AC Servo Actuator F HA- C series manual

Transcription

1 AC Servo Actuator F HA- C series manual ISO00 ISO00

2 Introduction Introduction Thank you for purchasing our FHA-C series AC Servo Actuator. Wrong handling or use of this product may result in unexpected accidents or shorter life of the product. Read this manual carefully and use the product correctly so that the product can be used safely for many years. 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.

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 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. WARNING CAUTION Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. Indicates what should be performed or avoided to prevent non-operation or malfunction of the product or negative effects on its performance or function. LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below: Space equipment Automobile, automotive parts Aircraft, aeronautic equipment Amusement equipment, sport equipment, game machines Nuclear equipment Machine or devices acting directly on the human body Household apparatus Instruments or devices to transport or carry people Vacuum equipment Apparatus or devices used in special environments If the above list includes your intending application for our products, please consult us. CAUTION Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation.

4 SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR CAUTIONS RELATED TO THE DESIGN BE SURE TO READ THE MANUAL FOR DESIGNING. CAUTION Always use under followings conditions. The actuator is designed to be used indoors. Observe the following conditions: Ambient temperature: 0 to 0 Ambient humidity: 0% to 0%RH (Non-condensation) Vibration: Max. m/s No contamination by water, oil No corrosive or explosive gas Follow exactly the instructions in the relating manuals to install the actuator in the equipment. Ensure exact alignment of the actuator center and the center of the corresponding machine by following the manual. Failure to observe this caution may lead to vibration, resulting in damage of output elements. CAUTIONS FOR USAGE BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT. WARNING Keep limited torques of the actuator. Keep limited torques of the actuator. Be aware, that if arms attached to output element hits by accident an solid, the output element may be uncontrollable. Never connect cables directly to a power supply socket. Each actuator must be operated with a proper driver. Failure to observe this caution may lead to injury, fire or damage of the actuator. Do not apply impacts and shocks The actuator directly connects with the encoder so do not use a hammer during installation. Failure to observe this caution could damage the encoder and may cause uncontrollable operation. Avoid handling of actuators by cables. Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation.

5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER CAUTIONS RELATED TO THE DESIGN BE SURE TO READ THE MANUAL FOR DESIGNING. CAUTION Always use drivers under followings conditions. The driver generates heat. Use under the following conditions while paying careful attention to the heat radiation. Mount in a vertical position keeping sufficient clearance. 0 to 0, %RH or below (No condensation) No vibration or physical shock No dust, dirt, corrosive or inflammable gas Use sufficient noise suppressing means and safe grounding. Any noise generated on a signal wire will cause vibration or improper motion. Conform to the following conditions. Keep signal and power leads separated. Keep leads as short as possible. Ground actuator and driver at one single point, minimum ground resistance class: D (less than 00 ohms) Do not use a power line filter in the motor circuit. Pay attention to negative torque by inverse load. Inverse load may cause damages of drivers. Please consult our sales office, if you intent to apply products for inverse load. Use a fast-response type ground-fault detector designed for PWM inverters. Do not use a time-delay-type ground-fault detector. CAUTIONS FOR USAGE BE SURE TO READ THE MANUAL BEFORE OPERATING THE PRODUCT. WARNING Never change wiring while power is active. Make sure of power non-active before servicing the products. Failure to observe this caution may result in electric shock or personal injury. Do not touch terminals or inspect products at least minutes after turning OFF power. Otherwise residual electric charges may result in electric shock. Make installation of products not easy to touch their inner electric components.

6 SAFETY GUIDE CAUTION Do not make a voltage resistance test. Failure to observe this caution may result in damage of the control unit. Please consult our sales office, if you intent to use a voltage resistance test. Do not operate control units by means of power ON/OFF switching. Start/stop operation should be performed via input signals. Failure to observe this caution may result in deterioration of electronic parts. DISPOSAL OF AN ACTUATOR AND/OR A DRIVER CAUTION 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.

7 Contens SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Contens... Related manual... Chapter FHA-C series outline - Main features Model Specifications... - Incremental model External dimensions... - Incremental model Mechanical accuracy Uni-directional positional accuracy Resolution of output shaft Rigidity Moment stiffness Torsional stiffness Rotation direction Shock resistance Resistance to vibration Operable range Cable specifications... - Motor cable specifications... - Incremental encoder model encoder lead line... - Chapter FHA-C series selection - Allowable load inertia moment Change in load inertia moment Verifying and examining load weights... - Maximum load weights... - Verifying life... - Verifying static safety coefficients Examining operating status... -

8 Contens Chapter Examining actuator rotation speed... - Calculating and examining load inertia moment... - Load torque calculation... - Acceleration time and deceleration time... - Examining duty Examining effective torque and average rotation speed... - Actuator installation - Receiving Inspection... - Inspection procedure Notices on handling Location and installation... - Environment of location... - Installation... - Chapter Options - Motor shaft holding brake (option code: B)... - Motor shaft holding brake specification (for incremental encoder)... - Motor shaft holding brake cable specifications With connector (option code: C) Cable length: m (option code: F) Cable taken out from rear face (option code: K) Revolution sensor (origin & end limit) (option code: L)... - Revolution sensor specifications... - Sensor adjustment method... - Sensor drive range Extension cables... - Appendix A- Unit conversion... - A- Calculating inertia moment... - Formula of mass and inertia moment... - Inertia moment of cylinder... -

9 Related manual Related manual The table below lists related manual. Check each item as necessary. Title AC Servo Driver HA-00 series manual Description The specifications and characteristics of HA-00 series are explained.

10 Related manual

11 Chapter FHA-C series outline This chapter explains the features, functions and specifications of the actuator. - Main features - - Model - - Combination with drivers - - Specifications - - External dimensions - - Mechanical accuracy - - Uni-directional positional accuracy - - Resolution of output shaft - - Rigidity -0-0 Rotation direction - - Shock resistance - - Resistance to vibration - - Operable range - - Cable specifications -

12 - Main features Outlines 0 - Main features The FHA-C series are AC servo actuators that provide high torque and highly accurate rotary operation. AC Servo Actuator models are comprised of an ultra-thin speed reducer HarmonicDrive for precision control (model No. through 0) combined with an ultra-flat AC servo motor. Their first feature is a slim line body. We reduced the body length to one-half or less of that of our conventional products. The second feature is a hollow structure. A through-hole is provided at the center of the actuator, through which wirings, air pipes, and even laser beams can be passed to supply power and give/receive signals to moving parts of machines and devices. Developed as the successor to the HA- driver, the HA-00 driver is a servo drive unit for controlling position, speed, and torque. The small, multi-functional drivers control the FHA-C series actuators' operations with great accuracy and precision. HA-00 supports open field networks, making system configuration simple. FHA-C series actuators play an important role in driving various factory automation (FA) equipment, such as robot joints, alignment mechanisms for semi-conductor and LCD devices, ATC of metalcutting machines, printing machine roller drive, etc. Ultra slim line body Comprises an ultra-thin speed reducer HarmonicDrive for precision control with an ultra-flat AC servo motor. The length from the mounting flange surface to the actuator edge is at least half the size of that of our conventional products, for a total length reduction of around 0%. This slim body makes it possible to dramatically reduce the size of the machinery being driven. Hollow structure A through-hole is provided at the center of the actuator, through which wirings, air pipes, and even laser beams can be passed to supply power and give/receive signals to moving parts of machines and devices. This feature can simplify machinery structures. High torque The actuator houses an ultra-thin speed reducer HarmonicDrive for precision control to apply much higher output torque on external dimensions compared with methods using direct motor drive. The FHA-C series improves maximum torque even above that of our conventional products. High positional accuracy Incremental model offers ultra-high accuracy with an output shaft resolution of,00,000/rev (FHAxxC-0), and uni-directional positional accuracy of 0 seconds (FHA-C-0) or 0 seconds (FHA- C/C/0C-0). High torsional rigidity Offers improved torsional rigidity (0-00%) over our conventional products. This results in shorter positioning times and reduced vibration when rotating. Incremental encoder FHA-C series actuators use universally-adopted incremental encoders and reduce encoder wiring. This makes wiring work simple and provides a high degree of reliability. -

13 - Model - Model Model names for the FHA-C series actuators and how to read the symbols are explained below. FHA- C-0-E 0- Option symbol details Option spec. Option details Code Option spec. Option details Code Converts motor and Input voltage: Applies to FHA-C, -C, Extension A encoder cable to a length F 00V -C cable of m Motor shaft brake For holding B Model: AC Servo Actuator FHA series Model Nos:,,, 0 Version symbol Reduction ratio of HarmonicDrive 0:/0 00:/00 0:/0 Encoder type E: Incremental encoder Encoder resolution 0:00p/rev Option symbol Cable lead-out direction Revolution sensor Taken out from rear For motors (IP-0), Origin and end limit With connector C For encoders (IP-0) sensors IP- Protection (Technical consultation structure required) Note: For details on using two or more options together, contact our sales office. K L W Outlines 0 -

14 - Combination with drivers Outlines - Combination with drivers The combinations of FHA-C actuators, HA-00 driver input voltage, and encoders are as follows: Incremental model Voltage FHA-C-xx-E0 FHA-C-xx-E0 FHA-C-xx-E0 FHA-0C-xx-E0 00V HA-00*-C-00 HA-00*-C-00 HA-00*-C-00 HA-00*-C-00 00V HA-00*-C-00 HA-00*-C-00 HA-00*-C-00 - * HA-00A: I/O command type, HA-00B: MECHATROLINK type, HA-00C: CC-Link type. For details on combined drivers, refer to the HA-00 driver manual. 0 -

15 - Specifications - Specifications The specifications of FHA-C series actuators are explained. In the table below, 00V and 00V refer to the 00V specification (standard) and the 00V specification (option), respectively. Incremental model Model FHA-C-xx-E0 FHA-C-xx-E0 FHA-C-xx-E0 FHA-0C-xx-E0 Item Max. torque N m kgf m Max. rotational r/min N m/a 0 00V Torque kgf m/a constant N m/a 00V kgf m/a Max. 00V A current * 00V A....0 MEF 00V V/(r/min) constant 00V V/(r/min) Phase 00V Ω(0 ) resistance 00V Ω(0 ) Phase 00V mh.0... inductance 00V mh Inertia (GD /) kg m moment (J) kgf cm s Reduction ratio :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 Permissible kn.... radial load kgf Permissible axial kn.... load kgf Permissible N m moment capacity kgf m 0 Moment N m/rad stiffness kgf m/ Uni-directional positional accuracy Sec Motor position detector 00 pulse/rev. Output shaft Pulse/ resolution rev. (multiplied by ) 00,000,000,000,00,000 00,000,000,000,00,000 00,000,000,000,00,000 00,000,000,000,00,000 Mass kg..0. Protection structure Totally enclosed self-cooled type (IP) Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration:. m/s (frequency: 0 to 00Hz)/Shock resistance: m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: F Mounting direction Can be installed in any direction. *: The table shows typical output values of actuators. *: When combined with a HA-00 driver. *: The output shaft resolution is (motor shaft encoder resolution when multiplied by ) x (reduction ratio). Outlines 0 -

16 - External dimensions Outlines - External dimensions Incremental model FHA-C-xx-E0 Unit: mm (third angle projection) Motor cable 0.mm X-cores with shield Encoder cable 0.mm Xsets with shield Length: 000 mm +00 / 0 Length: 000 mm +00 / 0 (Ground: Green/Yellow 0 FHA-C-xx-E0 (with brake.) ±(with brake.±) Motor cable Encoder cable 0.mm X-cores with shield 0.mm Xsets with shield Length: 000 mm +00 / 0 Length: 000 mm +00 / 0 (Ground: Green/Yellow). (with brake ) 0.±(with brake 0±) Note: For details on external dimensions, check our illustrated specifications. -

17 - External dimensions FHA-C-xx-E0 FHA-0C-xx-E0. (with brake 0).±(with brake ±) Unit: mm (third angle projection) Motor cable 0.mm X-cores with shield 0.mm Xsets with shield Length: 000 mm +00 / 0 Length: 000 mm +00 / 0 (Ground: Green/Yellow) Motor cable 0.mm X-cores with shield Encoder cable Encoder cable 0.mm Xsets with shield Length: 000 mm +00 / 0 Length: 000 mm +00 / 0 (Ground: Green/Yellow) Outlines 0 (with brake ) ±(with brake ±) Note: For details on external dimensions, check our illustrated specifications. -

18 - Mechanical accuracy Outlines 0 - Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange are shown below for FHA-C series actuators: Mechanical accuracy unit: mm Accuracy items FHA-C FHA-C FHA-C FHA-0C. Output shaft surface runout Deflection of output shaft Parallelism between the output shaft end mounted surface. Concentricity between the output shaft and fitting part Note: All values are T.I.R. (Total Indicator Reading). The measuring for the values are as follows: Output shaft surface runout The indicator on the fixed part measures the axial runout (maximum runout width) of the outermost circumference of output shaft of the output rotary unit per revolution. Deflection of output shaft The indicator on the fixed part measures the radial runout (maximum runout width) of output shaft of the output rotary unit per revolution. Parallelism between the output shaft and mounted surface The indicator on the output rotary unit measures the axial runout (maximum runout width) of the outermost circumference of the mounting surface (both on the output shaft side and opposite side) of the output rotary unit per revolution. Concentricity between the output shaft and fitting part The indicator on the output rotary unit measures the radial runout (maximum runout width) of the fitting part (both on the output shaft side and opposite side) of the output rotary unit per revolution. () () () A A A () () () B B B -

19 - 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 one revolution when series of positioning are performed in the same rotation direction. (Refer to JIS B-0-.) FHA-C series actuators house the speed reducer HarmonicDrive for precision control, so positioning errors of the motor shaft are compressed by the speed reducer to /0, /00 or /0. Actually, the angle transmission error of the speed reducer determines the uni-directional positional accuracy. As a result, the measured angle transmission error of the speed reducer is indicated as the uni-directional positional accuracy of the FHA-C series. The uni-directional positional accuracy is shown in the table below: Item Uni-directional positional accuracy Model Commanded stop position Datum position Positioning error Actual stop position FHA-C FHA-C FHA-C FHA-0C :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 Sec Outlines 0 -

20 - Resolution of output shaft Outlines - Resolution of output shaft The motor of the FHA-C series actuator is equipped with a,00-pulse/revolution encoder (incremental model). Encoder signals are electrically quadruplicated. The motor output speed is reduced to /0, /00 or /0 using the speed reducer HarmonicDrive for precision control. Accordingly, the resolution per a single revolution is 0, 00 or 0 times. All together, this allows for high resolution results as shown in the table below: Encoder specification Incremental Encoder resolution,00 (0,000: when multiplied by ) Reduction ratio :0 :00 :0 Resolution of output shaft Pulse/rev 00,000,000,000,00,000 Resolvable angle per Approx. Approx. Approx. pulse Sec (approximate value) 0 -

21 - Rigidity - Rigidity Moment stiffness The moment stiffness refers to the torsional stiffness when a load is applied to the output shaft of the actuator, as shown in the figure. For example, when a load is applied to the end of an arm attached on the output shaft of the actuator, the face of the output shaft of the actuator tilts in proportion to the moment load. The moment stiffness is expressed as the load/gradient angle. Outlines Gradient Load Item Moment stiffness CAUTION Model FHA-C FHA-C FHA-C FHA-0C N m/rad kgf m/rad kgf m/arc-min. Do not apply torque, load or thrust to the sleeve (hollow shaft) directly. The sleeve (hollow shaft) is adhered to the output rotary shaft. Accordingly, the adhered sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve (hollow shaft). Do not apply any torque, moment load or thrust load directly to the sleeve (hollow shaft). Sleeve (hollow shaft) Output shaft 0-0

22 - Rigidity Outlines 0 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 [+T0] and negative side [ T0] is applied to the output shaft. This is called [torque vs. torsional angle] diagram, which typically follows a loop 0 A B A B A. The torsional rigidity of the FHA-C series actuator is expressed by the gradient of this [torque vs. torsional angle diagram] representing a spring constant (unit: Nm/rad). As shown by lower right figure, this [torque vs. torsional angle] diagram is divided into three regions and the spring constants in these regions are expressed by K, K, and K, respectively. K:Spring constant for torque region 0 to T K:Spring constant for torque region T to T K:Spring constant for torque region over T Hysteresis loss The torsional angle for each region is expressed as follows: * ϕ : Torsional angle T Range where torque T is T or below: ϕ = K T T Range where torque T is T to T: ϕ = θ + K T T Range where torque T is T to T: ϕ = θ + K The table below shows the averages of T to T, K to K, and θ to θ for each actuator. Model FHA -C FHA -C FHA-C FHA -0C Reduction ratio :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 T N m kgf m K x0 N m/rad kgf m/arc min θ x0 - rad arc min T N m kgf m K x0 N m/rad kgf m/arc min θ x0 - rad arc min K x0 N m/rad kgf m/arc min ねじり角Torsional angle Torsional angle Torque Torque The table below shows reference torque values calculated for different torsional angle. (Unit: N m) Model FHA -C FHA -C FHA-C FHA -0C Reduction ratio :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 arc min... arc min arc min

23 -0 Rotation direction -0 Rotation direction Forward rotation direction of the actuator is defined as clockwise (CW) rotation as viewed from the load shaft when a FWD rotation command is given to a FHA-C series actuator from a HA-00 driver. This rotation direction can be changed on the HA-00 driver by selecting [SP0: Command polarity setting]. Outlines Setting of [SP0: Command polarity] FWD rotation: Clockwise Set value Forward input Reverse input Setting 0 FWD rotation Reverse Default Reverse FWD rotation 0 -

24 - Shock resistance Outlines - Shock resistance The shock acceleration with the actuator central shaft mounted horizontally and when impact is applied in the vertical and horizontal directions is as follows: Shock acceleration: m/s However, avoid all direct impact with the output shaft. Left Up Dow n Right Shock resistance test Horizontal installation 0 -

25 - Resistance to vibration - 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:. m/s (frequency: 0 to 00Hz) Up Outlines Left Right Front Do wn Rear Resistance to vibration test 0 -

26 - Operable range Outlines - Operable range The graph on the next page indicates the operable range when an FHA-C actuator and HA-00 driver are selected with approximate estimation. To use FHA-C series actuators at maximum output, refer to [Chapter FHA-C series selection].. Continuous motion range The range allows continuous operation for the actuator.. 0% duty motion range This range indicates the torque rotation speed which is operable in the 0% duty operation (the ratio of operating time and delay time is 0:0). For details on duty, refer to [Examining duty] (P-0).. Motion range during acceleration and deceleration This range indicates the torque rotation speed which is operable momentarily. The range allows instantaneous operation like acceleration and deceleration, usually. The continuous and 0% duty motion ranges in each graph are measured on the condition where the radiation plate specified in the graph is installed. 0 -

27 - Operable range Radiation plate: 00x00x(mm) Radiation plate: 0x0x(mm) Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [r/min] Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [r/min] Outlines Radiation plate: 00x00x(mm) Radiation plate: 0x0x(mm) Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Continuous motion range 0 Rotation speed [r/min] Rotation speed[r/min] FHA-C-0 Radiation plate: 00x00x(mm) FHA-C-0 Radiation plate: 0x0x(mm) Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Continuous motion range Rotation speed [r/min] Rotation speed [r/min] -

28 - Operable range FHA-C-0 Outlines Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00x00x0(mm) Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00x00x(mm) FHA-C-00 Rotation speed[r/min] Rotation speed[r/min] Radiation plate: 00x00x0(mm) Radiation plate: 00x00x(mm) Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range 0 Continuous motion range Continuous motion range Rotation speed[r/min] Rotation speed[r/min] FHA-C-0 Radiation plate: 00x00x0(mm) FHA-0C-0 Radiation plate: 00x00x(mm) Torque [Nm] 0% duty motion range Motion range during acceleration and deceleration Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Continuous motion range Rotation speed[r/min] Rotation speed[r/min] -

29 - Cable specifications - Cable specifications The following tables show specifications of the motor and encoder cables of the SHA series actuators. Motor cable specifications Color Name Without brake With brake Red Motor phase-u Motor phase-u White Motor phase-v Motor phase-v Black Motor phase-w Motor phase-w Green/yellow PE PE Blue No connection Brake Yellow No connection Brake (Shield) FG FG Incremental encoder model encoder lead line Color Signal name Remarks Red +V Black 0V Power supply input Yellow SD Blue SD Serial signal differential output Shield FG Outlines 0 -

30 - Cable specifications Outlines 0 -

31 Chapter FHA-C series selection This chapter explains how to select a proper FHA-C series actuator. - Allowable load inertia moment - - Change in load inertia moment - - Verifying and examining load weights - - Examining operating status -

32 - Allowable load inertia moment Selection guidelines 0 - Allowable load inertia moment To achieve high accuracy and performance, select a FHA-C series actuator where the allowable load inertia moment (reference value) specified for the applicable model No. is not exceeded. Refer to [A- Calculating inertia moment] (P-) for the calculation of inertia moment. Allowable load inertia moment (kg m ) (kgf cm s ) FHA-0C-0 FHA-C-0 FHA-C-0 FHA-C-0 FHA-0C-00 FHA-C-00 FHA-0C-0 FHA-C-00 FHA-C-0 FHA-C-00 FHA-C-0 FHA-C-0 Max. rotational speed (r/min) When temporarily selecting an actuator, make certain that the inertia moment and maximum rotational speed do not exceed the allowable values shown in the table below. Actuator model FHA-C FHA-C FHA-C FHA-0C Reduction ratio :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 Max. rotational speed r/min Actuator kg m inertia kgf cm s moment Allowable kg m load inertia moment kgf cm s

33 - Change in load inertia moment - Change in load inertia moment FHA-C 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. For example, assume that the load inertia moment increases to N-times. The total inertia moment converted to motor shaft which has an effect on servo response is as follows: The symbols in the formulas are: J S : Total inertia moment converted to motor shaft J M : Inertia moment of motor R: Reduction ratio of FHA-C series actuator L: Ratio of load inertia moment to inertia moment of motor N: Rate of change in load inertia moment Direct drive S ( ) ( ) Before: J =JM + L After: JS= ' JM + NL Ratio: Driven by FHA-C series Before: L NL JS=JM After: Ratio: + JS= ' JM + R R + NL Js' /Js= + L + NL /R Js' /Js= + L /R In the case of the FHA-C series, this is an extremely large number, such as R = 0, R = 00 or R = 0, that is R = 00, R = 0000, or R = 00. Then the ratio is Js'/Js. This means that FHA- C drive systems are hardly affected by the load variation. Therefore, it is not necessary to take change in load inertia moment into consideration when selecting a FHA-C series actuator or setting up the initial driver parameters. Selection guidelines 0 -

34 - Verifying and examining load weights Selection guidelines 0 - Verifying and examining load weights The FHA-C 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. Checking procedure Verify maximum load weight (Mmax, Frmax, Famax) Determine maximum load weight (Mmax, Frmax, Famax) Verify that maximum load weight (Mmax, Frmax, Famax) than permissible load (Mc, Fr, Fa) Verifying life Calculate the average radial load (Frav) and average axial load (Faav). Calculate the radial load coefficient (X) and the axial load coefficient (Y). Calculate the life of the bearing and verify the life is allowable. Verifying the static safety coefficient 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 SHA actuators. Table : Specifications of the main roller bearings Model Item Circular pitch of the roller (dp) Offset amount (R) Basic dynamic rated load (C) Basic static rated load (Co) Permissibl e radial load (Fr) Permissible axial load (Fa) Permissible moment capacity (Mc) mm mm kn kn N N N m FHA-C FHA-C FHA-C FHA-0C

35 - Verifying and examining load weights Maximum load weights How to calculate the maximum load weights (Mmax, Frmax, Famax) is explained below. Confirm that each maximum load weight is equal to or less than each permissible load. Formula (): Maximum load weights Mmax = Frmax (Lr+R) + Famax La Symbols used in the formula Mmax Maximum moment capacity Verifying life N m (kgf m) Frmax Max. radial load N Refer to Fig.. Famax Max. axial load N Refer to Fig.. Lr,La mm Refer to Fig.. R Offset amount mm Refer to Fig. and Table. 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. Formula (): Average radial load (Frav) Frav = 0/ 0/ 0/ 0/ ntfr + ntfr nntn Frn nt + nt + + nntn The maximum radial load in section t is given by Fr, while the maximum radial load in section t is given by Fr. + Radial load - Fa La Fr Load Fr Actuator Fr Lr R Fr dp Fig. : External load action diagram Time Selection guidelines 0 Formula (): Average axial load (Faav) Fa 0/ Faav = 0/ ntfa + ntfa 0/ 0/ nntn Fan nt + nt + + nntn + Axial load - Fa Time The maximum axial load in section t is given by Fa, while the maximum axial load in section t is given by Fa. Formula (): Average output rotational speed (Nav) nt + nt + + nntn Nav = t + t + + tn + Output rotational speed - Fa t t t n n n Time Fig. : Illustration of load variation -

36 - Verifying and examining load weights Selection guidelines 0 Radial load coefficient and axial load coefficient Table : Radial load coefficient (X), axial load coefficient (Y) Formula () X Y Faav. Frav + (Frav (Lr + R) + Faav La)/dp Faav >. Frav + (Frav (Lr + R) + Faav La)/dp Dynamic equivalent radial load Symbols used in the formulas Frav Average radial load N(kgf) Refer to the average load. Faav Average axial load N(kgf) Refer to the average load. Lr,La mm Refer to Fig.. R Offset amount m Refer to Fig. and Table. dp Pitch circle diameter of a roller m Refer to Fig. and Table. Formula (): Dynamic equivalent radial load (Frav (Lr + R) + Faav La) Pc = X Frav + + Y Faav dp Symbols used in the formulas Pc Dynamic equivalent radial load N(kgf) Frav Average radial load N(kgf) Obtained by formula (). Faav Average axial load N(kgf) Obtained by formula (). dp Pitch circle diameter of a roller m Refer to Table. X Radial load coefficient - Refer to Table. Y Axial load coefficient - Refer to Table. Lr,La - m Refer to Fig.. R Offset amount m Refer to Fig. and Table. Life of cross roller bearing Calculate the life of cross roller bearing with the formula (): Formula (): Cross roller bearing life L B 0 0 C = 0 Nav fw Pc 0/ Symbols used in the formulas L B-0 Life hour Nav Average output rotational speed r/min Obtained by formula (). C Basic dynamic rated load N(kgf) Refer to Table. Pc Dynamic equivalent radial load N(kgf) Obtained by formula (). fw Load coefficient - Refer to Table. Table : Load coefficient Loaded state fw Smooth operation free from impact/vibration to. Normal operation. to. Operation subject to impact/vibration. to -

37 - Verifying and examining load weights Cross roller bearing life based on oscillating movement Use formula () to calculate the cross roller bearing life against oscillating movement. Formula (): Cross roller bearing life (oscillating) 0/ 0 0 C Loc = 0 n θ fw Pc Symbols used in the formulas Loc Life hour n Number of reciprocating oscillation per min. cpm C Basic dynamic rated load N(kgf) Refer to Table. Pc Dynamic equivalent radial load N(kgf) Obtained by formula (). fw Load coefficient - Refer to Table. θ oscillating angle/ - Refer to Fig.. θ Oscillating angle Fig. : Oscillating movement Selection guidelines If the oscillating angle is or less, fretting wear may occur because oil film does not form effectively on the contact surface between the race and rolling element of the cross roller bearing. In such cases, consult HDS. Verifying static safety coefficients Static equivalent radial load Formula (): Static equivalent radial load Mmax Po = Frmax Famax dp Symbols used in the formulas Frmax Max. radial load N(kgf) Refer to Fig.. Famax Max. axial load N(kgf) Refer to Fig.. Refer to the Mmax Max. moment load methods. N m maximum load (kgf m) weight calculation dp Pitch circle diameter of a roller mm Refer to Table. Static safety coefficient Generally, the static equivalent load is limited by the basic static rated load (Co). However, the specific limit should be calculated according to the using conditions and required conditions. In this case, calculate the static safety coefficient (fs) by formula (0). Table shows general values representing using conditions. Calculate the static equivalent radial load (Po) by formula (). 0 Formula (0): Static safety coefficient Co fs = Po Symbols used in the formulas fs Static safety coefficient - Refer to Table. Co Basic static rated load N(kgf) Refer to Table. Po Static equivalent radial load N(kgf) Obtained by formula (). Table : Static safety coefficients Using conditions fs High rotational accuracy is required, etc. Operation subject to impact/vibration Normal operation. -

38 - Examining operating status Selection guidelines 0 - 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. The study is as follows: Examining actuator rotation speed Calculate the required rotation speed (r/min) of the load driven by the FHA-C series. For linear operation, use the rotation speed conversion formula below: Linear travel speed (mm/min) Rotation speed (r/min) = Screw feed pitch (mm) Screw pitch (mm) Linear travel speed (mm/min) Select an appropriate reduction ratio from,,, 0, and so that the calculated rotation speed does not exceed the maximum rotational speed of the FHA-C series actuator. Calculating and examining load inertia moment Calculate the load inertia moment of the load driven by the FHA-C series actuator. Refer to [A- Calculating inertia moment] (P-) for the calculation. Based on the calculated result, tentatively select a FHA-C series actuator by referring to [Allowable load inertia moment] (P-). 0 0 Rotation speed (r/min) 0r/min r/min 0r/min 0r/min 00r/min -

39 - Examining operating status 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 shown in the figure to the right. T =. µ W r T : Rotary torque (Nm) μ : Friction coefficient W : Mass (kg) r : Average radius of friction side (m) The right graph gives a calculation example when the friction coefficient μ is assumed as 0. and the horizontal axis and vertical axis represent mass and rotational radius of friction side, respectively. The actuator toque value shown in the graph indicates 0% of the maximum torque. Radius r of friction side (mm) Linear operation (horizontal operation) The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below. P T =. µ W Mass: W π Pitch: P T : Rotary torque (Nm) Friction: μ μ : friction coefficient W : mass (kg) P : Screw feed pitch (m) Mass: W Friction: μ Radius: r Example of rotary torque calculation (friction coefficient = 0.) FHA: 0% torque of maximum torque is shown. 0 N m 0 N m 00 N m 00 N m 0 N m 0 N m 00 N m N m N m N m N m N m FHA-0C-0 FHA-C-0 FHA-C-0 FHA-C Mass W (kg) Selection guidelines 0 Linear operation (vertical operation) The rotary torque when the mass W moves vertically due to the screw of pitch P is shown below. P T =. W π Mass: W Pitch: P -

40 - Examining operating status Acceleration time and deceleration time Selection guidelines Calculate acceleration and deceleration times for the selected actuator. Acceleration time: t a = k t = k ( JA + JL) ( J + J ) π N 0 TM TL π N Deceleration time: d A L 0 TM + TF ta: Acceleration time (s) td: Deceleration time (s) k: Acceleration reduction coefficient to. The total positioning time may become shorter if the acceleration is lowered for the purpose of reducing the settling time after positioning. JA: Actuator inertia moment (kg m ) JL: Load inertia moment (kg m ) N: Actuator rotation speed (r/min) TM: Maximum actuator torque (N m) TF: Actuator friction torque (N m) + T L N Rotation speed ta td Time 0 TF=KT x IR-TR KT: Torque constant (N m/a) TR: Allowable continuous torque (N m) IR: Allowable continuous current (A) TL: Load torque (Nm); The polarity is positive (+) when the torque is applied in the rotation direction, or negative (-) when it is applied in the opposite direction. Calculation example Select an actuator that best suits the following operating conditions: Rotation speed: 0 r/min Load inertia moment:. kg m Since the load mechanism is mainly inertia, the load torque is negligibly small. () After applying these conditions to the graph in [-], FHA-C-0 is tentatively selected. () From the rated table in -, the following values are obtained: JA = 0. kg m, TM = 0 N m, KT = N m/a, IM =. A. () Based on the above formula, the actuator's friction torque TF is calculated as x. - 0 = 0. N m. () Therefore, the acceleration time and deceleration time can be obtained as follows from the above formulas: ta = (0.+.) x x π/0 x 0/0 = 0.0 s td = (0.+.) x x π/0 x 0/(0+ x 0.) = 0.0 s () If the calculated acceleration/deceleration times are too long, correct the situation by: Reducing load inertia moment Selecting an actuator with a larger frame size -

41 - Examining operating status Examining duty During the selecting process of the FHA-C series, the temporal variability of torque and rotation speed need to be taken into account. During acceleration or deceleration in particular, a large amount of electricity flows to generate a large amount of torque, resulting in a greater amount of heat. Using the following formula, calculate the duty: %ED when the actuator is operated repeatedly in the drive pattern shown to the right. KLa ta + KLr tr + KLd td %ED = 00 t ta : Acceleration time from speed 0 to N (s) td : Deceleration time from speed N to 0 (s) tr : Operation time at constant speed N (s) t : Cycle time (s) K La : Duty coefficient during acceleration time K Lr : Duty coefficient during constant speed operation time K Ld : Duty coefficient during deceleration time How to obtain K La, K Lr and K Ld and example of duty calculation The following description uses the FHA-C-0 duty coefficient graph in the figure below as an example. Operating conditions: As in calculation example, accelerate an inertia load at the maximum torque of the actuator, operate it at a constant speed, and then decelerate it at the maximum torque. The travel angle per cycle is 0 and the cycle time is seconds. () K La, K Ld : Obtain K La = K Ld = in the following figure from an average speed of 0 r/min when the rotation speed changes from 0 to 0 r/min. () K Lr : Tr 0 due to inertia load, so K Lr = from the figure below. () The travel angle is calculated from the area of the rotation speed vs. time diagram shown above. Then, the travel angle is θ = (N / 0) x {tr + (ta + td) / } x 0 Then, tr = θ/ ( x N) (ta + td) / When θ = 0, and ta = 0.0 (s), td = 0.0 (s), N = 0 (r/min) in calculation example are applied to this formula, tr is calculated as 0. (s). () Now, apply cycle time t = (s) to the %ED calculation formula above to calculate the duty. %ED = ( x x 0. + x 0.0) / x 00 = % The value that was obtained is 00 or less,so serial repetitive operation is possible. If this value is 00 or above, the operation pattern load (possible reduction) actuator model No. etc., must be reexamined Torque [N m] () KLa, KLd N Rotation speed ta Duty coefficient (for FHA-C-0) KL=0. Torque. Ta tr td t: Cycle time Tr ts: Stopped time ts Ta,Tr,Td:Output torques Td () KLr Time Time Range of operation Selection guidelines Rotation speed [r/min] -0

42 - Examining operating status Duty coefficient Range of operation Radiation plate:00x00x(mm) Range of operation Radiation plate:00x00x(mm) Selection guidelines Torque [N m] Rotation speed [r/min] Torque [N m] トルク [Nm] Rotation speed [r/min] Radiation 放熱板 plate:00x00x(mm) Range of operation Radiation 放熱板 plate:00x00x(mm) :0x0x(mm) Range of operation 0 Torque [N m] Torque [N m] トルク [Nm] トルク [Nm] Rotation speed [r/min] Radiation 放熱板 plate:00x00x(mm) Range of operation Torque [N m] トルク [Nm] Torque [N m] トルク [Nm] Rotation speed [r/min] Radiation 放熱板 plate:00x00x(mm) :0x0x(mm) Range of operation Rotation speed [r/min] Rotation speed [r/min] -

43 - Examining operating status Range of 運転可能領域 operation Radiation plate:00x00x0(mm) Range of operationradiation 放熱板 plate:00x00x(mm) Torque [N m] Torque [N m] トルク [Nm] トルク [Nm] Rotation speed [r/min] Range 運転可能領域 of operation Radiation 放熱板 plate:00x00x0(mm) Torque [N m] Torque [N m] トルク [Nm] トルク [Nm] Rotation speed [r/min] Range 運転可能領域 of operation Radiation 放熱板 plate:00x00x(mm) Selection guidelines Rotation speed [r/min] 0 放熱板 :00x00x0(mm) Radiation plate:00x00x0(mm) 運転可能領域 Range of operation トルク [Nm] Rotation speed [r/min] Range of operation Radiation plate:00x00x(mm) Torque [N m] トルク [Nm] Torque [N m] Rotation speed [r/min] Rotation speed [r/min] -

44 - Examining operating status Selection guidelines 0 Examining effective torque and average rotation speed Examine the two points below for effective torque and average rotation speed. () Is the effective torque at or bellow the allowable continuous torque? () Is the average rotation speed at or below the permissible continuous rotational speed? Use the following equation to calculate the effective torque Tm and average rotation speed Nav during consecutive cycle operation as shown in [- Examining duty]. T N m av = T a ( ta + td) N ta + N tr = t t + T r t + N t r d Tm: Effective torque (N m) Ta: Max. torque (N m ) Tr: Load torque (N m) ta: Acceleration time (s),td: Deceleration time (s) tr: Operation time at constant speed (s),t: Cycle time (s) Nav: Average rotation speed (r/min) N: Rotation speed at constant speed (r/min) If the result of calculating the effective torque according to the equation above exceeds the allowable continuous torque shown in the table below, attempt to reduce the duty. Model FHA-C FHA-C FHA-C FHA-0C Item Reduction ratio :0 :00 :0 :0 :00 :0 :0 :00 :0 :0 :00 :0 Allowable continuous N m torque Permissible continuous rotational speed r/min Calculation example : Examining effective torque and average rotation speed Use the operating conditions from calculation examples and to examine the effective torque and average rotation speed. () Examining effective torque Apply the following to the equation above: Ta = 0 N m, Tr = 0 N m, ta = 0.0 s, tr = 0. s, td = 0.0 s, t = s. ( ) 0 Tm = = N m.0 This value exceeds the allowable continuous torque of FHA-C-0 tentatively selected in calculation example, and continuous operation is not possible in the cycle of calculation example. The following formula is a modified version of the formula for effective torque. By applying the value of allowable continuous torque to Tm in this formula, the allowable cycle time can be calculated. ( ) Ta ta + td + Tr tr t = Tm Apply the following: Ta = 0 N m, Tr = 0 N m, Tm = N m, ta = 0.0 s, tr = 0. s, td = 0.0 s. Then, 0 ( ) t = =. Then, setting the cycle time to. seconds or more gives Tm =.0 N m or less, thereby permitting continuous operation within the allowable continuous torque. -

45 - Examining operating status () Examining average rotation speed Apply the following to calculate the speed: N = 0 r/min, ta = 0.0 s, tr = 0. s, td = 0.0 s, t =. s. 0 = Nav =. r This value is within the permissible continuous rotational speed (0 r/min) of FHA-C-0 shown in the table above, so it can be used. / min Selection guidelines 0 -

46 - Examining operating status Selection guidelines 0 -

47 Chapter Actuator installation The following explains the installation procedures of the actuators. - Receiving Inspection - - Notices on handling - - Location and installation -

48 - Receiving Inspection Installing the SHA actuator 0 - Receiving Inspection Check the following items after unpacking the package. Inspection procedure Check the items thoroughly for damage sustained during transportation. If any item is damaged, immediately contact the dealer. Check if the actuator is what you ordered. The nameplate is found on the side of the FHA-C 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. The model code indicates the following information: FHA- C-0-E 0- FHA-C series actuator Model:,,, 0 Version symbol Reduction ratio of HarmonicDrive Encoder type Encoder resolution Option code Refer to the [- Model](P-) in this manual for details of the model codes. Check if the driver combinations are correct. The applicable FHA-C series actuator models are shown in the ADJUSTED FOR USE WITH field of the nameplate on the HA-00 driver. Make sure your actuator is combined with the correct driver. CAUTION Only connect the actuator specified on the driver label. The characteristics of this driver have been adjusted according to the actuator. Wrong combinations of drivers and actuators may cause low torque problems or overcurrent that may cause burned damage to the actuator, injury or fire. Check if the driver input voltages being input are correct. The driver's model code is shown in the TYPE field of the driver's nameplate.the last three digits of this model code indicate the input voltage to be input. 00: indicates a -phase/single-phase 00VAC power supply. 00: indicates a single phase 00VAC power supply. If the voltage to be supplied is different from the label voltage, immediately contact the dealer it was purchased from. -

49 - Receiving Inspection CAUTION Do not connect a supply voltage other than the voltage specified on the driver label. Connecting a power supply not matching the input voltage specified on the nameplate may result in damage to the driver, injury or fire. Installing the SHA actuator 0 -

50 - Notices on handling - Notices on handling Handle the FHA-C series actuator carefully by observing the notices specified below. Installing the SHA actuator 0 CAUTION () Do not apply any excessive force or impact, especially to the actuator's output shaft. () Do not put the FHA-C series actuator on a table, shelf, etc., where the actuator could easily fall. () Do not connect the actuator terminals directly to the power supply. The actuator may burn and cause fire or electric shock. () The allowable storage temperature is -0 to +0. Do not expose the actuator to direct sunlight for long periods of time or store it in areas in low or high temperature. () The allowable relative storage humidity is 0% or less. Do not store the actuator in a very humid place or in areas where temperatures are likely to fluctuate greatly during day and night. () Do not use or store the actuator in locations subject to corrosive gases or dust particles. -

51 - Location and installation - Location and installation Environment of location The environmental conditions of the installation location for FHA-C series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. Operating temperature: 0 to 0 The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet. Plan the cabinet size, cooling system, and device locations so the ambient temperature of the actuator is kept 0 or below. Operating humidity: Relative humidity of 0 to 0%. Make sure no condensation occurs. Take note that condensation is likely to occur in a place where there is a large temperature change between day and night or when the actuator is started/stopped frequently. Vibration: Impact: Use environment: Protection class: m/s (.G) (0 to 00Hz) or less m/s (0G) or less Free from dust, condensation, metal powder, corrosive gases, water, oil mist, etc. Standard products are structurally designed to meet the IP- requirements. However, this does not apply to ) rotating and sliding areas (oil seal areas), ) cable disconnection areas, ) option connectors, and ) option sensor areas. Locate the driver indoors or within an enclosure. Do not expose it to the sunlight. Altitude: lower than,000 m above sea level The protection class against water entry is as follows: : Protected against water splashed from all directions. The protection class against contact and entry of foreign matter is as follows: : Protected against solid bodies of superior dimensions to mm. Installing the SHA actuator 0 -

52 - Location and installation Installing the SHA actuator 0 Installation The FHA-C series actuator drives mechanical load system at high accuracy. When installing the actuator, pay attention to precision and do not tap the actuator output part with a hammer, etc. The actuator houses an encoder. Excessive impact may damage the encoder. Installation procedure Align the axis of rotation of the actuator and the load mechanism precisely. Note : Perform this alignment carefully, especially when a rigid coupling is used. Even slight misalignment may cause the permissible load of the actuator to be exceeded, resulting in damage to the output shaft. Use flat washers and high-tension bolts to fasten the actuator flange to the load machine. Tighten them with a torque wrench to control the tightening torque. Tightening torques are shown in the table below. Item Tighteni ng torque Model Screw, hole depth FHA-C FHA-C FHA-C FHA-0C Output Output Output Output Flange Flange Flange shaft shaft shaft shaft Flange -M -M -M -M -M -M -M0 -M0 Depth Depth Depth Depth 0 0 N m kgf cm For details on wiring, refer to the manual of your HA-00 driver. Wire the motor cable and encoder cable. Do not pull the cables with a strong force. The connection points may be damaged. Install the cable with slack not to apply tension to the actuator. Provide a sufficient bending radius (R = 0 mm or more), especially when the cable flexes. CAUTION Output shaft Flange Do not apply torque, load or thrust to the sleeve directly. The sleeve (hollow shaft) is adhered to the output rotary shaft. Accordingly, the adhered sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve (hollow shaft). Do not apply any torque, moment load or thrust load directly to the sleeve (hollow shaft). Sleeve Output shaft CAUTION Do not disassemble/reassemble the actuator. The actuator uses many precision parts. Drops in accuracy and performance due to disassembly and assembly by the customer are not covered by the warranty. -

53 Chapter Options This chapter explains the options available for the SHA series actuator. - Motor shaft holding brake (option code: B) - - With connector (option code: C) - - Cable length: m (option code: F) - - Cable taken out from rear face (option code: K) - - Revolution sensor (origin & end limit) (option code: L) - - Extension cables -

54 - Motor shaft holding brake (option code: B) Options 0 - Motor shaft holding brake (option code: B) FHA-C series actuators can be equipped with motor shaft holding brakes. FHA-C series brakes incorporate two coils: one for absorption and one for holding. The actuator's built-in circuit controls the voltage and reduces the power consumption during retention. Be sure to use a DC power supply having proper brake excitation voltage and capable of outputting enough current consumption during suction. Motor shaft holding brake specification (for incremental encoder) Item Type Model FHA-C FHA-C FHA-C FHA-0C Dry non-excitation actuation type (Power-saving control via absorption and retention coils) DCV±0% (no polarity) Note Brake excitation voltage V Current consumption during suction A.0... (at 0 ) Note Current consumption during holding (at 0 ) A Holding torque N m Note kgf m. 0. Inertia moment Note (GD /) kg m (Actuator total) (J) (incremental encoder model) kgf cm s Mass Note kg... Allowable number of normal brakings Note 00,000 times Allowable number of emergency stops Note 00 times Note : Power supply is user s responsibility. Use a power supply capable of outputting enough current consumption during suction for the brake. Note : The duration for current consumption during suction is 0. second or less for the power supply of DCV ± 0%. Note : The values are converted for the output shaft. Note : The values present total mass of the actuator. Note : The service time for normal holding is assured when the brake activates at motor speed of 0 r/min or less. Note : The service time for emergency stop is assured when the brake activates at motor speed of,000 r/min or less. Do not use the holding brake more than the allowable number of normal brakings (00,000 times at the motor shaft rotation speed of 0 r/min or less) or allowable number of emergency stops (00 times at the motor shaft rotation speed of,000 r/min). WARNING Exceeding the allowable number of normal brakings and allowable number of emergency stops may deteriorate holding torque, and may consequently become out of use as a brake. -

55 - Motor shaft holding brake (option code: B) Motor shaft holding brake cable specifications The brake cable and motor cable are combined into a single cable. Wire colors are shown in the table below. Color Cable Red Motor phase-u White Motor phase-v Black Motor phase-w Green/Yellow PE Blue Brake Yellow (Shield) (no polarity) FG Options 0 -

56 - With connector (option code: C) Options - With connector (option code: C) Connectors are attached to the ends of actuator cables. Use an extension cable to allow for convenient connections with HA-00 drivers. Connectors are also effective as countermeasures against static electricity, for improved reliability during assembly. Connector models for motors: Molex Japan Co., Ltd. Receptacle: -0R, female terminal: PBTL Connector models for encoders: Binder For incremental encoders: Recommended connector models on extension side (receiving side) Connector models for motors: Molex Japan Co., Ltd. Plug: -0P, male terminal: Connector models for encoders: Binder For incremental encoders:

57 - Cable length: m (option code: F) - Cable length: m (option code: F) Actuator cables (motor and encoder wires) can be extended to a length of m. Use this option when connections cannot be extended. Encoder cable 0.mm X sets with shield L=000 Motor cable 0.mm X-cores with shield Options 0 -

58 - Cable taken out from rear face (option code: K) - Cable taken out from rear face (option code: K) The cables (motor and encoder wires) are taken out from the rear of the actuator. Use this option if the actuator is housed in a system and there is not enough space in the radial direction of the housing. Options 0 -

59 - Revolution sensor (origin & end limit) (option code: L) - Revolution sensor (origin & end limit) (option code: L) Revolution sensors are directly connected to the output shaft on the counter-output side of the actuator. Use this option if the mechanical origin is needed or you want to define an operation range as a safety measure. Revolution sensor specifications Origin sensor Model: EE-SX [OMRON Corporation] Sensor connection diagram Indicator Time chart Light entry indicator Output Transistor Main circuit + L OUT ON when light enters (short circuit between + and L ) Light enters Light blocked Lit Not lit ON OFF - Operating status: ON when light is blocked/on when light enters (switchable) Normally turns ON when light is blocked, but short circuiting the (L) terminal and (+) terminal switches the system to turn ON when light enters. Input voltage: DC to V ± 0%, ripple (p-p) 0% or less Current consumption: ma or less Control output: DC to V, load current (Ic) 00 ma residual voltage (Vce) 0.V or less For TTL drive, load current (Ic) 0 ma, residual voltage (Vce) 0.V or less Light entry indicator Output Transistor ON when light is blocked Light enters Light blocked Lit Not lit ON OFF Limit switch (limit, ) Model: DJW-0K [OMRON Corporation] Switch contact type Electricity rating: DC0V 00 ma resistance load Allowable operations Frequency: 0/min (mechanical), 0/min (electric) Life:,000,000 or more (mechanical), 00,000 or more (electric) * For details, refer to OMRON Corporation catalogs. Options 0 COM NO NC -

60 - Revolution sensor (origin & end limit) (option code: L) Options Sensor adjustment method The method for adjusting sensors is shown below: () Loosen the fixing screws from the origin slit board and limit / dogs. (Until the dogs can be turned easily by hand.) () Adjust the position of the limit dog, set the clockwise (CW) limit position, then fasten the fixing screw. () Adjust the position of the limit dog, set the counter-clockwise (CCW) limit position, then fasten the fixing screw. () To set the position of the origin slit board, rotate the actuator at a slow speed, pass current through the origin sensor, and confirm its ON/OFF signal to fix it in the appropriate position. Caution : The unit is supplied with the origin slit board and limit / dog fixing screws temporarily fastened. After setting the position, fasten them securely. Caution : Locking measures are recommended after refastening fixing screws. Caution : After adjusting the position of each sensor and fastening fixing screws, test the unit to make sure that the sensor operates at the desired position. Limit dog fixing screw -M Limit dog fixing screw -M Limit Limit 0 Origin sensor Origin slit Origin slit fixing screw -M Origin slit fixing screw position Limit dog Limit dog Limit dog fixing screw position -

61 - Revolution sensor (origin & end limit) (option code: L) Sensor drive range Limit, FHA- Limit dog maximum drive range Limit dog maximum drive range Maximum operation angle FHA-,, 0 Limit dog maximum drive range Switch operation position Maximum operation angle Switch operation position Maximum operation angle Limit dog maximum drive range Switch operation position Maximum operation angle Switch operation position Options 0 Caution: Driving the unit at or above the maximum angle listed above could damage the limit switch. Origin sensor The sensor is contactless, so its drive range is unlimited. -

62 - Extension cables - Extension cables This extension cable is used to connect a FHA-C type actuator to the HA-00 driver. Extension cables are available for motors (including brake wire) and incremental encoders. (Please provide your own cable for signal communication RS-C.) Extension cable model (** indicates the cable length of m, m or 0m.) () For motors: EWC-MB**-M0-TN Options [Driver Side] Soldered Cable length (0 = m, 0 = m, 0 = 0m) Outer diameter [Actuator Side] Wiring display stickerd W: Black V: White W: Black 0 () For incremental encoders: EWC-E**-B0-M Cable length (0 = m, 0 = m, 0 = 0m) [Actuator Side] Cable length [Driver Side] Outer diameter -

63 Chapter Appendix A- Unit conversion - A- Calculating inertia moment -

64 Unit conversion Apx Appendix 0 A- Unit conversion This manual employs SI system for units. Conversion factors between the SI system and other systems are as follows: ()Length SI system m Unit ft. in. Factor Unit ft. in. Factor.. SI system m ()Linear speed SI system m/s Unit m/min ft./min ft./s in/s Factor 0.0.0x Unit m/min ft./min ft./s in/s Factor 0... SI system m/s ()Linear acceleration SI system m/s Unit m/min ft./min ft./s in/s Factor. x0 -.x Unit m/min ft./min ft./s in/s Factor 00.x0.. SI system m/s ()Force SI system N Unit kgf lb (force) oz (force) Factor.. 0. Unit kgf lb (force) oz (force) Factor SI system N ()Mass SI system kg Unit lb. oz. Factor Unit lb. oz. Factor.0. SI system kg ()Angle SI system rad Unit deg. min. sec. Factor 0.0.x0 -.x0 - Unit deg. min. sec. Factor..x0.0x0 SI system rad ()Angular speed SI system rad/s Unit deg/s deg/min r/s r/min Factor 0.0.x Unit deg/s deg/min r/s r/min Factor..x0 0.. SI system rad/s -

65 Unit conversion ()Angular acceleration SI system rad/s Unit deg/s deg/min Factor 0.0.x0 - Unit deg/s deg/min Factor..x0 SI system rad/s ()Torque SI system N m Unit kgf m lb ft lb in oz in Factor x0 - Unit kgf m lb ft lb in oz in Factor SI system N m (0)Inertia moment SI system kg m Unit kgf m s kgf cm s lb ft lb ft s lb in lb in s oz in oz in s Factor x0..x0. Unit kgf m s kgf cm s lb ft lb ft s lb in lb in s oz in oz in s Factor x0-0..x0 -.0x0 - SI system kg m ()Torsional spring constant, moment stiffness SI system N m/rad Unit kgf m/rad kgf m/arc min kgf m/ deg lb ft/ deg lb in/ deg Factor 0.0. x0 -.x Unit kgf m/rad kgf m/arc min kgf m/ deg lb ft/ deg lb in/ deg Factor.. x0.. SI system N m/rad Apx Appendix 0 -

66 Calculating inertia moment Apx Appendix 0 A- Calculating inertia moment Formula of mass and inertia moment () 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 rotates around x-, y-, z-axes respectively (kg m ) G : distance from end face of gravity center (m) ρ : specific gravity Unit Length: m, Mass: kg, Inertia moment: kg m Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Cylinder Circular pipe z m R L ρ z m π R R L ρ R Ix mr R Ix m R R x x L L y Iy m R y Iy m R R R L L L Iz m R L R: Outer diameter Iz m R R R: Inner diameter Slanted cylinder Ellipsoidal cylinder x B z L Rectangular pillar x θ B L z A R y C C y m R m Ix BC L ρ m B C C Iy m B Iz m m ABCρ Ix Iy Iz L ρ Iθ m R cos θ L sin θ L L m B C m C A m A B Ball Cone x R G z Square pipe D x B z A R L y y m πr I mr m π R Ix mr 0 Iy Iz L G L ρ m R L 0 m R L 0 m AD B - Dρ ρ Ix m B - D D A Iy m B-D D A Iz m B-D D -

67 Calculating inertia moment Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar x Isosceles triangle pillar z x G B B z A A Hexagonal pillar Right triangle pillar Example of specific gravity The following tables show references of specific gravity. Confirm the specific gravity for the material of the drive load. Material C y C y m = ABCρ Ix = m B + Iy = m C + m = ABCρ = B Ix m Iy = Iz = C G = ( C ) ( A ) ( A ) Iz = m B + + C m A + C B m A + Specific gravity Material Specific gravity Material Specific gravity SUS0. Aluminum.0 Epoxy resin.0 SC. Duralumin.0 ABS.0 SS00. Silicon.0 Silicon resin.0 Cast iron. Quartz glass.0 Polyurethane rubber. Copper. Teflon.0 Brass.0 Fluorocarbon resin.0 () Both centerlines of rotation and gravity are not the same: The following formula calculates the inertia moment when the rotary center is different from the gravity center. x B x G B G z z A A C y B y m = AB ρ Ix = mb Iy = m A + B Iz = m = ABCρ Ix = m( B + C ) Iy = m A + C Iz = m A + B C G = m A + B B G = Apx Appendix 0 I = Ig + mf I: Inertia moment when the gravity center axis does not match the rotational axis (kg m ) I g : Inertia moment when the gravity center axis matches the rotational axis (kg m ) Calculate according to the shape by using formula (). m: mass (kg) F: Distance between rotary center and gravity center (m) Rotary center F Gravity center () Inertia moment of linear operation objects The inertia moment, converted to actuator axis, of a linear motion object driven by a screw, etc., is calculated using the formula below. P I = m π I: Inertia moment of a linear operation object converted to actuator axis (kg m ) m: mass (kg) P: Linear travel per actuator one revolution (m/rev) -

68 Calculating inertia moment Inertia moment of cylinder The inertia moment of a cylinder may be obtained from the graphs to the right. Inertia moment (kgm ) 000 Inertia moment (specific gravity:.) Length (mm) 000 Apx Appendix 0 Length Radius Apply the top graph to aluminum materials (specific gravity:.) and bottom graph to steel materials (specific gravity:.). (Example) Material: Aluminum Outer diameter: 00mm Length: mm Shape: Column Since the outer diameter is 00mm, the radius is 0mm. Therefore, the above graph gives the inertia moment as follows: Approx.. x 0 - kg m (Calculated value: kg m ) Radius R (mm) Inertia moment (kgm ) Length (mm) 000 Inertia moment (specific gravity:.) Radius R (mm) -

69 Calculating inertia moment Apx Appendix 0 -

70 Index A Acceleration time... - Allowable load inertia moment... - Average rotation speed... - C Cable lengthm... - Cable specifications... - Cable taken out from rear face... - Combinations with drivers... - D Deceleration time... - E Effective torque... -0, - Environment of location... - Examining actuator rotation speed... - Examining operating status... - Extension cables... - External dimensions... - I Incremental encoder model encoder lead line... - Incremental model... -,- Inertia moment... - Inertia moment of a cylinder... - Installation... - L Life... - Load inertia moment... -, - Load torque... - Load weight... - Location and installation... - M Main features... - Maximum load weights... - Mechanical accuracy... - Model... - Moment stiffness Motor cable specifications... - Motor shaft holding brake... - Motor shaft holding brake cable specifications... - Motor shaft holding brake specifications... - N Notices on handling... - O Operable range... - R Receiving inspection... - Related manual... Resistance to vibration... - Resolution of output shaft... - Revolution sensor... - Revolution sensor specifications... - Rigidity Rotation direction... - S Sensor adjustment method... - Sensor drive range... - Shock resistance... - Specifications... - Static safety coefficient... - T Torsional stiffness... - U Uni-directional positional accuracy... - Unit... - W With connector... -

71 Warranty Period and Terms The equipment listed in this document is warranted as follows: 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 applicable products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or,000 hours of operation time. Warranty terms All the applicable products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to: () user's misapplication, improper installation, inadequate maintenance, or misuse. () disassembling, modification or repair by others than Harmonic Drive Systems, Inc. () imperfection caused by a non-applicable product. () disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.

72 Certified to ISO00/ISO00 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of March 0. Head Office/Believe Omori F --Minami-Ohi,Shinagawa-ku,Tokyo,Japan 0-00 TEL+(0)--00 FAX+(0)-- Overseas Division/- Hotakamaki Azumino-shi Nagano,Japan -0 TEL+(0)-- FAX+(0)--0 HOTAKA Plant/- Hotakamaki Azumino-shi Nagano,Japan -0 TEL+(0)--00 FAX+(0)--0 Harmonic Drive AG/Hoenbergstraβe, Limburg,Germany TEL FAX0-00- Harmonic Drive L.L.C/ Lynnfield Street, Peabody, MA, 00, U.S.A. TEL FAX "HarmonicDrive " is a registered trademark of Harmonic Drive Systems, Inc. "HarmonicDrive " represents the academic concept generally referred to as wave motion gearing. 0-R-TFHAC