Related Manuals for Harmonic Drive FHA Series
Summary of Contents for Harmonic Drive FHA Series
- Page 1 H A F T C T U A T O R S FHA Series Total Motion Control P r e c i s i o n G e a r i n g & M o t i o n...
- Page 2 FHA-C series...
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Page 3: Table Of Contents
FHA-C series AC Servo Actuator Manual CONTENTS Safety Guide Chapter 1 Overview of the FHA-C series Features Ordering information Combinations with drivers Specifications of FHA-C actuators 1-4-1 For incremental positioning system 1-4-2 For absolute positioning system External dimensions of FHA-C actuators 1-5-1 For incremental positioning system 1-5-2... -
Page 4: Safety Guide
• 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. - Page 5 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. Harmonic Drive LLC 800-921-3332...
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Page 6: Overview Of The Fha-C Series
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. -
Page 7: Ordering Information
FHA-17C only 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. -
Page 8: Specifications Of Fha-C Actuators
Chapter 1 Overview of the FHA-C series Specifications of FHA-C actuators 1-4-1 INCREMENTAL SYSTEM 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 Maximum Torque Note 2 N•m Maximum Speed r/min 200V N•m/A... -
Page 9: For Absolute Positioning System
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] Harmonic Drive LLC 800-921-3332... -
Page 10: External Dimensions Of Fha-C Actuators
Chapter 1 Overview of the FHA-C series External dimensions of FHA actuators 1-5-1 Incremental Systems The external drawings are shown as follows: • FHA-17C-xx-US250 • FHA-25C-xx-US250 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. - Page 11 Unit: mm (third angle projection) • FHA-32C-xx-US250 • FHA-40C-xx-US250 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. Harmonic Drive LLC 800-921-3332...
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Page 12: For Absolute Positioning System
Chapter 1 Overview of the FHA-C series 1-5-2 Absolute Systems The external drawings are shown as follows: • FHA-17C-xx-S248 ABS • FHA-25C-xx-S248 ABS 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. - Page 13 Unit: mm (third angle projection) • FHA-32C-xx-S248 ABS • FHA-40C-xx-S248 ABS 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. Harmonic Drive LLC 800-921-3332...
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Page 14: Mechanical Accuracy Of Fha-C Actuators
Chapter 1 Overview of the FHA-C series 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... -
Page 15: One-Way Positioning Accuracy
The motors of FHA-C actuators are equipped with an incremental encoder of 2500 resolutions or an absolute encoder of 1892 resolutions. Because the motor rotation is reduced to 1/50 or 1/100 or 1/160 by the Harmonic drive® component, the resolution of the output flange is 50 or 100 or 160 times the encoder revolution. -
Page 16: Torsional Stiffness
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, Torsion the resulting torsional wind up is near proportional to the torque. Hysteresis The upper right figure shows the torsional stiffness characteristics of the output flange Loss applying torque starting from zero to plus side [+T ] and minus side [–T... -
Page 17: Rotary Direction
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... - Page 18 Chapter 1 Overview of the FHA-C series Radiation plate 300x300x15(mm) Radiation plate 350x350x18(mm) Acc./dec. range Acc./dec. range 50% duty range 50% duty range Continuous range Continuous range Speed [r/min] Speed [r/min] Radiation plate 300x300x15(mm) Radiation plate 350x350x18(mm) Acc./dec. range Acc./dec. range 50% duty range 50% duty range Continuous range...
- Page 19 50% duty range 50% duty range Continuous range Continuous range Speed [r/min] Speed [r/min] Radiation plate 400x400x20(mm) Radiation plate 500x500x25(mm) Acc./dec. range Acc./dec. range 50% duty range 50% duty range Continuous range Continuous range Speed [r/min] Speed [r/min] Harmonic Drive LLC 800-921-3332...
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Page 20: Cable Specifications
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 Color Motor specification Standard Brake option Motor phase-U Motor phase-U White Motor phase-V Motor phase-V... -
Page 21: Signal Waveforms
Figure 2 Voltage of U-W (G) means of voltage of U terminal grounding W terminal. R = 60º ± 3º Hn = 10º ± 3º (Mechanical angle) a < ± 10º / 6 (Mechanical angle) Encoder Output Harmonic Drive LLC 800-921-3332... -
Page 22: Selection Guidelines
1500 • • 2-2 Variable load inertia FHA-C series actuators include Harmonic Drive gearing 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 systems this benefit will drive the load with a better servo response. -
Page 23: Verifying Loads
• • 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. Offset: See Fig.1 and Table 1. Figure 1 Loads Harmonic Drive LLC 800-921-3332... - Page 24 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. •...
- Page 25 Sway Motion ® When the sway angle is less than 5 degrees, consult to Harmonic drive systems, because fretting wear may occur for the operation caused by no oil film between the race and the rolling element. Harmonic Drive LLC 800-921-3332...
- Page 26 Chapter 2 Guidelines for sizing • Equivalent static radial load Equivalent static radial load is obtained by formula (9) below. 2Mmax = Frmax + 0.44 Famax Where, the variables of the formula are: Equivalent static radial load in N (kgf) Mmax: Maximum torsional moment in N•m(kgf•m);...
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Page 27: Duty Cycles
μ coefficient of the friction of =0.1. FHA-32C-50 • The oblique dot-chain lines show FHA-25C-50 20% torque of actuators converted from 300% torque corresponding to its maximum torque. FHA- 17C-50 1000 3000 Mass: W (k g) Harmonic Drive LLC 800-921-3332... -
Page 28: Acceleration Time And Deceleration Time
Chapter 2 Guidelines for sizing • Horizontal linear motion The following formula calculates the torque for horizontal linear motion of mass [W] fed by the screw of pitch [P]. T = 9.8 x μ x W x Mass: W 2 x π Pitch: P T : torque (N •... -
Page 29: Calculating Equivalent Duty
%ED is less than 100%. If the %ED is excesses 100%, correct the situation by: • Changing the speed-time profile • Reducing load moment of inertia • Selecting an actuator with a larger frame size Harmonic Drive LLC 800-921-3332... - Page 30 Chapter 2 Guidelines for sizing • Graphs of duty factor Allowed range Allowed range Speed [r/min] Speed [r/min] Allowed range Allowed range Speed [r/min] Speed [r/min] Allowed range Allowed range Speed [r/min] Speed [r/min]...
- Page 31 Chapter 2 Guidelines for sizing Allowed range Allowed range Speed [r/min] Speed [r/min] Allowed range Allowed range Speed [r/min] Speed [r/min] Allowed range Allowed range Speed [r/min] Speed [r/min] Harmonic Drive LLC 800-921-3332...
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Page 32: Effective Torque And Average Speed
Chapter 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. -
Page 33: Permissible Overloaded Time
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 (J Speed r /min 100W 200W Unnecessary Time for one duty cycle (s) Harmonic Drive LLC 800-921-3332... -
Page 34: Installing The Fha Actuator
[TYPE] line of the label. If it is different, immediately contact the dealer it was purchased from. The model code is interpreted as follows: FHA- 17 C-50-E 250 AC servo actuator FHA series Frame size: 17, 25, 32, 40 Design version ®... -
Page 35: Notice On Handling
(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. • Altitude: lower than 1000m above sea level Harmonic Drive LLC 800-921-3332... -
Page 36: Installation
CAUTION Do not disassemble and re-assemble the actuator. The Harmonic Drive LLC does not guarantee the actuator that has been reassembled by others than the authorized persons by the Harmonic Drive LLC. CAUTION... -
Page 37: Options
Note 4: The 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 System, Inc. Harmonic Drive LLC 800-921-3332... -
Page 38: Brake For Motor
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. -
Page 39: Cable-End Connectors
• Applicable actuator: FHA-17C, FHA-25C For details, refer our technical document for FHA-C actuator with cramp. Harmonic Drive LLC 800-921-3332... -
Page 40: Meter Cables
Chapter 4 Options 4-5 5 meter cables (option code: F5) Each cable for the motor and the encoder is possible to make 5 meters long. 4-6 Cable outlets on back face (option code: K) 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. -
Page 41: Rotary Position Sensor Set
Model: D2JW-01K21 manufactured by OMRON •Contact specifications Electrical rating: 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. For details, refer OMRON’s catalog. Harmonic Drive LLC 800-921-3332... -
Page 42: Adjusting Procedure For Sensor Locations
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. -
Page 43: Movable Range For Each Limit Switch
Moveable range for limit switch 2 Moveable range 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... -
Page 44: Extension Cables
Chapter 4 Options 4-8 Extension cables Three kinds of optional extension cables of 3m/5m/10m long are available for connecting an FHA-C actuator and an HA-655 or HA-675 driver: for a motor including brake wires, for an incremental encoder system, and for an absolute encoder system. Ordering model: for a motor: EWC-MB * * == - M08-TN... -
Page 45: Appendix 1
(5) Mass SI system Unit Factor 0.4535 0.02835 Unit Factor 2.205 35.27 SI system (6) Angle SI system Unit Degree Minute Second Factor 0.01755 2.93x10 4.88x10 Unit Degree Minute Second Factor 57.3 3.44x10 2.06x10 SI system Harmonic Drive LLC 800-921-3332... - Page 46 Appendix 1 Unit conversion Angular speed SI system rad/s Unit deg/s deg/min r/min Factor 0.01755 2.93x10 6.28 0.1047 Unit deg/s deg/min r/min Factor 57.3 3.44x10 0.1592 9.55 SI system rad/s Angular acceleration SI system rad/s Unit deg/s deg/min Factor 0.01755 2.93x10 Unit deg/s...
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Page 47: Appendix 2
Mass, inertia, gravity center Object form Mass, inertia, gravity center Cylinder Circular pipe ρ :outer, R :inner Slanted cylinder Ball ρ θ θ Ellipsoidal cylinder Cone ρ m = ABC ρ Rectangular pillar Square pipe ρ Harmonic Drive LLC 800-921-3332... - Page 48 Appendix 2 Moment of inertia Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar Hexagonal pillar ρ ρ Isosceles triangle pillar Right triangle pillar ρ • Example of specific gravity The following tables show references of specific gravity. Confirm the specific gravity for the material of the drive load.
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Page 49: Inertia Of Cylinder
(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 kg•m (Exact value: 0.000186 kg•m Harmonic Drive LLC 800-921-3332... -
Page 50: Warranty And Terms
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 warranty, expressed or implied, concerning the material to be furnished other than it shall be of the quality and specifications stated. - Page 51 247 Lynnfield Street Peabody, MA 01960 New York 89 Cabot Court Hauppauge, NY 11788 800-921-3332 F: 978-532-9406 www.HarmonicDrive.net Worldwide Locations: Harmonic Drive Systems, Inc. Minamiohi 6-25-3, Shinagawa-ku Tokyo 140, Japan Harmonic Drive AG Hoenbergstr, 14 Limburg/Lahn, D-65555 Germany FHA rev 03-06...