffness Kgfem rad 22x 109 50 x 10 80 x 10 140 x 10 Kgfem arc min 6 5 15 23 42 Harmonic Drive LLC 800 921 3332 m Chapter 1 Overview of the FHA C series 1 9 2 Torsional Stiffness When a torque is applied to the output flange of the actuator with the motor locked the resulting torsional wind up is near proportional to the torque Torsion Hysteresis Loss The upper right figure shows the torsional stiffness characteristics of the output flange applying torque starting from zero to plus side To and minus side To This trajectory is called torque torsion characteristics which typically follows ES a loop O2ABA SB A as illustrated The torsional stiffness of the FHA C actuator is expressed by the slope of the curve that is a spring rate wind up Nem rad The torsional stiffness may be evaluated by dividing torque torsion characteristics A curve into three major regions The spring rate of each region is expressed K1 K2 and K3 respectively K1 spring rate for torque region O T1 K2 spring rate for torque region T1 T2 K3 spring rate for torque region over T2 Torsion The wind up for each region is expressed as follows Wind up for torque region O T1 Q 2 1 1 Wind up for torque region 1 2 Q 01 T T O T4 To Torque _ 12 Wind up for t
50. sor Fixing range of screws for limit switch Dog for limit switch 1 Dog for limit switch 2 Chapter 4 Options 4 7 3 Movable range for each limit switch The mechanical limit switches have limits for the movable range of the actuator as follows FHA 17 Movable range for limit switch 1 Moveable range for limit switch 2 3159 315 25 32 40 Movable range for limit switch 1 Moveable range for limit switch 2 320 Actuating position Actuating position Moveable range Do not overrun beyond the moveable range mentioned above The over running may damage the limit switch resulting mechanical failure and physical injury CAUTION Harmonic Drive LLC 800 921 3332 Chapter 4 Options 4 8 Accessories 4 8 1 For HA 800 driver e Extension cable Optional extension cables of 3m 5m 10m long are available for connecting an actuator and a driver 1 for a motor including brake wires 2 for an incremental encoder system Ordering model for a motor EWC MB MO8 TN for an incremental encoder EWC E 04 3 14 Cable length 03 3m 05 om Connector kit 10 10m Ordering Code CNK HA80A S1 e Communication cable Communication between driver and PC Via RS 232C Ordering Code EWA RS093 Note RS 232C communication cable is user s responsibility Recommended cable is RS 232C cross cable with a DSUB female 9 pin connector for driver KRS LO9 2K or equivalent manufactured by S
51. 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 motion for example robot arms The effect of the variable load inertia to the total inertia converted into motor shaft is as follows The symbols in the formulas are Js Total inertia converted into motor shaft Ju Moment inertia of motor R Reduction ratio of FHA actuator L Ratio of load inertia to motor inertia N Variation ratio of load inertia Direct drive 1 1 FHA actuator drive Before Js JM 1 2 After Js JM E 1 NL R2 R2 R2 Ratio Js Js 14L R In the case of the FHA actuator drive as the reduction ratio is R 50 R 100 or R160 and the square of the reduction ratio R 22500 R 210000 or R 225600 the denominator and the numerator of the ratio are almost 1 Then the ratio is F1 This means that FHA drive systems are hardly effected by the load inertia variation Therefore it is not necessary to take the load inertia variation into consideration for selecting an FHA actuator or for setting up the driver Chapter 2 Guidelines for sizing 2 3 Verifying loads The FHA C actuators comprise a precise cross roller bearing for directly supporting the load weight To give full ability of the actuator verify that the maximum load weight is less than the allowable load and life and static safety coefficient of the cross roller bearin
52. ter of output flange for one revolution Parallelism between output flange and mounting flange The indicator 3 on the output flange measures the axial run out of each perimeter of both sides of the fixing flange for one revolution Concentricity between output flange to fitting face The indicator 4 on the output flange measures the radial run out of each surface of both fitting face drive end side and opposite side for one revolution Chapter 1 Overview of the FHA C series 1 7 One way positioning accuracy a 7 Actual stopping position Commanded stopping position The one way positioning accuracy means the maximum positional difference between a commanded theoretical position and its actual angular position for serial positioning in one revolution when approached from the same direction refer to JIS B 6201 1987 The one way positioning accuracy of FHA C actuators is almost equal to the angular positioning accuracy of the Harmonic Drive gear because the effect on the positioning error of the built in motor is reducted to its 1 50 or 1 100 or1 160 by the gearing The one way positioning accuracy is shown in the table below Start position Model FHA 17C FHA 25C FHA 32C FHA 40C 50 1 100 1 160 1 50 1 100 1 160 1 50 1 100 1 160 1 50 1 100 1 160 1 arc second 60 40 40 40 30 30 40 30 30 40 30 30 One way positioning accuracy 1 8 Encoder resolution The motors of FHA C actuato
53. ty expressed or implied concerning the material to be furnished other than it shall be of the quality and specifications stated The seller s liability for any breach is limited to the purchase price of the product All efforts have been made to assure that the information in this catalog is complete and accurate However Harmonic Drive LLC is not liable for any errors omissions or inaccuracies in the reported data Harmonic Drive LLC reserves the right to change the product specifications for any reason without prior notice 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 Sales Office 333 W San Carlos Street Suite 1070 San Jose CA 95110 Chicago Sales Office 137 N Oak Park Ave Suite 410 Oak Park IL 60301 T 800 921 3332 T 978 532 1800 F 978 532 9406 www HarmonicDrive net Group Companies Harmonic Drive Systems Inc 6 25 3 Minami Ohi Shinagawa ku Tokyo 141 0013 Japan Harmonic Drive Hoenbergstrasse 14 D 6555 Limburg Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC Harmonic Drive TECHNOLOGIES Rev 20150430
54. um Speed r min _FHA 32C 100 8 Eme 5 2 3 50 duty range Torque Nm 100 Continuous range 0 10 e 3D aZ a Speed r min _FHA 32C 160 Radiation plate 400x400x20 mm 8 Acc dec range _ XD 2 a 50 duty range 5 im Speed r min Radiation plate 500x500x25 mm 40 Acc dec range Torque Nm E 100 50 duty range 0 10 zu a 9 a n 8 Speed r min 400 100 Radiation plate 500x500x25 mm nu Bn Acc dec range p X 50 duty range E 100 Continuous range 0 5 10 15 20 25 35 40 Speed r min _FHA 40C 160 Radiation plate 500x500x25 mm 0 T Ano Acc dec range 0 ep S 40 50 duty range 3 ero 8 Speed r min Harmonic Drive LLC 800 921 3332 n Chapter 1 Overview of the FHA C series 1 14 Cable specifications The following tables show the lead specifications for the motors and the encoders of the FHA C actuators Motor Cable standard Brake option Red Motor phase U Motor phase U White Motor phase V Motor phase V Black Motor phase W Motor phase W Green yellow PE PE Blue No connection Brake Yellow No connection Brake Shield FG FG Encoder Cable for 14 Wire Incremental Encoder INC Color Color Signal Red VCC Black GND Green A Green White Gray
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