Harmonic Drive FHA Series Manuel utilisateur

HOLLOW SHAFT ACTUATORS

Precision Gearing & Motion Control

Total Motion Control

FHA Series

FHA-C series

CONTENTS

Safety Guide

Chapter 1 Overview of the FHA-C series 3

1-1 Features

1-2 Ordering information 4

1-3 Combinations with drivers 4

1-4 Specifications of FHA-C actuators 5

1-4-1 For incremental positioning system 5

1-4-2 For absolute positioning system 6

1-5 External dimensions of FHA-C actuators 7

1-5-1 For incremental positioning system 7

1-5-2 For absolute positioning system 9

1-6 Mechanical accuracy of FHA-C actuators 11

1-7 One-way positioning accuracy 12

1-8 Encoder resolution 12

1-9 Torsional Stiffness of actuators 12

1-9-1 Moment stiffness 12

1-9-2 Torsional stiffness 13

1-10 Rotary direction 14

1-11 Impact resistance 14

1-12 Vibration resistance 14

1-13 Torque-speed characteristics 14

1-14 Cable specifications 17

1-15 Signal Waveforms 18

Chapter 2 Selection Guidelines 19

2-1 Allowable load inertia 19

2-2 Variable load inertia 19

2-3 Verifying loads 20

2-4 Duty cycles 24

2-4-1 Actuator speed 24

2-4-2 Load inertia 24

2-4-3 Load torque 24

2-4-4 Acceleration time and deceleration time 25

2-4-5 Calculating equivalent duty 26

2-4-6 Effective torque and average speed 29

2-4-7 Permissible overloaded time 30

2-4-8 Regeneration energy 30

Chapter 3 Installing the FHA actuator 31

3-1 Receiving Inspection 31

3-2 Notice on handling 32

3-3 Location and installation 32

3-3-1 Environment of location 32

3-3-2 Installation 33

Chapter 4 Options 34

4-1 AC100V power supply 34

4-2 Brake for motor 35

4-2-1 Specifications for incremental encoder system 35

4-2-2 Brake leads 35

4-3 Cable-end connectors 36

4-4 Clamp for output 36

4-5 5 meter cables 37

4-6 Cable outlets from back face 37

4-7 Rotary position sensor set 38

4-7-1 Specifications 38

4-7-2 Adjusting procedure for sensor locations 39

4-7-3 Movable range for each limit switch 40

4-8 Extension cables 41

4-9 Connectors 41

Appendix 1 Unit conversion 42

Appendix 2 Moment of inertia/Calculation of mass and moment of inertia 44

2 Inertia of cylinder 46

Warranty and terms 47

FHA-C series AC Servo Actuator Manual

FHA-C Series

AC SERVO ACTUATOR MANUAL

• Thank you very much for your purchasing our FHA-C series servo actuator.

• 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.

• Product specifications are subject to change without notice for improvement purposes.

• Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units.

• The end user of the actuator should have a copy of this manual.

SAFETY GUIDE

• For actuators, motors, control units and drivers manufactured by Harmonic Drive LLC

• 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 • Automobile, automotive parts

•Aircraft, aeronautic equipment • Amusement equipment, sport equipment, game machines

•Nuclear equipment • Machine or devices acting directly on the human body

•Household apparatus •

Instruments or devices to transport or carry people

•Vacuum equipment •

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 mal-

function 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: 0ºC to 40ºC

• Ambient humidity: 20% to 80%RH (Non-condensating)

• Vibration: Max 24.5 m/S2

• No contamination by water, oil or foreign matters

• No corrosive, inflammable or explosive gas

Follow exactly the instructions in the relating manuals to install the actuator in the equipment.

• Ensure exact alignment of motor shaft center and corresponding center in the application.

• Failure to observe this caution may lead to vibration, resulting in damage of output elements.

FHA-C series Safety Guide

Harmonic Drive LLC 800-921-3332

CAUTIONS FOR ACTUATORS IN OPERATIONS

Do not exceed the allowable torque of the actuator.

• Be aware, that if a load arm attached to the output hits by accident an obstacle, the output shaft may become uncontrollable.

Never connect cables directly to a power supply socket.

• An actuator must not be operated without a corresponding driver.

• Failure to observe this caution may lead to injury, fire or damage of the actuator.

Protect the actuator from impact and shocks

• Do not use a hammer to position the actuator during installation

• Failure to observe this caution could damage the encoder and may cause uncontrollable operation.

• Avoid handling of the actuator by its cables.

• Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation.

CAUTIONS FOR DRIVERS IN APPLICATION DESIGN

Always use drivers under the following conditions:

•

Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely.

•

Ambient temperature: 0º to 50º

•

Ambient humidity: less than 95% RH (Non condensation)

•

No contamination by water, oil or foreign matters

•

No corrosive, inflammable or explosive gas Use sufficient noise suppressing means and safe grounding.

•

Keep signal and power leads separated.

•

Keep leads as short as possible.

•

Ground actuator and driver 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.

•

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.

•

Do not use a time-delay-type ground-fault detector.

CAUTIONS FOR DRIVERS IN OPERATIONS

Never change wiring while power is active:

•

Make sure of power non-active before servicing the products.

•

Failure to observe this caution may result in electric shock or personal injury.

Do not touch terminals or inspect products at least 5 minutes after turning OFF power.

•

Otherwise residual electric charges may result in electric shock.

•

Make installation of products not easy to touch their inner electric components. Do not make a voltage resistance test.

•

Failure to observe this caution may result in damage of the control unit.

•

Please consult our sales office, if you intent to make a voltage resistance test.

• D

o not operate control units by means of power ON/OFF switching.

•

Start/stop operation should be performed via input signals.

•

Failure to observe this caution may result in deterioration of electronic parts.

DISPOSAL OF AN ACTUATOR, A MOTOR, A CONTROL UNIT AND/OR THEIR PARTS

•

All products or parts have to be disposed of as industrial waste.

•

Since the case or the box of drivers have a material indication, classify parts and dispose them separately.

FHA-C series Safety Guide

Chapter 1 Overview of the FHA-C series

Chapter 1

Overview of the FHA-C series

FHA series servo actuators provide high torque and high accuracy rotary motion. The actuators are comprised of Harmonic drive®

component from No. 17 to No.40 for precise motion control and a super-flat AC servomotors.

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 driving 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® gearing 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 actuator

outputs have a much higher torque per volume than direct drive motors owing to Harmonic drive® gearing.

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 30% to 100% greater torsion stiffness when compared with the previous series.

This feature shortens positioning time and decreases the vibration during servo-lock stop.

• Optional absolute encoder

FHA-C s

eries actuators allows to select an encoder system from two kinds of encoders for detecting a position: the one is

an incremental encoder for general applications and the other is an absolute encoder (optional) for keeping its current

position data all the time, even in power failure. The complex cable for the incremental encoder saves its wires resulted

in increased reliability and simplified wiring.

In this document, INC is attached for the descriptions for the incremental system only, and ABS is for the absolute system only.

Harmonic Drive LLC 800-921-3332 4

FHA- 17 C-50-E 250

AC servo actuator FHA series

Frame size: 17, 25, 32, 40

Design

Reduction ratio of harmonic drive®gearing

50: 1/50

100: 1/100

160: 1/160

Encoder specifications

US: 14 wire incremental encoder (standard)

E: 4 wire incremental encoder (optional)

S: absolute encoder (optional)

Encoder resolution

250 : 2500 p/rev (incremental)

248: 8192 p/rev (absolute)

Optional specifications

1-2 Ordering Information for the FHA actuators

Model number of FHA-C series actuators are as follows:

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) C

Cable outlet on back face from back bracket face K

Protection equivalent to IP-67(technical arrangement is required) W

Clamp for output by built-in hydraulic mechanism with position sensors D

5 meter cables 5m 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 to Harmonic Drive System, Inc. for availability and delivery date.

1-3 Combinations with drivers

Two series of HA-655 and HA-675 drivers are available for use with FHA-C actuators dealing with their nominal current and encoder sys-

tems. The correct actuator / driver combinations are as follows:

Incremental System INC Absolute System ABS

Volt FHA-17C FHA-25C FHA-32C FHA-40C FHA-17C FHA-25C FHA-32C FHA-40C

-xx-US250 -xx-US250 -zz-US250 -XX-US250 -xx-S248 -xx-S248 -xx-S248 -xx-S248

200V HA-655-2-200 HA-655-2-200 HA-655-4-200 HA-655-4-200 HA-655-2A-200 HA-655-2A-200 HA-655-4A-200 HA-655-4A-200

HA-675-2-200 HA-675-2-200 HA-675-4-200 HA-675-4-200 HA-675-2A-200 HA-675-2A-200 HA-675-4A-200 HA-675-4A-200

100V HA-655-2-100 HA-655-4-100 HA-655-4-100 – HA-655-2A-100 HA-655-4A-100 HA-655-4A-100 –

HA-675-2-100 HA-675-4-100 HA-675-4-100 – HA-675-2A-100 HA-675-4A-100 HA-675-4A-100 –

Chapter 1 Ordering Information for the FHA-C series

1-4 Specifications of FHA-C actuators

1-4-1 INCREMENTAL SYSTEM INC

Specifications of FHA-C series actuators with the 14 Wire Incremental Encoder are as follows:

Model FHA-17C-xx-US250 FHA-25C-xx-US250 FHA-32C-xx-US250 FHA-40C-xx-US250

50 100 160 50 100 160 50 100 160 50 100 160

Maximum Torque Note 2 N•m 39 57 64 150 230 260 281 398 453 500 690 820

Maximum Speed r/min 96 48 27 90 45 28 80 40 25 70 35 22

Torque Constant1) 200V N•m/A 21 42 67 22 45 72 27 54 86 31 64 102

100V N•m/A 11 21 33 11 2.2 36 13 27 43 15 32 51

Maximum Current 200V A 2.1 1.6 1.1 7.3 5.6 4.0 11.4 8.0 5.9 17.3 11.8 9.0

Note 2 100V A 4.2 3.2 2.2 15 11 8.0 23 16 12 35 24 18

EMF Voltage Constant 200V V/(r/min) 2.3 4.7 7.5 2.5 5.1 8.1 3.0 5.9 9.5 3.6 7.2 11.4

100V V/(r/min) 1.2 2.4 3.8 1.3 2.6 4.1 1.5 3.0 4.8 1.8 3.6 5.7

Phase Resistance 200V (20ºC) 7.9 2.6 1.0 0.73

100V (20ºC) 2.0 0.65 0.25 0.18

Phase Inductance 200V mH 6.0 2.6 1.3 1.5

100V mH 1.5 0.65 0.33 0.38

Inertia of Actuator (GD2/4) kg•m2 0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1 4.9 19.5 50

(J) kgf•cm•s2 1.7 6.9 17 8.3 33 85 18 72 185 50 200 510

Reduction Ratio 1:50 1:100 1:60 1:50 1:100 1:60 1:50 1:100 1:60 1:50 1:100 1:60

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 N•m 188 370 530 690

Moment stiffness N•m/rad 220x103490x103

790x103

1400x103

One-way

Positioning Accuracy arc-sec 60 40 40 40 30 30 40 30 30 40 30 30

Motor encoder 2500 pulse/rev.

Quad encoder

-resolution Note 4 Pulse/rev

500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000

Mass Kg 2.5 4.0 6.5 12

Enclosure Totally enclosed, self-cooling (equivalent to IP44)

Environmental conditions Service / Storage temperature : 0~40ºC / -20 ~ 60ºC

Service / storage humidity : 20~80%RH (no condensation)

Vibration / impact resistance : 24.5m/s2(freq:10-400Hz) , shock resistance 294 m/s2

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: 100MΩ or more (by DC500V insulation tester)

Withstanding voltage: AC1500V / 1 minute

Insulation class: F

Orientation All position

Note 1: The table shows output values of actuators.

Note 2: Values for saturated temperature under the conditions that the actuator is driven by an appropriate HA-655 or HA-675 driver.

Note 3: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]

Chapter 1 Overview of the FHA-C series

Harmonic Drive LLC 800-921-3332 6

Chapter 1 Overview of the FHA-C series

1-4-2 Absolute System

Specifications of FHA-C series actuators with an Absolute Encoder are as follows:

Model FHA-17C-xx-US248 FHA-25C-xx-US248 FHA-32C-xx-US248 FHA-40C-xx-US248

50 100 160 50 100 160 50 100 160 50 100 160

Maximum Torque N•m 39 57 64 150 230 260 281 398 453 500 690 820

Maximum Speed r/min 96 48 27 90 45 28 80 40 25 70 35 22

Torque Constant1) 200V N•m/A 21 42 67 22 45 72 27 54 86 31 64 102

100V N•m/A 11 21 33 11 2.2 36 13 27 43 15 32 51

Maximum Current 200V A 2.1 1.6 1.1 7.3 5.6 4.0 11.4 8.0 5.9 17.3 11.8 9.0

Note 2 100V A 4.2 3.2 2.2 15 11 8.0 23 16 12 35 24 18

EMF Voltage Constant 200V V/(r/min) 2.3 4.7 7.5 2.5 5.1 8.1 3.0 5.9 9.5 3.6 7.2 11.4

100V V/(r/min) 1.2 2.4 3.8 1.3 2.6 4.1 1.5 3.0 4.8 1.8 3.6 5.7

Phase Resistance 200V (20ºC) 7.9 2.6 1.0 0.73

100V (20ºC) 2.0 0.65 0.25 0.18

Phase Inductance 200V mH 6.0 2.6 1.3 1.5

100V mH 1.5 0.65 0.33 0.38

Inertia of Actuator (GD2/4) kg•m2 0.2 0.7 1.9 0.8 3.4 8.6 1.8 7.3 18.1 5.0 19.8 50.7

(J) kgf•cm•s2 1.7 7.5 19.2 8.6 34.2 87.6 18.5 74.2 185 50.5 202 517

Reduction Ratio 1:50 1:100 1:60 1:50 1:100 1:60 1:50 1:100 1:60 1:50 1:100 1:60

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 N•m 188 370 530 690

Moment stiffness N•m/rad 220x103490x103

790x103

1400x103

One-way

Positioning Accuracy arc-sec 60 40 40 40 30 30 40 30 30 40 30 30

Motor encoder 2500 pulse/rev.

Quad encoder

-resolution Note 4 Pulse/rev

409,600 819,200 1,310,720 409,600 819,200 1,310,720 409,600 819,200 1,310,720 409,600 819,200 1,310,720

Mass Kg 2.9 4.5 7.1 13

Enclosure Totally enclosed, self-cooling (equivalent to IP44)

Environmental conditions Service / Storage temperature : 0~40ºC / -20 ~ 60ºC

Service / storage humidity : 20~80%RH (no condensation)

Vibration / impact resistance : 24.5m/s2(freq:10-400Hz) , shock resistance 294 m/s2

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: 100MΩ or more (by DC500V insulation tester)

Withstanding voltage: AC1500V / 1 minute

Insulation class: F

Orientation All position

Note 1: The table shows output values of actuators.

Note 2: Values for saturated temperature under the conditions that the actuator is driven by an appropriate HA-655 or HA-675 driver.

Note 3: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]

Chapter 1 Overview of the FHA-C series

1-5 External dimensions of FHA actuators

1-5-1 Incremental Systems INC

The external drawings are shown as follows:

• FHA-17C-xx-US250 INC

• FHA-25C-xx-US250 INC

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.

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