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Harmonic Drive HMA Series Manual

Flat hollow shaft ac servo motors
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Flat Hollow Shaft AC Servo Motors
H M A
s e r i e s
m a n u a l
ISO14001
ISO9001

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Summary of Contents for Harmonic Drive HMA Series

  • Page 1 Flat Hollow Shaft AC Servo Motors H M A s e r i e s m a n u a l ISO14001 ISO9001...
  • Page 2 Introduction Introduction Thank you for purchasing our HMA series AC servo motor. Incorrect handling or improper use of this product may result in unexpected accidents or a shorter product life. Read this manual carefully and use the product correctly so that the product can be used safely for many years.

  • Page 3: Safety Guide

    SAFETY GUIDE SAFETY GUIDE To use this product safely and correctly, be sure to read the SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the product. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury.

  • Page 4: Safety Note

    SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE MOTOR  CAUTIONS RELATED TO THE DESIGN Always use the motor under the specified conditions: The motor is designed to be used indoors. Observe the following conditions: ･ Ambient temperature: 0 to 40℃ ･...
  • Page 5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER  CAUTIONS RELATED TO THE DESIGN Always use the motor under the specified conditions: The driver generates heat. Take extra caution for radiation and use it under the following conditions. CAUTION ･...
  • Page 6 SAFETY GUIDE Do not perform a voltage resistance test. ･ Do not perform a Megger test or voltage resistance test. Failure to observe this caution may result in damage to the control circuit of the driver. CAUTION ･ Please consult our sales office if you intent to perform such tests. Do not operate the driver by switching the power ON/OFF.

  • Page 7: Table Of Contents

    Motor cable specifications ................. 1-20 Encoder cable specifications ................1-21 Chapter 2 Selection guidelines 2-1 HMA series selection ..................2-1 Allowable load inertia moment ................2-1 2-2 Verifying and examining load weights ............2-2 2-3 Examining the operating status ..............2-3 Examining motor rotational speed ...............

  • Page 8: Contents

    Contents Chapter 3 Installing the HMA motor 3-1 Receiving inspection ..................3-1 Inspection procedure ................... 3-1 3-2 Notices on handling ..................3-2 Installation and transmission torque ..............3-2 Precautions on installation ................... 3-3 Use of positioning pins ..................3-4 Motor shaft material ..................... 3-4 3-3 Location and installation ................

  • Page 9: Related Manual

    AC Servo Driver The specifications and characteristics of HA-800 series drivers are explained. HA-800 series manual Conformance to overseas standards The HMA series motors are compliant with the following overseas standards. UL standards UL1004-1, UL1004-6 (File No. E243316) CSA standards C22.2 No.100...
  • Page 10 Conformance to overseas standards The values displayed on the name plate for each model are shown below. Model HMAC08 Item (1) Output at point A (2) Voltage at point A (3) Allowable continuous current (4) Speed at point A r/min 3,000 (5) Frequency at point A ℃...
  • Page 12 Chapter 1 Outlines This chapter explains the features, functions and specifications of the motor. 1-1 Outlines ············································································· 1-1 1-2 Model ················································································ 1-2 1-3 Combinations with drivers and extension cables ························· 1-3 1-4 Specifications ······································································ 1-4 1-5 Holding brake ······································································ 1-6 1-6 External dimensions ·····························································...

  • Page 13: Outlines

    1-1 Outlines Outlines All HMA series AC servo motor models feature a hollow bore structure and compact design. Wires, pipes, ball screws, or laser beams go through the hollow bore depending on the mechanism design required for your applications. HMA series AC servo motors play an important role in driving various factory automation (FA) equipment, such as robot joints, alignment mechanisms for semi-conductors and LCD devices, ATC of metal-cutting machines, printing machine roller drives, etc.

  • Page 14: Model

    1-2 Model Model The model names for the HMA series motors and how to read the symbols are explained below. Model example: S17b (10) (11) (1) Model: HMA series AC servo motor (2) Motor version symbol Model No. 21A Model Nos. 09, 12, 15 Model No.

  • Page 15: Combinations With Drivers And Extension Cables

    1-3 Combinations with drivers and extension cables Combinations with drivers and extension cables The combinations of HMA motors, HA-800 drivers and extension cables are as follows: HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A HA-800A HA-800A -3D/E-200 HA-800A HA-800A HA-800A I/O command type -3D/E-200 (HA-800A -6D/E-200...

  • Page 16: Specifications

    1-4 Specifications Specifications The specifications of the HMA series motors are shown below. Model HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A Item HA-800□-3 HA-800□-3 HA-800□-6 HA-800□-6 HA-800□-2 HA-800□-2 Compatible drivers D/E-200 D/E-200 D/E-100 D/E-200 4D/E-200 4D/E-200 Input power supply 1,320 Rated output...
  • Page 17 1-4 Specifications Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃ Service/storage humidity: 20 to 80% RH (no condensation) Resistance to vibration: 25m/s (frequency: 10 to 400Hz) 2 *5 Environmental conditions Resistance to impact: 300 m/s No dust, metal powder, corrosive gas, inflammable gas, or oil mist. To be used indoors, no direct sunlight.

  • Page 18: Holding Brake

    1-5 Holding brake Holding brake The brakes equipped on HMA series motors are used to hold the motor shaft in place when the power is cut off. With some models (HMAB09, 12), the motor's built-in circuit controls the voltage supplied to the brake in order to reduce the power consumption while the brake is actuated.

  • Page 19: External Dimensions

    1-6 External dimensions External dimensions The external dimensions of the HMA series motors are shown below.  HMAC08 (with/without brake) Unit: mm (third angle projection) Appe...
  • Page 20 1-6 External dimensions  HMAB09 (with/without brake) Unit: mm (third angle projection) Appe...
  • Page 21 1-6 External dimensions  HMAB12 (with/without brake) Unit: mm (third angle projection) Appe...
  • Page 22 1-6 External dimensions  HMAB15 (with/without brake) Unit: mm (third angle projection) Appe 1-10...
  • Page 23 1-6 External dimensions  HMAA21A (with/without brake) Unit: mm (third angle projection) Appe 1-11...

  • Page 24: Mechanical Accuracy

    1-7 Mechanical accuracy Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange for HMA series motors are shown below: Unit: mm Accuracy items HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A 1. Output shaft surface runout 0.020 0.020 0.020 0.040 0.040...

  • Page 25: Detector Specifications (Absolute Encoder)

    1-8 Detector specifications (Absolute encoder) Detector specifications (Absolute encoder) Absolute encoders installed in the HMA series are multi-turn absolute encoders. The encoder consists of a single-turn detector for detecting the motor shaft position, and a multi-turn detector for detecting the number of revolutions.

  • Page 26: Rotation Direction

    1-9 Rotation direction Rotation direction As a default, the rotation direction is defined as counterclockwise (CCW) rotation as viewed from the output shaft when a FWD command pulse is given from an HA-800 driver. This rotation direction can be changed on the HA-800 driver by selecting [SP50: Command polarity setting] under [System parameter mode 3].

  • Page 27: Shock Resistance

    1-10 Shock resistance 1-10 Shock resistance The shock resistance of the motor is as follows, and this value is the same in up/down, left/right and front/rear directions: Shock acceleration: 300 m/s In our shock resistance test, the motor is tested three times in each direction. Motor operation is not guaranteed in applications where impacts exceeding the above value are constantly applied.

  • Page 28: Resistance To Vibration

    1-11 Resistance to vibration 1-11 Resistance to vibration The resistance to vibration of the motor is as follows, and this value is the same in up/down, left/right and front/rear directions: Vibration acceleration: 25 m/s (frequency: 10 to 400 Hz) In our test, the motor is tested for 2 hours in each direction at a vibration frequency sweep period of 10 minutes.

  • Page 29: Operable Range

    1-12 Operable range 1-12 Operable range The graphs on the following pages indicate the operable ranges of HMA series motors when combined with an HA-800 driver. For details, refer to [2-1 HMA series selection]. 1. Continuous motion range This indicates a range in which the motor can be operated continuously as shown by the relationship between the torque and rotational speed.
  • Page 30 1-12 Operable range ■HMAC08 Aluminum radiation plate: 320*320*16 アルミ放熱板：320x320x16 mm Motion range during 加減速運転領域 acceleration and deceleration Continuous 連続使用領域 motion range 1000 2000 3000 4000 5000 6000 回転速度 [r/min] Rotation speed [r/min] ■HMAB09 *200 VAC type Aluminum radiation plate: 350*350*18 アルミ放熱板：350×350×18 mm Motion range during 加減速運転領域...
  • Page 31 1-12 Operable range ■HMAB12 Aluminum radiation plate: 400*400*20 アルミ放熱板：400×400×20 mm Motion range during 加減速運転領域 acceleration and deceleration Continuous 連続使用領域 motion range 1000 2000 3000 4000 5000 回転速度 [r/min] Rotation speed [r/min] ■HMAB15 Aluminum radiation plate: 500*500*25 アルミ放熱板：500×500×25 mm Motion range during 加減速運転領域...

  • Page 32: Cable Specifications

    1-13 Cable specifications 1-13 Cable specifications The following tables show the specifications of the motor and encoder cables for the HMA series motors. Motor cable specifications  Model Nos. 08, 09, 12, 15 Name Pin No. Color Without brake With brake...

  • Page 33: Encoder Cable Specifications

    1-13 Cable specifications Encoder cable specifications  Model Nos. 08, 09, 12, 15 Pin No. Signal name Remarks Color Power supply input +5V Black GND (Vcc) Power supply input 0V (GND) Yellow Serial signal differential output (+) Blue Serial signal differential output (-) No connection Shielded Orange...

  • Page 34: Chapter 2 Selection Guidelines

    Chapter 2 Selection guidelines This chapter explains how to select a proper HMA series motor. 2-1 HMA series selection ···························································· 2-1 2-2 Verifying and examining load weights ······································· 2-2 2-3 Examining the operating status ··············································· 2-3...

  • Page 35: Hma Series Selection

    Allowable load inertia moment To maximize the performance of the HMA series, make a tentative selection of a motor so that the max. rotational speed and allowable load inertia moment ratio are equal to or lower than the values shown in the table below.

  • Page 36: Verifying And Examining Load Weights

    Verifying and examining load weights Ensure that the load applied to the output shaft of the HMA series motor does not exceed the max. radial load and max. axial load when stationary and also that the load does not exceed the rated radial load and rated axial load at the rated rotational speed.

  • Page 37: Examining The Operating Status

    (mm) Linear travel speed [mm/min] Check that this rotational speed is less than the max. rotational speed of the HMA series motor. Calculating and examining load inertia moment Calculate the inertia moment of the load driven by an HMA series motor.

  • Page 38: Load Torque Calculation

    2-3 Examining the operating status Load torque calculation Calculate the load torque as follows:  Rotary motion The rotary torque for rotating mass W on the ring of Mass: W radius r from the center of rotation is shown in the figure to the right.

  • Page 39: Acceleration Time And Deceleration Time

    2-3 Examining the operating status Acceleration time and deceleration time Calculate the acceleration and deceleration times for the motor tentatively selected using the following formula. × π × × × Acceleration time: − × π × × × Deceleration time: ×...

  • Page 40: Evaluating Effective Torque And Average Rotational Speed

    2-3 Examining the operating status Evaluating effective torque and average rotational speed One way to check if the heat generated from the motor during operation would present a problem is to determine if the point of operation, determined by the effective torque and average rotational speed, is inside the continuous motion range explained in [1-12Operable range].
  • Page 41 2-3 Examining the operating status (5) The figure on the right shows the points of operation determined by the effective torque and average rotational speed calculated above, plotted on the graph of operable range of HMAC08, exceeding the continuous motion range. The conclusion is that this motor cannot be operated continuously under these conditions.

  • Page 42: Chapter 3 Installing The Hma Motor

    Chapter 3 Installing the HMA motor This chapter explains how to install the motor. 3-1 Receiving inspection ····························································· 3-1 3-2 Notices on handling ······························································ 3-2 3-3 Location and installation ························································ 3-5...

  • Page 43: Receiving Inspection

    Check if the motor is what you ordered. The nameplate is found on the end face or the side of the HMA series motor. Check the TYPE field on the nameplate to confirm that it is the model you have ordered. If any item is different from what you ordered, immediately contact the dealer.

  • Page 44: Notices On Handling

    Practice caution and observe the following notices when handling HMA series motors. Do not apply any excessive force or impact, especially to the motor's output shaft. Do not place HMA series motors on a table, shelf, etc., where the motor CAUTION could easily fall.

  • Page 45: Precautions On Installation

    When designing the assembly, note that application of any abnormal or excessive force that causes deformation of the installation surface may result in performance drop. To deliver optimal performance of the HMA series motors, pay attention to the following points:  Warping and deformation on the mounting surface ...

  • Page 46: Use Of Positioning Pins

    3-2 Notices on handling Use of positioning pins The HMA series motors have positioning pin holes in the output shaft. Use these pin holes as necessary. For details, refer to [1-6 External dimensions] (P1-7) or the illustrated specifications. Positioning pin*...

  • Page 47: Location And Installation

    3-3 Location and installation Location and installation Environment of location The environmental conditions of the installation location for HMA series motors are as follows. Always observe these conditions to determine an appropriate installation location. ◆ Operating temperature: 0 to 40℃...

  • Page 48: Installation

    3-3 Location and installation Installation When installing an HMA series motor, ensure that it is installed accurately and do not tap with a hammer, etc. The motor houses an encoder. Excessive impact may damage the encoder. Installation procedure Align the axis of rotation of the motor and the Output load mechanism precisely.
  • Page 49 3-3 Location and installation Appe...

  • Page 50: Chapter 4 Options

    Chapter 4 Options This chapter provides information on the options. 4-1 Options ·············································································· 4-1...

  • Page 51: Cable Taken Out From Side Face (Option Code: Y)

    4-1 Options Options Cable taken out from side face (option code: Y) The cables (motor and encoder wires) are taken out from the side face of the motor. Use this option if the motor is housed in a system and there is not enough space at the rear of the housing.

  • Page 52: Extension Cables

    4-1 Options Extension cables These extension cables are used to connect the HMA series motors and HA-800 drivers. Two types of extension cables are available for motors (including brake wire) and absolute encoders. You must use an extension cable to connect your HMA series motor and HA-800 driver.
  • Page 53 4-1 Options  Motor model No. 21A EWD-MB**-D09-TMC Cable length (03 = 3m, 05 = 5m, 10 = 10m) [Motor side] [Driver side] (Model No. 21A) Cable length Outer diameter φ13.4 U: red V: white W: Black Brake: blue Waterproof cable clamp Brake: yellow PE: green/yellow Angle plug...
  • Page 54 4-1 Options For absolute encoder  Motor model Nos. 08, 09, 12, 15 EWD-S**-A08-3M14 Cable length (03 = 3m, 05 = 5m, 10 = 10m) [Driver side] Cable length [Motor side] Outer diameter φ8.4 (Unit: mm)  Motor model No. 21A EWD-S**-D10-3M14 Cable length (03 = 3m, 05 = 5m, 10 = 10m) [Motor side]...
  • Page 55 4-1 Options Appe...

  • Page 56: Appendix

    Chapter 5 Appendix Unit conversion ································································· 5-1 Calculating inertia moment ·················································· 5-3...
  • Page 57 Unit conversion 13-1 Unit conversion This manual employs the SI system for units. Conversion factors between the SI system and other systems are as follows: (1) Length SI system Unit Factor 0.3048 0.0254 Unit Factor 3.281 39.37 SI system (2) Linear speed SI system Unit m/min...
  • Page 58 Unit conversion (8) Angular acceleration SI system rad/s Unit deg/s deg/min Factor 0.01755 2.93 x 10 Unit deg/s deg/min Factor 57.3 3.44 x 10 SI system rad/s (9) Torque SI system N･m Unit kgf･m lb･ft lb･in oz･in Factor 9.81 1.356 0.1130 7.06 x 10 Unit kgf･m...

  • Page 59: Calculating Inertia Moment

    Calculating inertia moment 13-2 Calculating inertia moment Formulas of mass and inertia moment (1) The center of rotation matches the centroidal line The following table includes formulas to calculate mass and inertia moment. m: Mass (kg), Ix, Iy, Iz: inertia moments which rotate around x-, y-, z-axes respectively (kg･m G: Distance from the end face to the center of gravity (m) ρ: Specific gravity (g/cm Units Length: m, Mass: kg, Inertia moment: kg･m...
  • Page 60 Calculating inertia moment Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar Hexagonal pillar ×10 ρ ×10 ρ B√3 Ix =             Isosceles triangle Right triangle pillar ×10 ×10...

  • Page 61: Inertia Moment Of Cylinder

    Calculating inertia moment Inertia moment of cylinder The inertia moment of a cylinder can Inertia moment (kgm Length (mm) be obtained from the graphs to the 1,000 Inertia moment (specific gravity: 2.7) right. 1,000 Radius Length Apply the top graph to aluminum Appe materials (specific gravity: 2.7) and bottom graph to steel materials...
  • Page 62 External dimensions ..........1-7 Receiving inspection..........3-1 Related manual ............7 Resistance to vibration ........1-16 Rotation direction ..........1-14 HMA series selection ........... 2-1 Holding brake ............1-6 Shock resistance ..........1-15 Specifications ............1-4 Inertia moment ............. 5-3 Inertia moment of cylinder ........
  • Page 64 (2) disassembling, modification or repair by others than Harmonic Drive Systems, Inc. (3) imperfection caused by a non-applicable product. (4) disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc.
  • Page 65 Harmonic Drive L.L.C／247 Lynnfield Street, Peabody, MA, 01960, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 ® "HarmonicDrive " is a registered trademark of Harmonic Drive Systems, Inc. 1810-0R-THMA-E The academic or general nomenclature of our products "HarmonicDrive " is "strain wave gearing."...

This manual is also suitable for:

Hmab12Hmac08Hmab15Hmaa21aHmab09

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