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Linear Actuator Manua
（DC motor models for Closed-Loop Positioning）
● Thank you very much for your purchasing our LA series linear
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.
LA Series
l
ISO14001
ISO9001
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Table of Contents
Related Manuals for Harmonic Drive LA Series
Summary of Contents for Harmonic Drive LA Series
- Page 1 LA Series Linear Actuator Manua （DC motor models for Closed-Loop Positioning） ● Thank you very much for your purchasing our LA series linear 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.
- Page 2 ● High thrust is outputted from the output rod. Inserting your hand into the operation area may cause injury. ● LA series: Maximum thrust of 49N (5kgf) WARNING Use the actuator and motors only in a specified Install the actuator and motors with the applied environment.
- Page 3 NOTICES TO USE A DRIVER UNIT Notices for designing and application: Always read the relating technical documents for the purpose. Always use the driver unit in the specified Make sufficient noise suppression and grounding. ● Electric noise on a signal wire may cause result in unit environment.
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Page 4: Table Of Contents
LA Series Linear Actuator Manual Contents Chapter 1 Outlines of the LA series ························································································ 1 Features ···················································································································· 1 Ordering information·································································································· 1 External view ············································································································· 2 Specifications ············································································································ 3 1-4-1 Actuator specifications ······························································································ 3 1-4-2 Encoder specifications ······························································································ 4 Accuracy···················································································································· 5 Testing system and standards for testing··································································... -
Page 5: Outlines Of The La Series
Chapter 1 Overview of the LA series The LA series actuators (DC motor model) are linear actuators incorporating a precise ball screw, a DC motor for closed-loop positioning, and a Harmonic drive component having small size, high precision, and no backlash. -
Page 6: External View
LA Series Linear Actuator Manual External view ■ LA-30B-10-F Unit:mm L-300mm (0.08mm L-300mm (0.08mm ■LA-32-30-F L-300mm (0.08mm L-300mm (0.08mm 4-o3.4 13.3 150.8 164.1 - 2 -... -
Page 7: Specifications
LA Series Linear Actuator Manual 1-4 Specifications 1-4-1 Actuator specifications Models LA-30B-10-F LA-32-30-F Specifications Resolution per encoder pulse 0.0174m Stroke 10 mm 30mm Rated speed 0.5 mm/sec Maximum speed 0.9 mm/sec Maximum load capacity 49N(5 kgf) Model MDC02-1C22 Rated voltage... -
Page 8: Encoder Specifications
LA Series Linear Actuator Manual 1-4-2 Encoder specifications Signal output Open collector Line driver Resolution 360 pulses/rev Output channel 3 channels (A, B, Z) Power supply DC5V, ±5%, 60mA Max DC5V, ±5%, 170mA Max ≦0.5V Output level ≦20mA Output current ≦+15V... -
Page 9: Accuracy
5m or less Note: Measuring temperature: 20ºC±1ºC 1-6 Testing system and standards for testing 1-6-1 Testing system The LA series linear actuators are guaranteed with the following tests under JIS B6201 standard using our original measuring system. Control Unit: HS-360-1A... -
Page 10: Standard For Testing
LA Series Linear Actuator Manual 1-6-2 Standard for testing (1)Repetitive positioning accuracy A. Actuator rod moves toward pushing direction until the stroke center. B. The rod moves 1mm toward pushing direction. The position is named [A C. The rod draws 1mm toward pulling direction, and the position is measured. The position is named [P D. - Page 11 LA Series Linear Actuator Manual (3)Short stroke positioning accuracy A. Actuator rod moves toward pushing direction until the stroke center. The position is assigned to “Base position”. B. Form the base position, the rod moves pushing direction 100 steps by 0.4m pitch measuring every position.
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Page 12: Allowable Loads
LA Series Linear Actuator Manual 1-7 Allowable loads Allowable loads to the output rod are as follows: Load Allowance Fa: Axial Load 49N (5kgf ) or less Fr: Side Load Inhibited 5kgf∙cm (0.49N∙m) Tm: Rotary Torque or less - 8 -... -
Page 13: Notices At System Design And On Usage
LA Series Linear Actuator Manual Chapter 2 Notices at system design and on usage 2-1 Environment Install and use the actuators in the environment as follows: ■Indoor ■Ambient temperature: +10～+25ºC, The temperature fluctuation is recommended to be within ±1ºC to obtain the best positioning accuracy. -
Page 14: Load Direction
LA Series Linear Actuator Manual Load direction The load direction to the output rod should be one way of pushing direction. In order to move a parts toward pulling direction, force of 1 kgf (9.8N) to 3 kgf (29N) by means of a spring or a pneumatic cylinder should be applied to the rod end. - Page 15 LA Series Linear Actuator Manual ■LA-30B-10-F ■LA-32-30-F Push-out limit Pull-in limit Stroke limit Do not make the system of dead-end-stroke even in the permitted range of the rod, because it may cause poor positioning accuracy, shorter life or mechanical damage the actuator.
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Page 16: Connections
LA Series Linear Actuator Manual Chapter 3 Connections 3-1 Motor connection and moving direction The rod moves toward pushing direction when power supply (+) to white motor lead, and (-) to black motor lead. 3-2 Color of encoder leads Cable Color... -
Page 17: Encoder Lead Extension
LA Series Linear Actuator Manual 3-5 Encoder lead extension Twist shielded cable is recommended for extension encoder cable. When the extension cable length is shorter than 2m, shield cable is possible to use. Total length of the extension cable should be less than 10m. The length is near to 10m, check the followings: ①Check the supplied voltage at the extension cable end of encoder side whether it is more than rated value. - Page 18 LA Series Linear Actuator Manual ■Connection through opto-isolator This is useful when the extension distance is less than 10m. (1)Opto-Isolator: TLP550 (Maximum: around 50kHz) for an example (2)Set the pull-up resistance (R ) with the following equation so that I is 10～20mA.
- Page 19 LA Series Linear Actuator Manual ■Influence of cable stray capacitance to signal wave form Cable stray capacitance deforms and delays signal wave form as shown in the figure below. When “t ” is longer than “T/8” (t ≧ T/8), signal transmission problem may occur. The limit length of the cable is obtained from the equation below.
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Page 20: Control Unit
LA Series Linear Actuator Manual operating conditions are needed when equipment is designed. Contact HarmonicDrive if you have a question. Chapter 4 Control unit ◆ The following is an external connection example where the pulse output configuration is a line driver. - Page 21 LA Series Linear Actuator Manual Request the technical document of the control unit to us. ◆ The following is an external connection example where the pulse output configuration is open collector. ◆ The command configuration is 2-pulse train. HS-360 Series HS-360 シリーズ...
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Page 22: Trial Operation
LA Series Linear Actuator Manual Chapter 5 Trial operation Make trial operation, without load if possible, following to confirmations below. ■Before trial operation (1)Check the actuator installation tightly. (2)Check the wiring for the motor, the encoder and limit switches correctly. -
Page 23: Storing
LA Series Linear Actuator Manual Chapter 6 Storing 6-1 Storing place ■No dust, no powder, no water or oil drop ■No corrosive gas, no liquid ■Ambient temperature: -20ºC to +50ºC ■Ambient humidity: 10%RH to 80%RH (No water condensation) 6-1 Anti-corrosion ■Move the output rod several times in the range of full-stroke supplying power in every three months, because... - Page 24 ■ Warranty period Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the LA series are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
- Page 25 TEL+81(0)263-83-6800 FAX+81(0)263-83-6901 〒399-8305 Harmonic Drive SE : Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn, Germany TEL+49-6431-5008-0 FAX+49-6431-5008-119 Harmonic Drive L.L.C. : 42 Dunham Ridge, Beverly, Massachusetts 01915, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 "HarmonicDrive ® " is a trademark of Harmonic Drive Systems,Inc.