Related Manuals for Harmonic Drive FHA-C mini Series
Summary of Contents for Harmonic Drive FHA-C mini Series
- Page 1 AC Servo Actuator FHA-C mini Series ＋ Panasonic Corporation AC Servo Amplifier MINAS A6 Manual ISO14001 ISO9001...
- Page 2 Introduction Introduction Thank you very much for your purchasing our FHA-Cmini series servo actuator. Wrong handling or use of this product may result in unexpected accidents or shorter life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years.
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Page 3: Safety Guide
SAFETY GUIDE SAFETY GUIDE To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the actuator. 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 CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING Always use under followings conditions: The actuator is designed to be used indoors. Observe the following conditions: ・ Ambient temperature: 0 to 40 ℃ CAUTION ・ Ambient humidity: 20 to 80 %RH (Non-condensation) ・... - Page 5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE SERVO AMPLIFIER Read the related manuals to ensure safe operation. For details on the related manuals, refer to the [Related manual] (P4). Before usage, ensure you read the "Safety Guide AC Servo Motor & Amplifier MINAS A6 Series"...
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Page 6: Related Manual
Related manual Related manual The related manual is listed below. Use it as a reference as necessary. Obtaining Title Document No. Description method Modbus communication MINAS A6/A6L Modbus communication and Block operation No.SX-DSV03033 specifications and block operation function Specification specifications are explained. Servo amplifier MINAS A6 series functions are Functional Specification No.SX-DSV02910... -
Page 7: Table Of Contents
1-13 Operable range ..................1-15 1-14 Cable specifications ................. 1-18 Chapter 2 Selection guidelines FHA-C mini series selection ............... 2-1 Allowable load inertia moment ................2-1 Change in moment of inertia of load ............2-2 Verifying and examining load weights ............2-3 Examining operating status ................ -
Page 8: Contents
Contents Chapter 3 Installation Receiving inspection .................. 3-1 Verification steps ....................3-1 Notices on handling ................... 3-2 Installation location and installation ............3-3 Environment of installation location ..............3-3 Installation ......................3-3 Appendix Apx-1 Unit conversion ..................Apx-1 Apx-2 Calculating inertia moment ..............Apx-3 Formula of mass and inertia moment ............ - Page 9 Chapter Outlines Outlines of product models, specifications, external drawings, etc., are explained in this chapter. Outlines ··········································································· 1-1 Model ············································································· 1-2 Combinations with servo amplifier and extension cables ············ 1-3 Specifications ··································································· 1-4 External drawing ······························································· 1-5 Mechanical accuracy ·························································· 1-7 Uni-directional positional accuracy ········································...
- Page 10 1-1 Outlines Outlines FHA-C mini series AC Servo Actuators provide high torque and highly accurate rotary operation. These integrated AC Servo Actuators are each composed of a thin type speed reducer ® HarmonicDrive for precision control from models No. 8 to No. 14 and a flat AC servo motor.
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Page 11: Model
1-2 Model Model Model names for the FHA-C mini series and how to read the symbols are explained below. FHA-8 C-30-14S17b G-C-A6 Model: AC Servo Actuator FHA-C mini series Model No.: 8, 11, 14 Version symbol ® Reduction ratio of the HarmonicDrive... -
Page 12: Combinations With Servo Amplifier And Extension Cables
1-3 Combinations with servo amplifier and extension cables Combinations with servo amplifier and extension cables The combinations of FHA-C mini series actuators, MINAS A6 servo amplifiers, and extension cables are as follows: FHA-11C FHA-14C Model No. FHA-8C Actuator model Speed ratio MADL□05■... -
Page 13: Specifications
1-4 Specifications Specifications The specifications for the FHA-C mini series actuators are as follows. Model FHA-8C FHA-11C FHA-14C Item N･m Maximum torque 0.18 0.34 0.49 0.46 0.85 0.92 kgf･m Allowable continuous N･m 0.75 *1*2 torque Max. rotational speed r/min Allowable continuous r/min 116.7... -
Page 14: External Drawing
1-5 External drawing External drawing The external drawings of FHA-C mini series are shown below. Use the included accessory encoder connector converter cable to connect the encoder. FHA-8C-xx-14S17bG-C-A6 Unit [mm] (third angle projection) Output rotary unit FHA-11C-xx-14S17bG-C-A6 Output rotary unit... - Page 15 1-5 External drawing Cable pullout (common specification) Motor connector Plug housing Pin contact Motor cable 4-core (PVC tube) Encoder connector Housing Encodor cable Tab contact (3-pair + shield) Note: Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions.
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Page 16: Mechanical Accuracy
1-6 Mechanical accuracy Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange are shown below for FHA-C mini series actuators. Mechanical accuracy Unit [mm] Accuracy items FHA-8C FHA-11C FHA-14C 1. Output shaft 0.010 surface runout 2. Deflection of 0.010 output shaft 3. -
Page 17: Uni-Directional Positional Accuracy
Therefore, the measurement value of the angle transmission error of the speed reducer is expressed as the uni-directional positioning accuracy of the FHA-C mini series. Positioning error Theoretical stop position... -
Page 18: Output Shaft Resolution
1-8 Output shaft resolution Output shaft resolution The motors of the FHA-C mini series actuators are equipped with an absolute encoder of 131072 pulses per revolution. The function reduces the motor output to 1/30, 1/50 and 1/100 by using a speed ®... -
Page 19: Rigidity
1-9 Rigidity Rigidity Moment stiffness The moment stiffness refers to the torsional stiffness when a moment load is applied to the output shaft of the actuator (shown below). For example, when a load is applied to the end of an arm attached on the actuator output shaft, the face of the output shaft tilts in proportion to the moment load (shown below). -
Page 20: Rotation Direction Torsional Stiffness
1-9 Rigidity Rotation direction torsional stiffness If a torque is applied to the output shaft of the actuator with the servo locked, the output shaft generates a torsional stress roughly in proportion to the torque. The upper right figure shows the torsional angle of the output shaft when a torque starting from zero and increased to positive side [+T ] and negative side [–T... -
Page 21: Rotation Direction
1-10 Rotation direction 1-10 Rotation direction With the factory settings, the rotation direction is defined as clockwise (CW) as viewed from the output shaft when a forward command is applied to the MINAS A6 servo amplifier. This rotation direction can be changed with the MINAS A6 servo amplifier parameter Pr 0.00. Setting of [Pr 0.00: Rotation direction setting] Actuator rotation direction Setting... -
Page 22: Shock Resistance
1-11 Shock resistance 1-11 Shock resistance The shock acceleration when applying a impact in the up/down and left/right directions with the center shaft of the actuator installed horizontally is as follows. Shock acceleration: 294 m/s Direction: top/bottom, right/left, front/back Repeating times: three each Rear However, never apply a direct impact to the output shaft. -
Page 23: Resistance To Vibration
1-12 Resistance to vibration 1-12 Resistance to vibration The resistance to vibration of the actuator is as follows, and this value is the same in up/down, left/right and front/rear directions: Vibration acceleration: 24.5 m/s (frequency: 10 to 400 Hz) This specification does not have a warranty period and terms against fletting wear of mechanical parts due to micro-vibration. -
Page 24: Operable Range
1-13 Operable range The graphs below show the operable range when a FHA-C mini series actuator and a MINAS A6 servo amplifier combination is selected. Refer to [Chapter 2 Selection guidelines] for the most efficient use of FHA-C mini series actuators' output. - Page 25 1-13 Operable range FHA-11C-30 FHA-11C-50 Torque [N·m] Torque [N·m] Radiation plate: 150×150×6 [mm] Radiation plate: 150×150×6 [mm] Motion range during acceleration and Motion range during deceleration acceleration and deceleration 50 % duty range 50 % duty range Continuous Continuous motion range motion range...
- Page 26 1-13 Operable range FHA-14C-50 FHA-14C-30 Torque [N·m] Torque [N·m] Radiation plate: 200×200×6 [mm] Radiation plate: 200×200×6 [mm] Motion range during Motion range during acceleration and acceleration and deceleration deceleration 50 % duty range 50 % duty range Continuous Continuous motion range motion range...
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Page 27: Cable Specifications
1-14 Cable specifications 1-14 Cable specifications The following tables show specifications of the motor and encoder cables of the FHA-C mini series actuators. Motor power cable Pin layout Pin No. Color Motor cable Motor phase-U White Motor phase-V Black... - Page 28 1-14 Cable specifications Encoder connector converter cable (actuator side) Pin layout Pin No. Color Signal name Remarks E5 V Power supply input +5 V E0 V Power supply input 0 V (GND) Black Yellow Serial signal differential output (+) -------- Blue Serial signal differential output (-)
- Page 29 Chapter Selection guidelines The following explains the guidelines for selecting actuators. FHA-C mini series selection ················································· 2-1 Change in moment of inertia of load ······································ 2-2 Verifying and examining load weights ····································· 2-3 Examining operating status ·················································· 2-7...
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Page 30: Fha-C Mini Series Selection
FHA-C mini series selection Allowable load inertia moment To achieve high accuracy and performance, select a FHA-C mini series actuator where the allowable load inertia moment (reference value) specified for the applicable model No. is not exceeded. For the calculation of inertia moment, refer to [Apx-2 Calculating inertia moment] (PApx-3). -
Page 31: Change In Moment Of Inertia Of Load
With the FHA-C mini series, the value of R increases to 30, 50 or 100, which means that the value of increases substantially to 900, 2500 or 10000. Then the ratio is Js'/Js 1. This means that FHA-C mini series are hardly affected by the load variation. -
Page 32: Verifying And Examining Load Weights
Calculate the static equivalent radial load (Po). ↓ Verify the static safety coefficient (fs). Specifications of the main roller bearing The following table shows the specifications of the main roller bearings built in FHA-C mini series actuators. Table 1 Item... - Page 33 2-3 Verifying and examining load weights Selection guidelines Calculating average loads (average radial and axial loads, average output rotational 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. ...
- Page 34 2-3 Verifying and examining load weights Selection guidelines Dynamic equivalent radial load Formula (6): Dynamic equivalent radial load 2(Fr ⋅ ⋅ ⋅ Symbols used in the formulas Dynamic equivalent radial load Frav Average radial load Obtained by formula (2).
- Page 35 2-3 Verifying and examining load weights Selection guidelines Static equivalent radial load Formula (9): Static equivalent radial load 0.44Fa × Symbols used in the formulas Frmax Max. radial load See Fig.1. Famax Max. axial load See Fig.1. Refer to the maximum load Mmax Max.
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Page 36: Examining Operating Status
Accordingly, examine whether or not the generated heat can be accommodated. The study is as follows: Examining actuator rotation speed Calculate the actuator rotation speed [r/min] of the load driven by the FHA-C mini series. For linear operation, use the rotation speed conversion formula below:... -
Page 37: Load Torque Calculation
2-4 Examining operating status Selection guidelines Load torque calculation Calculate the load torque as follows: Rotary motion The rotary torque for the rotating mass W on the ring of radius r from the center of rotation is Mass: W shown in the figure to the right. ×... -
Page 38: Acceleration Time And Deceleration Time
2-4 Examining operating status Selection guidelines Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator. × π Acceleration time: × × − × π Deceleration time: × × Rotation speed × : Acceleration time : Deceleration time : Actuator inertia moment [kg·m : Load inertia moment... -
Page 39: Examining Effective Torque And Average Rotation Speed
2-4 Examining operating status Selection guidelines Examining effective torque and average rotation speed One way to check if the heat generated from the actuator 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 [1-13 Operable range] (1-15). - Page 40 2-4 Examining operating status Selection guidelines (4) Calculate the average rotational speed. Apply the values in (1), N = 100 r/min, and t = 0.8 seconds to the above formulas. × × × 0.141 0.047 0.072 = 25.0 [r/min] (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 FHA-11C-50, exceeding the continuous motion range.
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Page 41: Chapter 3 Installation
Chapter Installation This chapter explains the procedure for installing the FHA-C mini series actuator. Receiving inspection ·························································· 3-1 Notices on handling ··························································· 3-2 Installation location and installation ··········································· 3-3... -
Page 42: Receiving Inspection
Check if the actuator is what you ordered. The nameplate is found on the rear end face of FHA-C mini series actuator. Check the TYPE field on the nameplate to confirm that it is indeed the model you have ordered. If any item is wrong, immediately contact the dealer. -
Page 43: Notices On Handling
3-2 Notices on handling Installation Notices on handling Handle the FHA-C mini series actuator carefully by observing the notices specified below. Do not connect the actuator terminals directly to the power supply. The actuator may burn and cause fire or electric shock. -
Page 44: Installation Location And Installation
Installation location and installation Environment of installation location The environmental conditions of the installation location for FHA-C mini series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. Operating temperature: 0 to 40 °C The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet. - Page 45 3-3 Installation location and installation Installation Fasten the flange of the actuator on the load machine with flat washers and high-tension bolts. When tightening, use a torque wrench to control the tightening torque. The tightening torques are shown in the table below: FHA-8C FHA-11C FHA-14C...
- Page 46 3-3 Installation location and installation Installation...
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Page 47: Appendix
Appendix This chapter explains the default settings, etc. Apx-1 Unit conversion ··························································Apx-1 Apx-2 Calculating inertia moment ············································Apx-3... - Page 48 Unit conversion Appendix 13-1 Unit conversion Apx- This manual employs 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...
- Page 49 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 7.06x10 Unit...
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Page 50: Formula Of Mass And Inertia Moment
Calculating inertia moment Appendix 13-2 Calculating inertia moment Apx- Formula of mass and inertia moment (1) Both centerlines of rotation and gravity are the same: 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 end face of gravity center [m] ρ: specific gravity [ kg / m... - Page 51 Calculating inertia moment Mass, inertia, Mass, inertia, Object form Object form gravity center gravity center Rhombus pillar Hexagonal pillar ρ ρ B√3 Ix = Isosceles triangle Right triangle pillar ABCρ...
- Page 52 Calculating inertia moment Appendix Apx-5...
- Page 53 Rigidity ............. 1-10 Environment ............3-3 External drawing ..........1-5 Ｓ Ｆ Safety factor ............2-6 Specifications ............. 1-4 FHA-C mini series selection ......2-1 Ｔ Ｉ Torsional stiffness ..........1-11 Inertia moment ........2-2, Apx-3 Ｕ Ｌ Unit ..............Apx-1 Load ..............
- Page 55 This limited warranty does not apply to any product that has been subject to: (1) Improper handling or use by the customer; (2) Modification or repair carried out other than by Harmonic Drive Systems, Inc.; (3) Failure not attributable to this product; or (4) Natural disaster or any other event beyond the control of Harmonic Drive Systems, Inc.
- Page 56 42 Dunham Ridge, Beverly, Massachusetts 01915 U.S.A. L.L.C.: TEL: +1-978-532-1800 FAX: +1-978-532-9406 ® "HarmonicDrive " is a trademark of Harmonic Drive Systems, Inc. No. 2107-1R-TFHACmini-P-E ® The academic or general nomenclature of our products "HarmonicDrive " is "strain wave gearing."...