Related Manuals for Harmonic Drive CHA-14A-E
Summary of Contents for Harmonic Drive CHA-14A-E
- Page 1 Engineering Data AC Servo Actuators CHA More information on our servo products can be found HERE!
-
Page 2: Table Of Contents
2.5.2 Servo Actuators and Motors .............................9 Technical Description ...........................10 Ordering Code ............................11 Combinations ............................12 Technical Data ............................13 Actuator Data CHA-14A-E ..............................14 6.2.1 Technical Data ................................14 6.2.2 Moment of Inertia ..............................15 6.2.3 Technical Data Brake ..............................15 6.2.4 Performance Characteristics ........................... - Page 3 Actuator Data CHA-40A-C1024 ............................32 6.9.1 Technical Data ................................32 6.9.2 Moment of Inertia ..............................32 6.9.3 Technical Data Brake ..............................32 6.9.4 Performance Characteristics ...........................33 6.10 Actuator Data CHA-50A-C1024 ............................34 6.10.1 Technical Data ................................. 34 6.10.2 Moment of Inertia ..............................34 6.10.3 Technical Data Brake ............................... 34 6.10.4 Performance Characteristics ...........................35 6.11 Actuator Data CHA-58A-C1024 ............................36...
- Page 4 6.23 Temperature Sensors ................................62 6.24 Electrical Connections .................................63 6.24.1 CHA-xx-H-C1024 / H-M512P / H-M128S .........................63 6.24.2 CHA-xx-H-RES .................................65 6.24.3 CHA-xx-N-RES / N-M128S / N-D2048 ........................66 6.24.4 CHA-xx-E-RES / E-M128S / E-D2048 ........................67 6.25 Options ....................................68 Actuator Selection Procedure ......................69 7.1.
-
Page 5: General
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents. Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website. www.harmonicdrive.de Third-party systems Documentation for parts supplied by third party suppliers, associated with Harmonic Drive®... -
Page 6: Description Of Safety Alert Symbols
1.1 Description of Safety Alert Symbols Symbol Meaning Indicates an imminent hazardous situation. If this is not avoided, death or DANGER serious injury could occur. Indicates a possible hazard. Care should be taken or death or serious injury may WARNING result. -
Page 7: Safety And Installation Instructions
2. Safety and Installation Instructions Please take note of the information and instructions in this document. Specially designed models may differ in technical detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for clarification. -
Page 8: Intended Purpose
The products may only be operated within the operating ranges and environmental conditions shown in the documentation (altitude, degree of predection, temperature range, etc). Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery Directive must be established. -
Page 9: Use In Special Application Areas
The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors are installed must be provided by the user before taking the device into operation. -
Page 10: Technical Description
3. Technical Description Largest hollow shaft with precision output bearing CHA Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in eight sizes with gear ratios between 30 and 160:1, the actuators can provide maximum torques from 8 to 1840 Nm. -
Page 11: Ordering Code
4. Ordering Code Table 11.1 Size Motor winding and Motor feed- Special Series Ratio Brake Option 1 Option 2 Version connector configuration back system design C1024 M512P Cable/ According Sensor connec- to customer D2048 requirements M128S Ordering code C1024 Table 11.2 Table 11.3 Motor winding and connector configuration connector configuration... -
Page 12: Combinations
5. Combinations Table 12.1 Size Version Ratio ... -
Page 13: Technical Data
6. Technical Data CHA-xxA-E Table 13.1 Insulation class (EN 60034-1) Insulation resistance (500 VDC) MΩ Insulation voltage (10 s) Lubrication Flexolub®-A1 Degree of predection (EN 60034-5) IP65 Ambient operating temperature °C 0 … 40 Ambient storage temperature °C -20 … 60 Relative humidity (without condensation) 20 …... -
Page 14: Actuator Data Cha-14A-E
6.2 Actuator Data CHA-14A-E 6.2.1 Technical Data Table 14.1 Symbol CHA-14A-E [Unit] Motor feedback system RES / D2048 / M128S Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current... -
Page 15: Moment Of Inertia
6.2.2 Moment of Inertia Table 15.1 Symbol CHA-14A [Unit] Motor feedback system Ratio i [ ] Moment of Inertia output side Moment of inertia without brake [kgm²] 0.031 0.087 0.222 0.347 Moment of inertia with brake [kgm²] 0.039 0.109 0.280 0.438 Moment of Inertia at motor Moment of inertia at motor without brake... -
Page 16: Performance Characteristics
6.2.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-14A-30-E Berechnung von Antriebskennlinien CHA-14A-50-E CHA-14A-30-E CHA-14A-50-E Illustration 16.1 Illustration 16.2 Drehzahl... -
Page 17: Actuator Data Cha-14A-H/N
6.3 Actuator Data CHA-14A-H/N 6.3.1 Technical Data Table 17.1 Symbol CHA-14A-H/N [Unit] Motor feedback system RES / D2048 / M128S Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) -
Page 18: Moment Of Inertia
6.3.2 Moment of Inertia Table 18.1 Symbol CHA-14A [Unit] Motor feedback system Ratio i [ ] Moment of Inertia output side Moment of inertia without brake [kgm²] 0.031 0.087 0.222 0.347 Moment of inertia with brake [kgm²] 0.039 0.109 0.280 0.438 Moment of Inertia at motor Moment of inertia at motor without brake... -
Page 19: Performance Characteristics
6.3.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-14A-30-H/L Berechnung von Antriebskennlinien CHA-14A-50-H/L CHA-14A-30-H/N CHA-14A-50-H/N Illustration 19.1 Illustration 19.2 Drehzahl... -
Page 20: Actuator Data Cha-17A-E
6.4 Actuator Data CHA-17A-E 6.4.1 Technical Data Table 20.1 Symbol CHA-17A-E [Unit] Motor feedback system RES / D2048 / M128S Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current 10.3 Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) -
Page 21: Moment Of Inertia
6.4.2 Moment of Inertia Table 21.1 Symbol CHA-17A [Unit] Motor feedback system Ratio i [ ] Moment of Inertia output side Moment of inertia without brake [kgm²] 0.095 0.264 0.676 1.056 1.520 Moment of inertia with brake [kgm²] 0.104 0.289 0.741 1.158 1.667... -
Page 22: Performance Characteristics
6.4.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-17A-30-E Berechnung von Antriebskennlinien CHA-17A-50-E CHA-17A-30-E CHA-17A-50-E Illustration 22.1 Illustration 22.2 Drehzahl... -
Page 23: Actuator Data Cha-17A-H/N
6.5 Actuator Data CHA-17A-H/N 6.5.1 Technical Data Table 23.1 Symbol CHA-17A-H/N [Unit] Motor feedback system RES / D2048 / M128S Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) -
Page 24: Moment Of Inertia
6.5.2 Moment of Inertia Table 24.1 Symbol CHA-17A [Unit] Motor feedback system Ratio i [ ] Moment of Inertia output side Moment of inertia without brake [kgm²] 0.095 0.264 0.676 1.056 1.520 Moment of inertia with brake [kgm²] 0.104 0.289 0.741 1.158 1.667... -
Page 25: Performance Characteristics
6.5.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-17A-30-H/L Berechnung von Antriebskennlinien CHA-17A-50-H/L CHA-17A-30-H/N CHA-17A-50-H/N Illustration 25.1 Illustration 25.2 Drehzahl... -
Page 26: Actuator Data Cha-20A-C1024
6.6 Actuator Data CHA-20A-C1024 6.6.1 Technical Data Table 26.1 Symbol CHA-20A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 27: Performance Characteristics
6.6.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. Berechnung von Antriebskennlinien CHA-20A-50 CHA-20A-30 CHA-20A-30 CHA-20A-50 Illustration 27.1 Illustration 27.2 Drehzahl... -
Page 28: Actuator Data Cha-25A-C1024
6.7 Actuator Data CHA-25A-C1024 6.7.1 Technical Data Table 28.1 Symbol CHA-25A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 29: Performance Characteristics
6.7.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-25A-30 n i l CHA-25A-30 CHA-25A-50 Illustration 29.1 Illustration 29.2 Drehzahl Drehmoment... -
Page 30: Actuator Data Cha-32A-C1024
6.8 Actuator Data CHA-32A-C1024 6.8.1 Technical Data Table 30.1 Symbol CHA-32A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 31: Performance Characteristics
6.8.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-32A-30 CHA-32A-50 Illustration 31.1 Illustration 31.2 Drehzahl Drehmoment... -
Page 32: Actuator Data Cha-40A-C1024
6.9 Actuator Data CHA-40A-C1024 6.9.1 Technical Data Table 32.1 Symbol CHA-40A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current 11.8 Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 33: Performance Characteristics
6.9.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-40A-50 CHA-40A-80 Illustration 33.1 Illustration 33.2 Drehzahl Drehmoment... -
Page 34: Actuator Data Cha-50A-C1024
6.10 Actuator Data CHA-50A-C1024 6.10.1 Technical Data Table 34.1 Symbol CHA-50A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] 1080 1180 Maximum output speed [rpm] Maximum current 10.2 Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) -
Page 35: Performance Characteristics
6.10.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-50A-50 CHA-50A-80 Illustration 35.1 Illustration 35.2 Drehzahl Drehmoment... -
Page 36: Actuator Data Cha-58A-C1024
6.11 Actuator Data CHA-58A-C1024 6.11.1 Technical Data Table 36.1 Symbol CHA-58A [Unit] Motor feedback system C1024 Ratio i [ ] Maximum output torque [Nm] 1020 1480 1590 1720 1840 Maximum output speed [rpm] Maximum current 14.4 12.8 11.1 10.0 Continuous stall torque [Nm] 1080 Continuous stall current... -
Page 37: Performance Characteristics
6.11.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-58A-50 CHA-58A-80 Illustration 37.1 Illustration 37.2 Drehzahl Drehmoment... -
Page 38: Actuator Data Cha-20A-M512P
6.12 Actuator Data CHA-20A-M512P 6.12.1 Technical Data Table 38.1 Symbol CHA-20A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 39: Performance Characteristics
6.12.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-20A-30 Berechnung von Antriebskennlinien CHA-20A-50 CHA-20A-30 CHA-20A-50 Illustration 39.1 Illustration 39.2 Drehzahl... -
Page 40: Actuator Data Cha-25A-M512P
6.13 Actuator Data CHA-25A-M512P 6.13.1 Technical Data Table 40.1 Symbol CHA-25A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 41: Performance Characteristics
6.13.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. CHA-25A-30 n i l CHA-25A-30 CHA-25A-50 Illustration 41.1 Illustration 41.2 Drehzahl Drehmoment... -
Page 42: Actuator Data Cha-32A-M512P
6.14 Actuator Data CHA-32A-M512P 6.14.1 Technical Data Table 42.1 Symbol CHA-32A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 43: Performance Characteristics
6.14.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-32A-30 CHA-32A-50 Illustration 43.1 Illustration 43.2 Drehzahl Drehmoment... -
Page 44: Actuator Data Cha-40A-M512P
6.15 Actuator Data CHA-40A-M512P 6.15.1 Technical Data Table 44.1 Symbol CHA-40A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] Maximum output speed [rpm] Maximum current 11.8 Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) [ms]... -
Page 45: Performance Characteristics
6.15.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-40A-50 CHA-40A-80 Illustration 45.1 Illustration 45.2 Drehzahl Drehmoment... -
Page 46: Actuator Data Cha-50A-M512P
6.16 Actuator Data CHA-50A-M512P 6.16.1 Technical Data Table 46.1 Symbol CHA-50A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] 1080 1180 Maximum output speed [rpm] Maximum current 10.2 Continuous stall torque [Nm] Continuous stall current Maximum DC bus voltage DCmax Electrical time constant (20 °C) -
Page 47: Performance Characteristics
6.16.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-50A-50 CHA-50A-80 Illustration 47.1 Illustration 47.2 Drehzahl Drehmoment... -
Page 48: Actuator Data Cha-58A-M512P
6.17 Actuator Data CHA-58A-M512P 6.17.1 Technical Data Table 48.1 Symbol CHA-58A [Unit] Motor feedback system M512P Ratio i [ ] Maximum output torque [Nm] 1020 1480 1590 1720 1840 Maximum output speed [rpm] Maximum current 14.4 12.8 11.1 10.0 Continuous stall torque [Nm] 1080 Continuous stall current... -
Page 49: Performance Characteristics
6.17.4 Performance Characteristics The performance curves shown below are valid for the specified ambient operating temperature if the motor terminal voltage is higher or equal to the values given in the ratings table. n i l CHA-58A-50 CHA-58A-80 Illustration 49.1 Illustration 49.2 Drehzahl Drehmoment... -
Page 50: Dimensions
6.18 Dimensions CHA-14A-E CHA-17A-E Illustration 50.1 [mm] Illustration 50.2 [mm] Table 50.3 Symbol CHA-14A-E CHA-17A-E [Unit] Motor feedback system RES / D2048 / M128S RES / D2048 / M128S Length (without brake) L [mm] 97.5 Length (with brake) L1 [mm] 120.6... - Page 51 CHA-20A CHA-25A Illustration 51.1 [mm] Illustration 51.2 [mm] Table 51.3 Symbol CHA-20A CHA-25A [Unit] Motor feedback system C1024 C1024 Length (without brake) L [mm] 132.5 Length (with brake) L1 [mm] CHA-32A CHA-40A Illustration 51.4 [mm] Illustration 51.5 [mm] Table 51.6 Symbol CHA-32A CHA-40A...
- Page 52 CHA-50A CHA-58A Illustration 52.1 [mm] Illustration 52.2 [mm] Table 52.3 Symbol CHA-50A CHA-58A [Unit] Motor feedback system C1024 C1024 Length (without brake) L [mm] Length (with brake) L1 [mm] CHA-20A-M512P CHA-25A-M512P Illustration 52.4 [mm] Illustration 52.5 [mm] Table 52.6 Symbol CHA-20A CHA-25A [Unit]...
- Page 53 CHA-32A-M512P CHA-40A-M512P Illustration 53.1 [mm] Illustration 53.2 [mm] Table 53.3 Symbol CHA-32A CHA-40A [Unit] Motor feedback system M512P M512P Length (without brake) L [mm] 144.5 Length (with brake) L1 [mm] CHA-50A-M512P CHA-58A-M512P Illustration 53.4 [mm] Illustration 53.5 [mm] Table 53.6 Symbol CHA-50A CHA-58A...
-
Page 54: Accuracy
6.19 Accuracy Table 54.1 Symbol CHA-14A CHA-17A CHA-20A CHA-25A [Unit] > 50 > 50 > 50 > 50 Ratio i [ ] Transmission accuracy [arcmin] < 2 < 1.2 < 1 < 2 < 1.2 < 1 < 1.5 < 1 <... -
Page 55: Output Bearing
These values are valid for moving gears. They are not based on the equation for lifetime of the output bearing but on the maximum allowable deflection of the Harmonic Drive® Component set. The values indicated in the table must not be exceeded even if the lifetime equation of the bearing permits higher values. -
Page 56: Motor Feedback Systems
Resolution In conjunction with the Harmonic Drive AG high precision gears, the output side position can be recorded via the motor feed- back system without any additional angle encoders having to be used. The resolution of the motor feedback system can also be multiplied by gear ratio. -
Page 57: C1024
6.22.1 C1024 Incremental motor feedback with SIN / COS signals reference and commutation signals Table 57.1 Symbol Ordering code C1024 [Unit] Manufacturer's designation Power supply [VDC] 5 ±10 % Current consumption I [mA] Incremental signals 1 +20 % ... -25 % Signal form sinusoidal Number of pulses... -
Page 58: M512P
6.22.2 M512P Multi-turn absolute motor feedback system with incremental SIN / COS signals and EnDat® data interface Table 58.1 Symbol Ordering code M512P [Unit] Manufacturer's designation EQN 1125 Protocol EnDat® 2.2 / 01 Power supply [VDC] 3.6 … 14 Current consumption (typically at 5 VDC, without load) I [mA] Incremental signals 0.8 …... -
Page 59: M128S
6.22.4 M128S Multi-turn absolute motor feedback system with incremental SIN / COS signals and SSI data interface Table 59.1 Symbol Ordering code M128S [Unit] Manufacturer's designation Protocol SSI (binary) Power supply [VDC] 5 … 30 Power consumption (without load) P [W] Current consumption buffering (at 25 °C) I [μA] Incremental signals... - Page 60 Battery lifetime The theoretical battery service life can be determined based on the previous storage time and the daily time of operating. Illustration 60.1 Theoretical battery service life, depending on the Theoretical battery service life, depending on the Theoretical battery service life, depending on the previous time of storage previous time of storage previous time of storage...
-
Page 61: D2048
6.22.5 D2048 Incremental motor feedback system with square wave signals, reference signal and commutation signals (RS 422 standard) Table 61.1 Symbol Ordering code D2048 [Unit] Manufacturer's designation Power supply [VDC] 5 ±10 % Current consumption (without load) I [mA] Incremental signals RS422 Wave form square wave... -
Page 62: Temperature Sensors
6.23 Temperature Sensors For motor protection at speeds greater than zero, temperature sensors are integrated in the motor windings. For applications with high load where the speed is zero, additional protection (e.g. I t monitoring) is recommended. Table 62.1 Sensor type Parameter [°C] 120 (CHA-14A ... -
Page 63: Electrical Connections
6.24 Electrical Connections 6.24.1 CHA-xx-H-C1024 / H-M512P / H-M128S Illustration 63.2 Table 63.1 Motor connector 6 / M23 x 1 Cable plug 6 / M23 x 1 / Mat.-no. 301193 External diameter ≈ 26 mm Length ≈ 60 mm Table 63.3 CHA-20 / 25 / 32 / 40 / 50 / 58 CHA-14 / 17 Connector pin... - Page 64 Connecting cables SINAMICS S120 with SMC modul Table 64.1 Power Connection CHA without brake 6FX8002-5CG01-1xx0 CHA with brake 6FX8002-5DG01-1xx0 Motor feedback H-C1024 6FX8002-2CA31-1xx0 H-M512P 6FX8002-2EQ10-1xx0 H-M128S Connecting cables with flying leads Table 64.2 Version Mat.-no. Length [m] 308853 308854 H-C1024 308855 308856 308857...
-
Page 65: Cha-Xx-H-Res
6.24.2 CHA-xx-H-RES Illustration 65.2 Table 65.1 Motor connector 6 / M23 x 1 Cable plug 6 / M23 x 1 / Mat.-no. 301193 External diameter ≈ 26 mm Length ≈ 60 mm Table 65.3 CHA-14 / 17 Connector pin Motor phase green Colour black... -
Page 66: Cha-Xx-N-Res / N-M128S / N-D2048
6.24.3 CHA-xx-N-RES / N-M128S / N-D2048 Illustration 66.2 Table 66.1 Motor connector 8 / M17 x 1 Cable plug 8 / M17 x 1 / Mat.-no. 1011445 External diameter ≈ 22 mm Length ≈ 50 mm Table 66.3 CHA-14 / 17 Connector pin Temp Temp... -
Page 67: Cha-Xx-E-Res / E-M128S / E-D2048
6.24.4 CHA-xx-E-RES / E-M128S / E-D2048 Illustration 67.2 Table 67.1 Motor connector 8 / M17 x 1 Cable plug 8 / M17 x 1 / Mat.-no. 1011445 Table 67.3 CHA-14 / 17 Connector pin Temp Temp Motor phase Illustration 67.5 Table 67.4 Encoder connector 17 / M17 x 1... -
Page 68: Options
6.25 Options Position measuring system option EC The CHA Hollow Shaft Servo Actuators Series are ideally suited for equipping with a single turn absolute measuring system that can be connected directly to the actuator output. The ECN 113 single turn absolute encoder is connected to the actuator flange by means of a torsionally stiff hollow shaft. Table 68.1 Symbol Ordering code... -
Page 69: Actuator Selection Procedure
7. Actuator Selection Procedure ADVICE We will be pleased to make a gear calculation and selection on your behalf. 7.1. Selection Procedure and Calculation Example Flowchart for actuator selection Equation 69.1 Confirm the type of servo mechanism required: linear motion or rotary motion ) . - Page 70 Pre selection conditions Table 70.1 Load Confirmation Catalogue value Unit Load max. rotation speed (n ≤ n Max. output speed [rpm] Load moment of inertia (J ≤ 3J Moment of inertia [kgm ≤ 3 . J is recommended for highly dynamic applications (high responsiveness and accuracy). Linear horizontal motion Illustration 70.2 Equation 70.3...
- Page 71 Example of actuator selection Load Conditions Assume servo mechanism is used to cyclically position a mass with a horizontal axis of rotation. Table 71.1 Load rotation speed = 40 [rpm] Load torque (e. g. friction) [Nm] Load inertia = 1.3 [kgm Speed pattern Acceleration;...
- Page 72 Actuator selection Tentatively select a required actuator based upon load conditions. Calculation of the FHA-25C-50 meets the tentative selection requirements from duty factor catalogue value (see rating table) = 40 rpm < n = 112 rpm ED = 0.1 + 0.1 + 0.1 · 100 % = 1.3 kgm <...
-
Page 73: Calculation Of The Torsion Angle
7.2 Calculation of the Torsion Angle Equation 73.1 T ≤ T φ = Equation 73.2 < T ≤ T T - T φ = Equation 73.3 T > T T - T φ = φ = Angle [rad] T = Torque [Nm] K = Stiffness [Nm/rad] Example 29 Nm... -
Page 74: Output Bearing
7.3 Output Bearing 7.3.1 Lifetime Calculation for Continuous Operation The operating life of the output bearing can be calculated using equation 74.1. Equation 74.1 with: = Operating life [rpm] = Average output speed 60 . n Dynamic load rating, C [N] see table “Output Bearing Ratings“... - Page 75 Dynamic equivalent load Equation 75.1 = x . F + y . F Equation 75.2 + |n + ... + |n + |n + ... + |n Equation 75.3 + |n + ... + |n + |n + ... + |n with: Radial force Axial force...
-
Page 76: Permissible Static Tilting Moment
7.3.3 Permissible Static Tilting Moment In case of static load, the bearing load capacity can be determined as follows: Equation 76.1 mit P and so Equation 76.2 2 . f = Static load safety factor = 1,5 ... 3) (Table 76.3) = Static load rating = 0.44 = Static equivalent load... -
Page 77: Design Notes
8. Design Notes 8.1 Notes on the Fit Selection For the mechanical design we recommend the following fit selection. Table 77.1 Unit CHA-14A CHA-17A CHA-20A CHA-25A CHA-32A CHA-40A CHA-50A CHA-58A Load side Fit of bearing inner ring [mm] 49 h7 59 h7 69 h7 84 h7... -
Page 78: Installation And Operation
9. Installation and Operation 9.1 Transport and Storage The transportation of the servo actuators and motors should always be in the original packaging. If the servo actuators and motors are not put into operation immediately after delivery, they should be stored in a dry, dust and vibration free environment. -
Page 79: Mechanical Installation
9.3 Mechanical Installation The data necessary for mounting the actuator and for connecting to the load are given in table 79.1. Table 79.1 Unit CHA-14A CHA-17A CHA-20A CHA-25A CHA-32A CHA-40A CHA-50A CHA-58A Load assembly Number of screws Screw size Screw quality 12.9 12.9 12.9... -
Page 80: Electrical Installation
9.4 Electrical Installation All work should be carried out with power off. DANGER Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and disposal must be carried out only by qualified personnel as described in the standards EN 50110-1 and IEC 60364! Before star- ting any work, and especially before opening covers, the actuator must be properly isolated. -
Page 81: Commissioning
9.5 Commissioning NOTE Commissioning must be executed in accordance with the documentation of Harmonic Drive AG. Before commissioning, please check that: • The actuator is properly mounted • All electrical connections and mechanical connections are designed according to requirements • The protective earth is properly connected •... -
Page 82: Protection Against Corrosion And Penetration Of Liquids And Debris
As a countermeasure, we recommend the use of an additional shaft seal (to be provided by the user) or the maintenance of a constant pressure inside the actuator. Please contact Harmonic Drive AG for further information. ADVICE Specification sealing air: constant pressure in the actuator as described above;... - Page 83 DANGER Risk of death by electric voltages. Work in the area of live parts is extremely dangerous. • Work on the electrical system may only be performed by qualified electricians. The use of a power tool is absolutely necessary. Observing the five safety rules: •...
-
Page 84: Decommissioning And Disposal
10. Decommissioning and Disposal The gears, servo actuators and motors from Harmonic Drive AG contain lubricants for bearings and gears as well as electronic components and printed circuit boards. Since lubricants (greases and oils) are considered hazardous substances in accordance with health and safety regulations, it is necessary to dispose of the products correctly. -
Page 85: Glossary
11. Glossary 11.1 Technical Data AC Voltage constant k / 1000 rpm] Effective value of the induced motor voltage measured at the motor terminals at a speed of 1000 rpm and an operating tempera- ture of 20 °C. Ambient operating temperature [°C] The intended operating temperature for the operation of the drive. - Page 86 This value is not based on the equation for lifetime calculation of the output bearing but on the maximum allowable deflection of the Harmonic Drive® Component Set. This value must not be exceeded even if the lifetime calculation of the bearing permits higher values.
- Page 87 Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts. Lost Motion (Harmonic Drive® Gears) [arcmin] Harmonic Drive® Gears exhibit zero backlash in the teeth. Lost motion is the term used to characterise the torsional Torsion φ...
- Page 88 [Nm] In the event of an emergency stop or collision, the Harmonic Drive® Gear may be subjected to a brief momentary peak torque. The magnitude and frequency of this peak torque should be kept to a minimum and under no circumstances should the momentary peak torque occur during the normal operating cycle.
- Page 89 The ratio is the reduction of input speed to the output speed. Note for Harmonic Drive® Gears: In the standard drive arrangement, the Wave Generator is the drive element while the Flex- spline is the driven element and the Circular Spline is fixed to the housing. Since the direction of rotation of the input (Wave Generator) is opposite to the output (Flexspline), a negative ratio must be considered.
- Page 90 Winding resistance measured between two conductors at a winding temperature of 20 °C. Size 1) Actuators / Gears with Harmonic Drive® Gears or Harmonic Planetary Gears The frame size is derived from the pitch circle diameter of the gear teeth in inches multiplied by 10.
- Page 91 Torsional stiffness (Harmonic Drive® Gears) K [Nm/rad] Torsion φ The amount of elastic rotation at the output for a given torque with the Wave Generator blocked. The torsional stiff- ness may be evaluated by dividing the torque-torsion curve into three regions. The torsional stiffness values K and K φ2...
-
Page 92: Labelling, Guidelines And Regulations
11.2 Labelling, Guidelines and Regulations CE-Marking With the CE marking, the manufacturer or EU importer declares in accordance with EU regulation, that the product meets the applicable requirements of the EU harmonization legislation. REACH REACH Regulation REACH is a European Community Regulation on chemicals. REACH stands for Verordnung Registration, Evaluation, Authorization and Restriction of Chemicals. - Page 93 Germany Harmonic Drive AG T +49 6431 5008-0 info@harmonicdrive.de Subject to technical changes Hoenbergstraße 14 www.harmonicdrive.de F +49 6431 5008-119 65555 Limburg/Lahn...