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Harmonic Drive FHA - C mini Series Manual

Ac servo actuator + mitsubishi electric ac servo amplifier "melservo-j4" sscnetⅲ/h communication compatible
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AC Servo Actuator
FHA - C mini Series
Mitsubishi Electric AC servo amplifier
"MELSERVO-J4" SSCNETⅢ/H communication compatible
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Manual
ISO14001
ISO9001

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Summary of Contents for Harmonic Drive FHA - C mini Series

  • Page 1 AC Servo Actuator FHA - C mini Series Mitsubishi Electric AC servo amplifier "MELSERVO-J4" SSCNETⅢ/H communication compatible 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.

  • Page 3: 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 driver. 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 "MR-J4-_B (1)-RJ920J" Product Specifications (No.BCN-B72000-230) and "MR-J4W2-0303B-MX940J" Product Specifications (No.BCN-B72000-227) and ensure safe operation.  Before using this product, be sure to read the "MELSERVO-J4 SERIES AC SERVO SAFETY GUIDE"...

  • Page 6: Structure Of This Document

    Structure of this document Outlines of product models, specifications, external drawings, etc., Chapter 1 Outlines are explained. Selection guidelines for the FHA-C mini series actuator are explained Chapter 2 Selection guidelines in this chapter. This chapter explains the procedure for installing the FHA-C mini Chapter 3 Installation series actuator.

  • Page 7: Table Of Contents

    Contents SAFETY GUIDE ..................... 1 NOTATION ....................... 1 LIMITATION OF APPLICATIONS ................1 SAFETY NOTE ......................2 Structure of this document ..................4 Contents ......................... 5 Chapter 1 Outlines 1-1 Outlines ......................1-1 Main features ......................1-1 1-2 Model ......................1-2 1-3 Actuator - Amplifier Combinations ..............

  • Page 8: Contents

    Contents Examining actuator rotation speed ................ 2-7 Calculating and examining load inertia moment ........... 2-7 Load torque calculation ..................2-8 Acceleration time and deceleration time ............... 2-9 Duty cycles ......................2-10 Duty factor graphs ....................2-11 Examining effective torque and average rotation speed ........2-13 Overload detection time ..................
  • Page 9 Chapter Outlines Outlines of product models, specifications, external drawings, etc., are explained in this chapter. Outlines ··········································································· 1-1 Model ············································································· 1-2 Actuator - Amplifier Combinations ········································· 1-3 Specifications ··································································· 1-4 External drawing ······························································· 1-6 Mechanical accuracy ·························································· 1-8 Uni-directional positional accuracy ········································ 1-9 Encoder resolution ···························································...

  • Page 10: Main Features

    1-1 Outlines Outlines The FHA-C mini series are AC servo actuators that provide high torque and highly accurate rotary ® operation. AC Servo Actuator models are comprised of a thin speed reducer HarmonicDrive precision control (model No. 8 through 14) combined with an ultra-flat AC servo motor. The first feature of the FHA-C mini series actuators is their shape.

  • Page 11: Model

    1-2 Model Model Model names for the FHA-C mini series actuators and how to read the symbols are explained below. FHA-8 C-30-D200-C □ □ Model: AC Servo Actuator FHA-C mini series Model No.: 8, 11, 14 Version symbol ® Reduction ratio of the HarmonicDrive 1/30 1/50 100:...

  • Page 12: Actuator - Amplifier Combinations

    1-3 Actuator - Amplifier Combinations Actuator - Amplifier Combinations When the connected amplifier option is J, the actuator is used in combination with a Mitsubishi Electric servo amplifier. Input Combined amplifier Actuator Model voltage Encoder type series SSCNETⅢ/H type AC200 MR-J4-10B-RJ920J AC200 AC200...

  • Page 13: Specifications

    1-4 Specifications Specifications Input voltage 100VAC/200VAC specification The specifications for the FHA-C mini series actuators with 100VAC/200VAC input voltages are as follows. Model FHA-8C FHA-11C FHA-14C Item N･m Note 2 Maximum torque 0.18 0.34 0.49 0.46 0.85 0.92 kgf･m 0.75 N･m Allowable continuous torque Note 2, Note 5...

  • Page 14: Input Voltage: 24Vdc Specification

    1-4 Specifications Input voltage: 24VDC specification The specifications for FHA-C mini series actuators with a 24VDC input voltage are as follows. Model FHA-8C Item N･m Note 2 Maximum torque 0.18 0.34 0.49 kgf･m 0.75 N･m Allowable continuous torque Note 2, Note 5 0.08 0.15 kgf･m...

  • Page 15: External Drawing

    1-5 External drawing External drawing The external drawings of FHA-C mini series actuators are shown below. Side-leading cables (standard specification) FHA-8C-xx-D200-CJ／FHA-8C-xx-D200-CEJ Unit: mm (third angle projection) FHA-11C-xx-D200-CJ FHA-14C-xx-D200-CJ Cable pullout (common specification)

  • Page 16: Side-Leading Rear Cables (Option Specification)

    1-5 External drawing Side-leading rear cables (option specification) FHA-8C-xx-D200-CJK／FHA-8C-xx-D200-CEJK Unit: mm (third gle projection) FHA-11C-xx-D200-CJK FHA-14C-xx-D200-CJK Cable pullout (common specification)

  • Page 17: 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 18: Uni-Directional Positional Accuracy

    1-7 Uni-directional positional accuracy Uni-directional positional accuracy The uni-directional positional accuracy means the maximum positional difference between the actual rotated angle from the datum position and its theoretical rotational angle in 1 revolution when series of positionings are performed in the same rotation direction. (refer to JIS B-6201-1987.) ®...

  • Page 19: Encoder Resolution

    1-8 Encoder resolution Encoder resolution The motors of the FHA-C mini series actuators are equipped with an incremental encoder of 2,000 pulses per revolution. The motor output speed is reduced to 1/30, 1/50 or 1/100 using the speed ® reducer HarmonicDrive for precision control.

  • Page 20: 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 21: 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 22: Rotation Direction

    1-10 Rotation direction 1-10 Rotation direction The rotation direction of the actuator is defined as a clockwise (CW) rotation as viewed from the output shaft when a FWD rotation command is given to an FHA-C mini series actuator from a Mitsubishi Electric servo amplifier.

  • Page 23: Operable Range

    1-13 Operable range 1-13 Operable range The following graphs indicate the operable range when an FHA-C mini series actuator and a Mitsubishi Electric servo amplifier MR-J4-_B-RJ920J, MR-J4-_B1-RJ920J, or MR-J4W2-0303B6-MX940J are selected with approximate estimation. To use FHA-C series actuators at maximum output, refer to [Chapter 2 Selection]. (1) Continuous motion range The range allows continuous operation for the actuator.
  • Page 24 1-13 Operable range  100V ■FHA-8C-30 ■FHA-8C-50 Input voltage: 100V Input voltage: 100V Torque [Nm] Radiation plate: 150 x 150 x 6(mm) Torque [Nm] Radiation plate: 150 x 150 x 6(mm) Motion range during Motion range during acceleration and deceleration acceleration and deceleration 50% duty range 50% duty range...
  • Page 25 1-13 Operable range ■ F H A - 8C - 100 Input voltage: 24V Torque [Nm] Radiation plate: 150 x 150 x 6(mm) Motion range during acceleration and deceleration 50% duty range Continuous 1 . 0 motion range Rotation speed [r/min] FHA-11C ...
  • Page 26 1-13 Operable range  100V ■FHA-11C-30 ■FHA-11C-50 Input voltage: 100V Input voltage: 100V Torque [Nm] Torque [Nm] Radiation plate: 150 x 150 x 6(mm) Radiation plate: 150 x 150 x 6(mm) Motion range during acceleration and Motion range during deceleration acceleration and deceleration 50% duty range...
  • Page 27 1-13 Operable range FHA-14C  200V ■FHA-14C-50 ■FHA-14C-30 Input voltage: 200V Input voltage: 200V Torque [Nm] Torque [Nm] Radiation plate: 200 x 200 x 6(mm) Radiation plate: 200 x 200 x 6(mm) Motion range during Motion range during acceleration and acceleration and deceleration deceleration...
  • Page 28 1-13 Operable range  100V ■FHA-14C-30 ■FHA-14C-50 Input voltage: 100V Input voltage: 100V Torque [Nm] Torque [Nm] Radiation plate: 200 x 200 x 6(mm) Radiation plate: 200 x 200 x 6(mm) Motion range during acceleration and Motion range during deceleration acceleration and deceleration 50% duty range...

  • Page 29: 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 cable  Pin layout Pin No. Signal name Motor cable Color Red (RED) Motor phase-U White (WHT) Motor phase-V Black (BLK) Motor phase-W...
  • Page 30 1-14 Cable specifications 1-21...
  • Page 31 Chapter Selection guidelines The following explains the guidelines for selecting actuators. Connecting power cables ···················································· 2-1 Change in moment of inertia of load ······································ 2-2 Verifying and examining load weights ····································· 2-3 Examining operating status ·················································· 2-7...

  • Page 32: Connecting Power Cables

    2-1 Connecting power cables Selection guidelines Connecting power cables 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. Refer to "Apx-2 Calculating inertia moment“ (P.Apx-3) for the calculation of inertia moment. Inertia moment (kg·m (kgf·cm·s...

  • Page 33: Change In Moment Of Inertia Of Load

    2-2 Change in moment of inertia of load Selection guidelines Change in moment of inertia of load ® FHA-C mini series actuators include HarmonicDrive gearing that has a high reduction ratio. Because of this, the effects of change in load inertia moment on the servo performance are minimal. In comparison to direct servo drive mechanisms, therefore, this benefit allows the load to be driven with a better servo response.

  • Page 34: Verifying And Examining Load Weights

    2-3 Verifying and examining load weights Selection guidelines Verifying and examining load weights The FHA-C mini series actuator incorporates a precise cross roller bearing for directly supporting an external load (output flange). To demonstrate the full ability of the actuator, verify the maximum load weight as well as the life and static safety coefficient of the cross roller bearing.
  • Page 35 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 36 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 N(kgf) radial load Frav Average radial load N(kgf)
  • Page 37 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 N(kgf) See Fig.1. Famax Max. axial load N(kgf) See Fig.1. Refer to the maximum load N·m Mmax...

  • Page 38: Examining Operating Status

    2-4 Examining operating status Selection guidelines Examining operating status When the operation pattern (duty cycle) is such that the actuator starts and stops repeatedly, starting current and braking current flow through the motor at high frequency and the actuator generates heat. Therefore, the duty cycle must be examined.

  • Page 39: 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 Mass: W the ring of radius r from the center of rotation is shown in the figure to the right. Radius: r ×...

  • Page 40: 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 41: Duty Cycles

    2-4 Examining operating status Selection guidelines Duty cycles To select the appropriate FHA-C mini series, you must consider the change with time of Rotation speed torque rotation speed. Also more ts: Stopped time importantly, when accelerating and decelerating, you must take into account the flow of large current for generating large torque, and the large amount of heat that is generated.

  • Page 42: Duty Factor Graphs

    2-4 Examining operating status Selection guidelines Duty factor graphs FHA-8C FHA-8C-30 Radiation plate: 150 x 150 x 6(mm) FHA-8C-100 Radiation plate: 150 x 150 x 6(mm) ■ ■ 0.67 0.67 KL=0.33 KL=0.33 Rotation speed [r/min] Rotation speed [r/min] FHA-8C-50 ■ Radiation plate: 150 x 150 x 6(mm) Operable range 100 V...
  • Page 43 2-4 Examining operating status Selection guidelines FHA-14C FHA-14C-30 FHA-14C-100 ■ ■ Radiation plate: 200 x 200 x 6(mm) Radiation plate: 200 x 200 x 6(mm) 0.67 0.67 KL=0.33 KL=0.33 Rotation speed [r/min] Rotation speed [r/min] FHA-14C-50 ■ Radiation plate: 200 x 200 x 6(mm) Operable range 100 V 200 V...

  • Page 44: Examining Effective Torque And Average Rotation Speed

    2-4 Examining operating status Selection guidelines Examining effective torque and average rotation speed Consider the following two points when obtaining the effective torque and average rotational speed. The effective torque should be less than the allowable continuous torque. The average rotational speed should be less than the allowable continuous rotational speed. Using the following formula, calculate the effective torque T and average rotation speed N when...

  • Page 45: Overload Detection Time

    2-4 Examining operating status Selection guidelines Overload detection time When an FHA-C mini series actuator is intermittently operated in allowable continuous torque or more, the time the torque can be output continuously is limited by the overload detection function of the amplifier even within the allowable duty range.
  • Page 46 2-4 Examining operating status Selection guidelines Input voltage 24VDC specification (FHA-8C) FHA (DC24V) FHA(DC24V用) 1000 Curved line indicating overload detected during actuator operation Curved line indicating overload detected during servo lock Output torque coefficient (％) (Output torque = Output torque coefficient x Allowable continuous torque) 2-15...
  • Page 47 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 Initial settings for amplifier ······················································ 3-5 PL09: Magnetic pole detection level setting ····························· 3-6...

  • Page 48: Receiving Inspection

    3-1 Receiving inspection Installation Receiving inspection Check the following items after unpacking the package. Check procedure Check the items thoroughly for damage sustained during transportation. If any item is damaged, immediately contact the dealer. The nameplate is found on the side face of the FHA-C mini series actuator. Check the TYPE field on the nameplate to confirm that it is indeed the model you have ordered.

  • Page 49: 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. WARNING (1) Do not apply any excessive force or impact, especially to the actuator's output shaft.

  • Page 50: Installation Location And Installation

    3-3 Installation location and installation 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. ...
  • Page 51 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 52: Initial Settings For Amplifier

    3-4 Initial settings for amplifier Installation Initial settings for amplifier In order to control your actuator with a servo amplifier, the following parameters must be set. Actuator Setting value FHA-8/11/14C FHA-8C Parameter (DC24V) （AC100/200V） PA01 Operation mode 1060 PA17 Servo motor series setting PA18 Servo motor type setting PC05...

  • Page 53: Pl09: Magnetic Pole Detection Level Setting

    3-5 PL09: Magnetic pole detection level setting Installation PL09: Magnetic pole detection level setting Servo amplifiers that are compatible with this actuator detect the magnetic pole by applying DC voltage to the motor power line during excitation of the actuator. Precautions for using this method are described below.
  • Page 54 3-5 PL09: Magnetic pole detection level setting Installation...

  • Page 55: Chapter 4 Option

    Chapter Option Options you can purchase as necessary are explained in this chapter. Extension cable ································································· 4-1...

  • Page 56: Extension Cable

    4-1 Extension cable Option Extension cable An extension cable is used to connect an FHA-C mini series actuator with a Mitsubishi Electric servo amplifier. Two types of extension cables --for encoder and motor- are available. Select the extension cable according to your actuator. ...
  • Page 57 4-1 Extension cable Option EWC-Exx-A12-A10-M (24VDC specification) Signal Signal Pin No. Color name Pin No. Color name Blue Phase A White Phase A Yellow Phase B Brown Phase B Green Phase Z Black Phase Z Gray Shield Signal Signal Pin No. Color name Pin No.
  • Page 58 4-1 Extension cable Option (2) For motors EWC-Mxx -A06-TMC-M (100VAC/200VAC specification) Cable length (03＝3m, 05＝5m, 10＝10m): L Install the connector supplied with the servo amplifier. Signal Color name White Black Green/Yellow Shield...
  • Page 59 4-1 Extension cable Option EWC-Mxx-A06-NC-M (24VDC specification) TE Connectivity (AMP) Signal Install the connector supplied with the servo amplifier. Color name Blue Phase A Yellow Phase B Green Phase Z Green/Yellow Shield Shield 【Shield line/PE line connections for connector installation】 When installing the connector supplied with the MR-J4W2-0303B6-MX940J amplifier, connect the shield line and PE line as follows: ◆When the actuator connected to the MR-J4W2-0303B6-MX940J amplifier has 1 shaft...
  • Page 60 4-1 Extension cable Option...

  • Page 61: Apx-2 Calculating Inertia Moment

    Appendix This chapter explains the default settings, etc. Apx-1 Unit conversion ·························································· Apx-1 Apx-2 Calculating inertia moment ············································ Apx-3...
  • Page 62 Unit conversion Appendix Apx- 13-1 Unit conversion 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 63 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 7.06 x Factor 9.81 1.356 0.1130...

  • Page 64: Formula Of Mass And Inertia Moment

    Calculating inertia moment Appendix Apx- 13-2 Calculating inertia moment 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 ρ...
  • Page 65 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 66 Index Ａ Ｍ Accuracy ............. 1-8 Magnetic pole detection level setting ....3-6 Maximum load ........... 2-3 Ｂ Model ..............1-2 Bearing ............... 2-6 Ｏ Ｃ Operating rotation speed ........2-8 Outlines .............. 1-1 Cables ............... 1-20 Combined ............. 1-3 Ｐ...
  • Page 67 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 68 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. №1805-1R-TFHAmini2M ® "HarmonicDrive " represents the academic concept generally referred to as wave motion gearing.

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