AC Servo Actuator FHA- Cmini series m anual

Transcription

1 AC Servo Actuator FHA- Cmini series m anual ISO ISO

2 Introduction Introduction Thank you very much for your purchasing our FHA-Cmini series servo actuator. Wrong handling or use of this product may result in unexpected accidents or shorter life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years. 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 To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the driver. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. CAUTION 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 Aircraft, aeronautic equipment Nuclear equipment Household apparatus Vacuum equipment Automobile, automotive parts Amusement equipment, sport equipment, game machines Machine or devices acting directly on the human body Instruments or devices to transport or carry people 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 CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING CAUTION Always use under followings conditions: The actuator is designed to be used indoors. Observe the following conditions: Ambient temperature: to Ambient humidity: % to %RH (Non-condensation) Vibration: Max. m/s Impact: 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 motor shaft center and corresponding center in the application. Failure to observe this caution may lead to vibration, resulting in damage of output elements. CAUTION FOR ACTUATORS IN OPERATIONS WARNING 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. 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. CAUTION 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.

5 - SAFETY GUIDE CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING CAUTION Always use drivers under followings conditions: Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely. to, % RH or below (Non condensation) No vibration or physical shock No corrosive, inflammable or explosive gas Use sufficient noise suppressing means and safe grounding. 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 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. Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation. CAUTION FOR DRIVERS IN OPERATIONS 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. In order to prevent electric shock, perform inspections minutes after the power supply is turned OFF and confirming the CHARGE lamp is turned OFF. 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 make 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, A MOTOR, A CONTROL UNIT AND/OR THEIR PARTS 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 Structure of this document Chapter Chapter Chapter Appendix Outlines Selection guidelines Installation Outlines of product models, specifications, external drawings, etc., are explained. Selection guidelines for the FHA-C mini series actuator are explained in this chapter. This chapter explains the procedure for installing the FHA-C mini series actuator. How to calculate unit conversions and inertia moments are explained in this chapter.

8 Contents SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Structure of this document... Contents... Chapter Outlines - Outlines... - Main features Model Combinations with drivers Specifications... - Input voltage VAC/VAC specification... - Input voltage: VDC specification External drawing... - Side-leading cables (standard specification/incremental encoder model)... - Side-leading rear cables (option specification/incremental encoder model)... - Side-leading cables (standard specification/absolute encoder model) Mechanical accuracy Uni-directional positional accuracy... - Angle correction function during horizontal indexing Detector resolution Rigidity... - Moment stiffness... - Rotation direction torsional stiffness Rotation direction Shock resistance Resistance to vibration Operable range Cable specifications... -

9 Contents Chapter Selection guidelines - Connecting power cables Change in moment of inertia of load Verifying and examining load weights Examining operating status... - Examining actuator rotation speed... - Calculating and examining load inertia moment... - Load torque calculation... - Acceleration time and deceleration time... - Duty cycles... - Duty factor graphs... - Examining effective torque and average rotation speed... - Overload detection time... - Chapter Installation - Receiving inspection Notices on handling Installation location and installation... - Environment of installation location... - Installation... - Appendix - Unit conversion Calculating inertia moment...- Formula of mass and inertia moment...- Inertia moment of a cylinder...-

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11 Chapter Outlines Outlines of product models, specifications, external drawings, etc., are explained in this chapter. - Outlines - - Model - - Combinations with drivers - - Specifications - - External drawing - - Mechanical accuracy - - Uni-directional positional accuracy - - Detector resolution - - Rigidity - - Rotation direction - - Shock resistance - - Resistance to vibration - - Operable range - - Cable specifications -

12 - Outlines Outlines - Outlines FHA-C mini series AC Servo Actuators provide high torque and highly accurate rotary operation. These integrated AC Servo Actuators are each composed of a thin type speed reducer HarmonicDrive for precision control from models No. to No. and a flat AC servo motor. The first feature of the FHA-C mini series actuators is their shape. The body is thinner and more compact than those of any models that have been produced by the industry so far. The second feature is its 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. (*) The HA- and the HA- drivers are a family of servo drive units for position/speed control, developed exclusively for driving FHA-C mini series actuators. The small, multi-functional drivers control the FHA-C mini series actuators' operations with great accuracy and precision. FHA-C mini series actuators play an important role in driving various factory automation (FA) equipment, such as robot joints, alignment mechanisms for semi-conductor LCD devices, etc. Main features Slim line body The FHA-C mini series actuator is the union of a thin type speed reducer HarmonicDrive for precision control and a flat AC servo motor. The length from the mounting flange face to the actuator end is / or less of our previous AC Servo Actuator models. The compact size allows much smaller machines and devices to be designed. 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 simplifies the structure of machines and devices. High torque The thin type speed reducer HarmonicDrive for precision control allows the FHA-C mini series actuator to have a much higher output torque per external drawing than direct drive motors. High positional accuracy The FHA-C mini series actuators provide superior positioning accuracy of up to seconds (FHA-C-) with uni-directional positional accuracy as well as a detector resolution of,/rev (incremental encoder) and,,/rev (absolute encoder). High torsional stiffness Uses the high stiffness, HarmonicDrive CSF series. Absolute encoder The FHA-C mini series actuator uses previous model incremental encoders and has an absolute encoder added. We offer a wide variation to meet for a wide range of needs. (*): The absolute encoder model does not come with a hollow structure. -

13 - Model - Model Model names for the FHA-C mini series actuators and how to read the symbols are explained below. Incremental encoder FHA- C--E-C Model: AC Servo Actuator FHA-C mini series Model No.:,, Version symbol Reduction ratio of the HarmonicDrive : / : / : / Encoder type and resolution E Incremental encoder, p/rev Outlines Absolute encoder - FHA- C--Sb A-C With connector (standard specification) Input power supply None: VAC, V specification E: VDC specification Cable lead-out direction None : Lateral (standard specification) K : Rear (option specification) Model: AC Servo Actuator FHA-C mini series Model No.:,, Version symbol Reduction ratio of the HarmonicDrive : / : / : / Encoder type and resolution Sb Absolute encoder,p/rev (bit) Input power supply A: VAC specification G: VAC specification E: VDC specification (Please contact us.) With connector (standard specification) -

14 - Combinations with drivers Outlines - Combinations with drivers The HA-, HA- or RFHAAHD driver is available for use with FHA-C mini series actuators. The driver comes in models based on input voltages. The correct combinations are listed below. Actuator series FHA-C mini series FHA-C mini series FHA-C mini series FHA-C mini series Model No. Input voltage (V) AC AC AC AC AC AC AC AC AC AC AC AC DC DC Encoder type -wire wire-saving incremental -bit absolute General I/O command type Combined driver MECHATROLINK-II type CC-Link type HA-A-C- HA-B-C- HA-C-C- HA-A-C- HA-B-C- HA-C-C- HA-A-D- HA-B-D- HA-C-D- HA-A-D- HA-B-D- HA-C-D- HA--- HA-ML-- HA-CL-- DC -wire HA--- HA-ML-- HA-CL-- wire-saving DC incremental HA--- HA-ML-- HA-CL-- DC DC HA--- HA-ML-- HA-CL-- DC DC DC -bit absolute RFHAAHD RFHAAHD RFHAAHD -

15 - Specifications - Specifications Input voltage VAC/VAC specification The specifications for the FHA-C mini series actuators with VAC/VAC input voltages are as follows. Model FHA-C FHA-C FHA-C Item N m Maximum torque Note kgf m Max. rotational speed r/min N m/a Torque constant kgf m/a Max. current Note A Allowable continuous current Note A Input power supply (driver) V AC, AC MEF constant (interphase) V/(r/min) Phase resistance Ω ( C).. Phase inductance mh... Inertia moment INC ABS (GD /) kg m (J) kgf cm s (GD /) kg m (J) kgf cm s Reduction ratio Permissible moment load N m kgf m... Moment stiffness N m/rad x x x kgf m/rad. x. x. x Motor position detector INC Incremental encoder:, pulse/rev ABS Absolute encoder: Multi-rev bit (, rev), rev bit (, pulse/rev) Detector resolution Note INC (quadruplicate) Pulse/rev,,,,,,,,, ABS (output shaft conversion) Pulse/rev,,,,,,,,,,,,,,,,,, Uni-directional positional accuracy Sec. (angle) Angle compensated The uni-directional positional accuracies are improved % more than the above values at no disturbance by the angle compensation feature of the HA- driver. Note Mass INC kg... ABS kg... Protection structure Totally enclosed self-cooled type Operating temperature: to C /Storage temperature: - to C Operating humidity/storage humidity: to % RH (no condensation) Resistance to vibration:. m/s (frequency to Hz) Environmental conditions Shock resistance: m/s No dust, metal powder, corrosive gas, inflammable gas, or oil mist. To be used indoors, no direct sunlight. Altitude: less than, m above sea level Magnetic noise resistance:. tesla (ABS) Motor insulation Insulation resistance: MΩ or more (by VDC insulation tester) Dielectric strength:,vac/ min Insulation class: B Safety standard compliance CE marking (the absolute encoder will soon be compliant) Mounting direction Can be installed in any direction. Note : (INC) stands for the incremental encoder and (ABS) stands for the absolute encoder. Outlines -

16 - Specifications Outlines Note : The table shows the output shaft values of the actuators. Note : The value when combined with a HA- driver. Note : All values are typical. Note : The values listed below are for the detector resolution. Incremental encoder: (motor shaft encoder quadruplicate resolution) x (reduction ratio). Absolute encoder: (motor shaft encoder resolution) x (reduction ratio) Note : Refer to the HA- driver manual for further details. Note : For testing conditions, refer to [- Shock resistance] (p.-) and [- Resistance to vibration] (p.-). Input voltage: VDC specification The specifications for FHA-C mini series actuators with a VDC input voltage are as follows. Model FHA-C FHA-C FHA-C Item N m Maximum torque Note kgf m Max. rotational speed r/min N m/a Torque constant kgf m/a Max. current Note A Allowable continuous current Note A Input power supply (driver) V DC MEF constant (interphase) V/(r/min) Phase resistance Ω ( C)... Phase inductance mh... Inertia moment (GD /) kg m INC (J) kgf cm s Reduction ratio Permissible moment N m load kgf m... Moment stiffness N m/rad x x x kgf m/rad. x. x. x Motor position detector Incremental encoder:, pulse/rev Detector resolution (quadruplicate) Note Pulse/rev,,,,,,,,, Sec. (angle) Uni-directional The uni-directional positional accuracies are improved % more than the above positional accuracy Angle values at no disturbance by the angle compensation feature of the HA- driver. compensated Note Mass kg... Protection structure Totally enclosed self-cooled type Environmental conditions Operating temperature: to C /Storage temperature: - to C Operating humidity/storage humidity: to % RH (no condensation) Resistance to vibration:. m/s (frequency to Hz) Shock resistance: m/s No dust, metal powder, corrosive gas, inflammable gas, or oil mist. To be used indoors, no direct sunlight. Altitude: less than, m above sea level Motor insulation Insulation resistance: MΩ or more (by VDC insulation tester) Dielectric strength: VAC/ min Insulation class: B Safety standard compliance CE marking Mounting direction Can be installed in any direction. Note : The table shows the output shaft values of the actuators. Note : The value when combined with a HA- driver. Note : All values are typical. Note : The value of the detector resolution is (motor shaft encoder quadruplicate resolution) x (reduction ratio). Note : Refer to the HA- driver manual for further details. Note : For testing conditions, refer to [- Shock resistance] (p.-) and [- Resistance to vibration] (p.-). -

17 - External drawing - External drawing The external drawings of FHA-C mini series actuators are shown below. Side-leading cables (standard specification/incremental encoder model) FHA-C-xx-E-C Unit: mm (third angle projection) Outlines Hollow shaft inside diameter FHA-C-xx-E-C Hollow shaft inside diameter FHA-C-xx-E-C Hollow shaft inside diameter Cable pullout (common specification) Motor connector Motor cable Encoder connector Encoder cable Note: Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

18 - External drawing Outlines Side-leading rear cables (option specification/incremental encoder model) FHA-C-xx-E-CK FHA-C-xx-E-CK FHA-C-xx-E-CK Hollow shaft inside diameter Hollow shaft inside diameter Unit: mm (third gle projection) Hollow shaft inside diameter Cable pullout (common specification) Motor cable Motor connector Encoder connector Encoder cable - Note: Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions.

19 - External drawing Side-leading cables (standard specification/absolute encoder model) FHA-C-xx-SbA-C Unit: mm (third angle projection) Outlines FHA-C-xx-SbA-C FHA-C-xx-SbA-C Output rotary unit Output rotary unit Output rotary unit Cable pullout (common specification) Note: Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

20 - Mechanical accuracy Outlines - Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange are shown below for FHA-C mini series actuators. Mechanical accuracy Unit: mm Accuracy items FHA-C FHA-C FHA-C. 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 dial gauge on the fixed part measures the axial runout (maximum runout width) of the outermost periphery of output shaft of the output rotary unit per revolution. Deflection of output shaft The dial gauge on the fixed part measures the radial runout (maximum runout width) of output shaft of the output rotary unit per revolution. A A () B B () Parallelism between the output shaft end mounted surface The dial gauge on the output rotary unit measures the axial runout (maximum runout width) of the outermost periphery 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 dial gauge on the output rotary unit measures the radial runout (maximum runout width) of the fitting part of the output rotary unit per revolution. -

21 - 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 revolution when series of positionings are performed in the same rotation direction. (refer to JIS B--.) FHA-C mini series actuators house speed reducer HarmonicDrive for precision control, so the positioning error of the motor shaft is compressed to /, / or / by the gearing. The actual angle transmission error of the speed reducer determines the uni-directional positional accuracy. Therefore, the measurement value of the angle transmission error of the speed reducer is expressed as the uni-directional positioning accuracy of the FHA-C mini series. Theoretical stop position Positioning error Actual stop position Outlines Datum position The uni-directional positional accuracy is shown in the table below: Model FHA-C FHA-C FHA-C Item Uni-directional Sec. positional accuracy (angle) Angle correction function during horizontal indexing The FHA-C mini series driver provides an angle compensation function. This function analyzes the angle transmission error of the HarmonicDrive beforehand and compensates for this erroneous difference to improve uni-directional positioning accuracy. The function improves the value of the uni-directional positional accuracy by % or more. For large fluctuant loads, check that the function is effective before applying it. (Refer to the driver manual on how to use this function.) -

22 - Detector resolution Outlines - Detector resolution The motors of the FHA-C mini series actuators are equipped with an incremental encoder of, pulses per revolution, and an absolute encoder of, pulses per revolution. The function reduces the motor output to /, / and / by using a speed reducer HarmonicDrive for precision control. The resolution per revolution is, or times. Additionally, the incremental encoder signal has a x electrical interpolation. The high resolutions obtained from the information above are summarized in the table below. Incremental encoder FHA-C Model FHA-C Item FHA-C Encoder resolution, (, pulse/rev: quadruplicate) Reduction ratio Detector resolution (quadruplicate) Pulse/rev,,, Resolvable angle per pulse (approximate value) Sec.... Absolute encoder FHA-C Model FHA-C Item FHA-C Encoder resolution (, pulse/rev) Reduction ratio Detector resolution (quadruplicate) Pulse/rev,,,,,, Resolvable angle per pulse (approximate value) Sec. Approx.. Approx.. Approx.. -

23 - Rigidity - Rigidity Moment stiffness The moment stiffness refers to the torsional stiffness when a moment load is applied to the output shaft of the actuator (shown below). For example, when a load is applied to the end of an arm attached on the actuator output shaft, the face of the output shaft tilts in proportion to the moment load (shown below). The moment stiffness is expressed as the tensional moment/angle. Gradient Load Outlines Item Moment stiffness Model FHA-C FHA-C FHA-C N m/rad x x x kgf m/rad. x. x. x kgf m/arc min... CAUTION Do not apply torque or load to the hollow shaft (sleeve). The hollow shaft (sleeve) is adhered to the output rotary shaft. When a load is applied to the hollow shaft (sleeve), delamination may occur on the output shaft and hollow shaft (sleeve). Do not apply or use any torque, moment load or thrust load directly to the hollow shaft (sleeve). * The shape of the hollow shaft will only support the incremental encoder. Output shaft Sleeve -

24 - Rigidity Outlines Rotation direction torsional stiffness If a torque is applied to the output shaft of the actuator with the servo locked, the output shaft generates a torsional stress roughly in proportion to the torque. The upper right figure shows the torsional angle of the output shaft when a torque starting from zero and increased to positive side [+T] and negative side [ T] is applied to the output shaft. This is called [torque vs. torsional angle] diagram, which typically follows a loop A B A' B' A. The torsional rigidity of the FHA-C mini series actuator is expressed by the slope of this [torque vs. torsional angle] diagram representing a spring constant (unit: N m/rad). As shown by lower right figure, this [torque vs. torsional angle] diagram is divided into regions and the spring constants in these regions are expressed by K, K, and K, respectively. K: Spring constant for torque region to T K: Spring constant for torque region T to T K: Spring constant for torque region over T The torsional angle for each region is expressed as follows: *φ : Torsional angle Hysteresis loss T Range where torque T is T or below: ϕ = K T T Range where torque T is T to T: ϕ = θ + K Range where torque T is T or above: T T ϕ = θ + K The table below shows the average value of each actuator. Model FHA-C FHA-C FHA-C Item T N m kgf m K x N m/rad kgf m/arc min θ x - rad arc min T N m kgf m K x N m/rad kgf m/arc min θ x - rad arc min K x N m/rad kgf m/arc min The table below shows reference torque values calculated for different torsional angles. (Unit: N m) Model FHA-C FHA-C FHA-C Torsional angle (arc min) θ -T A θ Torsional angle K T Torsional angle B B K T A Torque +T K Torque -

25 - Rotation direction - Rotation direction Forward rotation direction of the actuator is defined as clockwise (CW) rotation as viewed from the output shaft side when a forward command is given to a FHA-C mini series actuator from a driver. This rotation direction can be changed on the driver by selecting [Parameter settings]. For details on the settings, refer to the manual of your driver. Setting of the [Parameter: Rotation direction] driver Set Forward Reverse value input input Setting FWD rotation Reverse Default Reverse FWD rotation FWD rotation: Clockwise direction Outlines -

26 - Shock resistance Outlines - Shock resistance The shock acceleration when applying a impact in the up/down and left/right directions with the center shaft of the actuator installed horizontally is as follows. Shock acceleration: m/s Direction: top/bottom, right/left, front/back Repeating times: three each However, never apply a direct impact to the output shaft. Left Front Up Down Shock resistance test Rear Right Horizontal installation -

27 - 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: to Hz) This specification does not have a warranty period and terms against fletting wear of mechanical parts due to micro-vibration. Outlines Left Up Rear Front Right Down Horizontal installation Resistance to vibration test -

28 - Operable range Outlines - Operable range The graphs below show the operable range when a FHA-C mini series actuator and an HA- or HA- driver combination is selected. Refer to [Chapter Selection guidelines] for the most efficient use of FHA-C mini series actuators' output. () Continuous motion range The range allows continuous operation for the actuator. () % duty motion range This range indicates the torque rotation speed which is operable in the % duty operation (the ratio of operating time and delay time is :). Refer to p- [Duty cycles] for information on duty. () 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 % duty motion ranges shown on each graph are measured on the condition where the radiation plate specified in the graph is installed. FHA-C V FHA-C Motion range during acceleration and deceleration % duty range Input voltage: V Radiation plate: x x (mm) Continuous motion range FHA-C- Input voltage: V Radiation plate: x x (mm) FHA-C % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration Motion range during acceleration and deceleration % duty range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

29 - Operable range V FHA-C FHA-C- Motion range during acceleration and deceleration % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Input voltage: V Radiation plate: x x (mm) FHA-C Motion range during acceleration and deceleration % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Outlines Motion range during acceleration and deceleration % duty range V Continuous motion range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range % duty range Continuous motion range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

30 - Operable range Outlines FHA-C V FHA-C Input voltage: V Motion range during acceleration and deceleration % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range Continuous motion range FHA-C- Radiation plate: x x (mm) Input voltage: V Radiation plate: x x (mm) FHA-C- Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range Continuous motion range Motion range during acceleration and deceleration % duty range Continuous motion range - Note: If you are continuously using a single direction for the continuous motion range, please consult us.

31 - Operable range V FHA-C % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration FHA-C- Input voltage: V Radiation plate: x x (mm) FHA-C- Input voltage: V Radiation plate: x x (mm) % duty range Continuous motion range Motion range during acceleration and deceleration Outlines % duty range Motion range during acceleration and deceleration V Continuous motion range Input voltage: V Radiation plate: x x (mm) Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration Motion range during acceleration and deceleration % duty range Continuous motion range % duty range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

32 - Operable range Outlines FHA-C V Motion range during acceleration and deceleration % duty range Input voltage: V Radiation plate: x x (mm) Continuous motion range FHA-C- Input voltage: V Motion range during acceleration and deceleration % duty range Continuous motion range FHA-C- Input voltage: V Radiation plate: x x (mm) Radiation plate: x x (mm) FHA-C- Input voltage: V Motion range during acceleration and deceleration % duty range Continuous motion range Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

33 - Operable range V FHA-C- % duty range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration Continuous motion range FHA-C- Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration FHA-C- % duty range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration Continuous motion range Outlines % duty range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

34 - Operable range Outlines V Motion range during acceleration and deceleration % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range Continuous motion range Input voltage: V Radiation plate: x x (mm) Input voltage: V Radiation plate: x x (mm) Motion range during acceleration and deceleration % duty range Continuous motion range Note: If you are continuously using a single direction for the continuous motion range, please consult us. -

35 - Cable specifications - Cable specifications The following tables show specifications of the motor and encoder cables of the FHA-C mini series actuators. Motor power cable Pin layout Pin No. Color Motor cable Red Motor phase-u White Motor phase-v Black Motor phase-w Green/Yellow PE Pin position Connector model: - Pin model: (E: -) by AMP Outlines Encoder cable Incremental encoder Pin layout Pin No. Color Signal name Remarks Red +V Black V Power input Yellow SD Serial signal Blue SD differential output Shield FG Pin position Connector model: Receptacle: -R Terminal: by Molex Japan Co., Ltd., -

36 - Cable specifications Outlines Absolute encoder Pin layout Pin No. Color Signal name Remarks Pin position A White Vcc Power supply input +V B Black GND(Vcc) Power supply input V (GND) A Blue SD+ Serial signal differential output (+) B Purple SD- Serial signal differential output (-) A No connection B Shield FG A Orange Vbat Battery + B Brown GND(bat) Battery - (GND) A A Connector model: -- Pin model: - by AMP B B -

37 Chapter Selection guidelines The following explains the guidelines for selecting actuators. - Connecting power cables - - Change in moment of inertia of load - - Verifying and examining load weights - - Examining operating status -

38 - Connecting power cables Selection guidelines Selection guidelines - Connecting power cables To achieve high accuracy and performance, select a FHA-C mini series actuator where the allowable load inertia moment (reference value) specified for the applicable model No. is not exceeded. Refer to appendix ( ) for the calculation of inertia moment. When temporarily selecting an actuator, make certain that the inertia moment and rotation speed do not exceed the allowable values shown in the table below. FHA-C FHA-C FHA-C Actuator model Reduction ratio Max. rotational r/min speed Inertia moment INC ABS Inertia moment (kg m ) (kgf cm s )..... FHA-C - FHA-C - FHA-C - FHA-C - FHA-C - FHA-C - FHA-C - FHA-C - FHA-C - Rotation speed (r/min) (GD /) kg m (J) kgf cm s (GD /) kg m (J) kgf cm s Allowable load kg m inertia moment kgf cm s

39 - Change in moment of inertia of load Selection guidelines - Change in moment of inertia of load FHA-C mini series actuators include HarmonicDrive gearing that has a high reduction ratio. Because of this, the effects of change in load inertia moment on the servo performance are minimal. In comparison to direct servo drive mechanisms, therefore, this benefit allows the load to be driven with a better servo response. 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 : Motor inertia moment R: Reduction ratio of FHA-C mini series actuators Direct drive = ( ) ( ) Before: Js JM + L After: Js' = JM + NL Ratio: Driven by FHA-C mini series Before: L NL JS=JM After: Ratio: + J ' =JM + R R L: Ratio of load inertia moment to inertia moment of motor N: Rate of change in load inertia moment Js' /Js = + NL + L + NL / R Js' /Js = + L / R S With the FHA-C mini series, the value of R increases to, or, which means that the value of R increases substantially to, or. Then the ratio is Js'/Js. This means that FHA-C mini series 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 mini series actuator or setting up the initial HA-/HA- driver parameters. Selection guidelines -

40 - Verifying and examining load weights Selection guidelines Selection guidelines - Verifying and examining load weights The FHA-C mini series actuator incorporates a precise cross roller bearing for directly supporting an external load (output flange). To demonstrate the full ability of the actuator, verify the maximum load weight as well as the life and static safety coefficient of the cross roller bearing. Checking procedure Checking the maximum load weight (Mmax, Frmax, Famax) Calculate the maximum load weight (Mmax, Frmax, Famax) Check the maximum load weight (Mmax, Frmax, Famax) is less than or equal to the permissible loads (Mc, Fr, Fa) Checking the life of the cross roller bearing 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 FHA-C mini series actuators. Table Model Item Pitch circle diameter of a roller (dp) Offset amount (R) Basic dynamic rated load (C) Basic static rated load (Co) Permissible axial load (Fa) Permissible moment capacity (Mc) mm mm N N N N m FHA-C. FHA-C. FHA-C Maximum load weight The table below shows how to calculate the maximum load weight (Mmax, Frmax, Famax). Confirm that each maximum load weight is less than or equal to each permissible load. Load Actuator Formula () Mmax=Frmax(Lr+R)+Famax La Symbols used in the formulas Mmax Max. moment capacity N m(kgf m) Frmax Max. radial load N(kgf) See Fig.. Famax Max. axial load N(kgf) See Fig.. Lr,La mm See Fig.. R Offset amount mm See Fig. and Table. La Fr dp Fa Lr R - Fig. : External load action diagram

41 - Verifying and examining load weights Selection guidelines Calculating average loads (average radial and axial loads, average output rotational speed) When the radial and/or axial loads vary during motion, calculate and verify the life of the cross roller bearing converting the loads to their average values. Formula (): Average radial load (Frav) / / / / ntfr + nt Fr nntn Frn Frav = 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. Formula (): Average axial load (Faav) Faav = / / / / ntfa + nt Fa nntn Fan nt + nt + + nntn The maximum axial load in section t is given by Fa, while the maximum axial load in section t is given by Fa. + Radial load + Axial load Fr Fa Fr Fa Fr Fa Time Time Selection guidelines Formula (): Average output rotational speed (Nav) nt + nt + + nnt Nav = n t + t + + tn 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... + Output rotational speed t t t n n n Fig. : Illustration of load i ti Time 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 m See Fig.. R Offset amount mm See Fig. and Table. dp Pitch circle diameter See Fig. and mm of a roller Table. -

42 Selection guidelines - Verifying and examining load weights Selection guidelines Dynamic equivalent radial load Formula (): Dynamic equivalent radial load (Fr av (Lr + R) + Fa av La) Pc = X Frav + + Y Fa av 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 mm See Table. X Radial load coefficient See Table. Y Axial load coefficient See Table. Lr, La mm See Fig.. R Offset amount mm See Fig. and Table. Life of cross roller bearing Calculate the life of cross roller bearing with the formula () below: Formula (): Cross roller bearing life L B / C = Nav fw Pc Symbols used in the formulas Table Load coefficient L B- Life hour Average output Obtained by formula Nav r/min rotational speed (). Basic dynamic rated C N(kgf) See Table. load Dynamic equivalent Obtained by formula Pc N(kgf) radial load (). fw Load coefficient See Table. Loaded state fw Smooth operation free from impact/vibration to. Normal operation. to. Operation subject to impact/vibration. to 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) Loc = n / C 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) See Table. Pc Dynamic equivalent Obtained by formula N(kgf) radial load (). fw Load coefficient See Table. θ Oscillating angle/ See Fig.. Oscillating angle Fig. : Oscillating movement θ 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. -

43 - Verifying and examining load weights Selection guidelines Static equivalent radial load Formula (): Static equivalent radial load M max Po = Frmax + +.Fa max dp Symbols used in the formulas Frmax Max. radial load N(kgf) See Fig.. Famax Max. axial load N(kgf) See Fig.. Mmax dp Max. moment load Pitch circle diameter of a roller Static safety coefficient N m (kgf m) Refer to the maximum load weight calculation methods. mm See Table. 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 (). Table shows general values representing using conditions. Calculate the static equivalent radial load (Po) by formula (). Selection guidelines Formula (): Static safety coefficient Co fs = Po Symbols used in the formulas fs Static safety coefficient See Table. Co Basic static rated load N(kgf) See Table. Po Static equivalent radial Obtained by formula N(kgf) load (). Table Static safety coefficient Using conditions fs High rotational accuracy is required, etc. Operation subject to impact/vibration Normal operation. -

44 - Examining operating status Selection guidelines Selection guidelines - Examining operating status The actuator generates heat, and starting and braking currents to the motor flow at a high frequency if during its active state it is started/stopped repeatedly (duty cycle). Therefore, it is necessary to examine the duty cycle. The study is as follows: Examining actuator rotation speed Calculate the required rotation speed (r/min) of the load driven by the FHA-C mini series. For linear operation, use the rotation speed conversion Screw pitch (mm) formula below: Linear speed (mm/min) Rotation speed (r/min) Rotation speed (r/min) = Screw feed mechanism pitch (mm) Select an appropriate reduction ratio from the, or series so that the calculated rotation speed does not exceed the maximum rotational speed of the FHA-C mini series actuator. Calculating and examining load inertia moment Calculate the inertia moment of the load driven by the FHA-C mini series actuator. Refer to appendix (-) for the calculation. Based on the calculated result, tentatively select a FHA-C mini series actuator by referring to [- Allowable load inertia moment]. r/min r/min r/min r/min Linear speed (mm/min) r/min -

45 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 (N m) 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. and the horizontal axis and vertical axis represent mass and rotational radius of friction side, respectively. The actuator toque shown in the graph indicates % of the maximum torque. Radius r of friction side (mm). N m - Examining operating status Selection guidelines Example of rotary torque calculation (friction coefficient =.) FHA: shows % torque lines of maximum torque N m N m N m N m N m. N m. N m FHA-C- FHA-C- FHA-C-. N m. N m Friction: µ Mass: W Radius: r FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C-. Mass W (kg) Selection guidelines -

46 - Examining operating status Selection guidelines Selection guidelines Linear operation (horizontal operation) The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below. T = P. µ W π T: Rotary torque (N m) µ: Friction coefficient W: Mass (kg) P: Screw feed pitch (m) Pitch: P 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 Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator. Acceleration time: π N ta = ( JA + JL) TM TL Deceleration time: π N td = ( JA + JL) TM + TF + TL Rotation speed Ta: Acceleration time (s) Td: Deceleration time (s) JA: Actuator inertia moment (kg m ) JL: Load inertia moment (kg m ) N N: Actuator rotation speed (r/min) TM: Maximum actuator torque (N m) TF: Actuator friction torque (N m) Time TF = KT x IM TM ta td KT: Torque constant (N m/a) IM: Max. current (A) TL: Load torque (N m): The polarity is positive (+) when the torque is applied in the rotation direction, or negative (-) when it is applied in the opposite direction. Example Select an actuator that best suits the following operating conditions: Rotation speed: r/min Load inertia moment:. kg m Since the load mechanism is mainly inertia, the load torque is negligibly small. Mass: W Friction: µ After applying these conditions to the graph in [-], FHA-C- is tentatively selected. From the rated table in [-], the following values are obtained: JA =. kg m, TM =. N m. KT =. N m/a, IM =.A. -

47 - Examining operating status Selection guidelines Based on the above formula, the actuator's friction torque TF is calculated as. x. -. =. N m. Therefore, the acceleration time and deceleration time can be obtained as follows from the above formulas: ta = (. +.) x x π / x /. =. s td = (. +.) x x π / x / (. + x.) =. s If the calculated acceleration/deceleration times are too long, correct the situation by: Reducing moment of inertia of load Selecting an actuator with a larger frame size Duty cycles To select the appropriate FHA-C mini series, you must consider the change with time of torque and rotation speed. Also more importantly, when accelerating and decelerating, you must take into account the flow of large current for generating large torque, and the large amount of heat that is generated. 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 = t Ta: Acceleration time from speed to N (s) td: Deceleration time from speed N to (s) tr: Operation time at constant speed N (s) t: Cycle time (s) KLa: Duty factor for acceleration time KLr: Duty factor for operation time at constant speed KLd: Duty factor for deceleration time Example : Calculating duty and getting KLa, KLr and KLd With the duty factor graph for FHA-C- as an example, calculate duty factors as follows. The operating conditions are similar to those described in example. Accelerate an inertia load by the maximum torque of the actuator and then let it move at a constant speed, followed by deceleration by the maximum torque. The travel angle per cycle is and the cycle time is. second. KLa and KLd: rotation speed change is r/min at an average speed of to r/min. Then from the graph, KLa = KLd.. KLr: is the inertia load, Tr. Then from the graph, KLr.. N Torque Rotation speed ta Ta tr td t: Cycle time Tr Td ts: Stopped time ts Ta, Tr, Td: Output torques Time Time Selection guidelines The travel angle is calculated from the area of the rotation speed vs. time diagram shown above. In other words, the travel angle is calculated as follows: θ = (N / ) x {tr + (ta + td) / } x Then, tr =θ / ( x N) (ta + td) / Substituting θ =, ta =.(s), td =.(s) and N = r/min from example will be tr =.(s). Because the cycle time is. (s), the duty (%ED) is obtained as follows: %ED = (. x. +. x. +. x.) /. x =.% It is possible to drive the actuator continuously with this cycle time, because the %ED is less than %. -

48 Selection guidelines - Examining operating status Selection guidelines If the %ED is over %, the operation pattern load (possible reduction) actuator model No. etc., must be reexamined. Duty factor graphs FHA-C FHA-C Operable range V V V Radiation plate: x x (mm) KL =... FHA-C- KL =. Operable range V V V FHA-C Radiation plate: x x (mm). Operable range V V V KL =... () KLr Radiation plate: x x (mm).. FHA-C-.... Operable range V V V Radiation plate: x x (mm) KL =... FHA-C- Operable range V V V KL =.. Radiation plate: x x (mm).. -

49 - Examining operating status Selection guidelines FHA-C- Radiation plate: x x (mm) FHA-C- Radiation plate: x x (mm) Operable range V V V KL =.. Operable range V V V KL =... Selection guidelines FHA-C FHA-C- Radiation plate: x x (mm) FHA-C- Radiation plate: x x (mm) Operable range V V V KL =.... Operable range V V V KL =.... FHA-C- Radiation plate: x x (mm) Operable range V V V... KL =. -

50 - Examining operating status Selection guidelines Selection guidelines Examining effective torque and average rotation speed Consider the following two points when obtaining the effective torque and average rotational speed. The effective torque should be less than the allowable continuous torque. The average rotational speed should be less than the allowable continuous rotational speed. Using the following formula, calculate the effective torque Tm and average rotation speed Nav when the operating cycle shown in [Duty cycles] (P-) is operated repeatedly. T N m av = T a Tm: Effective torque (N m) Ta: Maximum torque (N m) Tr: Load torque (N m) ta: Acceleration time (s), td: deceleration time (s) tr: Operation time at constant speed (s), t: time for duty cycle (s) Nav: Average rotation speed (r/min) N: Rotation speed at constant speed (r/min) If the effective torque is greater than the allowable continuous torque in the table below, calculate once again after reducing the duty cycle. Model FHA-C FHA-C FHA-C Item Reduction ratio : : : : : : : : : Allowable continuous torque ( ta + td) N ta + N tr = t t + T r t + N t r d N m (.).. Allowable continuous r/min rotational speed Note: The values of the allowable continuous torque in ( ) are for the VDC input power model. Example : Examining effective torque and average rotation speed Use the operating conditions found in example and to get the effective torque and average rotation speed. ) Examining effective torque Substituting. N m for Ta,. N m for Td, N m for Tr,. s for ta,. s for tr,. s for td, and. s for t: ( + Tm... = ) =. N m. As Tm exceeds its allowable continuous torque of the FHA-C- temporarily selected in example, it is impossible to drive the actuator continuously with the duty cycle in 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 Substituting. N m for Ta,. N m for Td, N m for Tr,. N m for Tm,. s for ta,. s for tr, and. s for td: Then, the following equation is obtained: t =. (. +. ). =. Setting the cycle time to. seconds or more gives Tm =. N m or less, thereby permitting continuous operation within the allowable continuous torque. ) Examining average rotation speed Calculate the average speed by substituting in parameters N = r/min, ta =. s, tr =. s, td =. s and t =. s /. N av = =. r / min. As the average speed is less than the allowable continuous rotation speed ( r/min) of FHA-C-, it can be driven continuously. -

51 - Examining operating status Selection guidelines Overload detection time If the FHA-C mini series is intermittently driven more than its allowable continuous torque, the output time and continuous torque is limited by a overload detection function in the driver even if the duty cycle is allowed. The overload detection times are shown in the graph below: Input voltage VAC/VAC specification Overload detection time (s) FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C-.. Torque (N m) Input voltage VDC specification (will only support the incremental encoder model) Selection guidelines FHA-C- FHA-C- Overload detection time (s) FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C-.. Torque (N m) -

52 - Examining operating status Selection guidelines Selection guidelines -

53 Chapter Installation This chapter explains the procedure for installing the FHA-C mini series actuator. - Receiving inspection - - Notices on handling - - Installation location and installation -

54 - Receiving inspection Installation Installation - Receiving inspection Check the following items after unpacking the package. Check procedure Check the items thoroughly for damage sustained during transportation. If any item is damaged, immediately contact the dealer. The nameplate is found on the side face of the FHA-C mini series actuator. Check the TYPE field on the nameplate to confirm that it is indeed the model you have ordered. If any item is wrong, immediately contact the dealer. The model code indicates the following information: FHA- C--E-C Model: AC Servo Actuator FHA-C mini series Model No.:,, Version symbol Reduction ratio of the HarmonicDrive : / : / : / Encoder type and resolution E Incremental encoder p/rev Sb Absolute encoder With connector (standard specification), p/rev ( bit) Input power supply None: VAC, V specification E: VDC specification Cable lead-out direction None : Lateral (standard specification) K : Rear (option specification/ incremental encoder support only) The applicable FHA-C mini series actuator models are shown in the ADJUSTED FOR USE WITH field of the nameplate on the HA- or HA- drivers. Make sure your actuator is combined with the correct driver. WARNING 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. -

55 - Receiving inspection Installation The driver's model code is shown in the TYPE field of the driver's nameplate. The last digits of this model code indicate the input voltage to be input. : -phase/single-phase V power supply : indicates a VAC power. : indicates a VDC power. If the input voltage to be supplied is different from the label voltage, immediately contact the dealer it was purchased from. WARNING Do not connect a supply voltage other than the voltage specified on the driver's nameplate. The wrong power supply voltage may damage the driver resulting physical injury and fire. Installation -

56 - Notices on handling Installation - Notices on handling Handle the FHA-C mini series actuator carefully by observing the notices specified below. Do not connect the actuator terminals directly to the power supply. The actuator may burn and cause fire or electric shock. Installation WARNING CAUTION () Do not apply any excessive force or impact, especially to the actuator's output shaft. () Do not put the FHA-C mini series actuator on a table, shelf, etc., where the actuator could easily fall. () The allowable storage temperature is - to + C. 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 % or less. In particular, 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. -

57 - Installation location and installation Installation - Installation location and installation Environment of installation location The environmental conditions of the installation location for FHA-C mini series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. Operating temperature: C to C 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 C or below. Operating humidity: humidity to %. Make sure without condensation. 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:. m/s (. G) ( to Hz) or less Impact: m/s ( G) or less Free from dust, dirt, condensation, metal powder, corrosive gases, water, water droplets, oil mist, etc. Protection class: Standard products are structurally designed to meet the IP- requirements. However, rotating and sliding areas (oil seal areas) and connectors are not IP--compliant. Locate the driver indoors or within an enclosure, and do not expose it to sunlight. Altitude: lower than, m above sea level Installation The FHA-C mini 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. As an encoder is incorporated in the actuator, excessive impact may damage the encoder. Installation procedure Align the axis of rotation of the actuator and the load mechanism precisely. Output shaft The protection class against contact and entry of foreign matter is as follows: : Protected against large solid objects (up to mm) The protection class against water entry is as follows: : Protected against water splashed from all directions Installation Flange 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. Do not apply shock or impact during installation. -

58 - Installation location and installation Installation Installation Fasten the flange of the actuator on the load machine with flat washers and high-tension bolts. When tightening, use a torque wrench to control the tightening torque. The tightening torques are shown in the table below: Item Tightening torque Model FHA-C FHA-C FHA-C Output Output Output Flange Flange shaft shaft shaft Flange Screw, -M -M -M -M -M hole depth Depth Depth Depth -M N m..... kgf cm Refer to the HA- or HA- driver manual for wiring work. Motor cable and encoder cable Do not pull the cables with a strong force. The connection points may be damaged. Install the cable wiring with slack so that no tension is applied to the actuator. Provide a sufficient bending radius (R = mm or more), especially when the cable flexes. R = mm or more CAUTION Do not apply torque or load to the hollow shaft (sleeve). The hollow shaft (sleeve) is adhered to the output rotary shaft. When a load is applied to the hollow shaft (sleeve), delamination may occur on the output shaft and hollow shaft (sleeve). Do not apply or use any torque, moment load or thrust load directly to the hollow shaft (sleeve). * The shape of the hollow shaft will only support the incremental encoder. Output rotary shaft Sleeve CAUTION Do not disassemble/reassemble the actuator. The actuator uses many precision parts. We cannot guarantee if assembly or disassembly by the customer will cause lower precision and performance. -

59 Appendix This chapter explains the default settings, etc. - - Unit conversion - Calculating inertia moment -

60 Appendix Unit conversion Appendix - - 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.. x -.. Unit m/min ft./min ft./s in/s Factor... SI system m/s () Linear acceleration SI system m/s Unit m/min ft./min ft./s in/s Factor. x -. x -.. Unit m/min ft./min ft./s in/s Factor. x.. SI system m/s () Force SI system N Unit kgf lb (force) oz (force) Factor... Unit kgf lb (force) oz (force) Factor... SI system N () Mass SI system kg Unit lb. oz. Factor.. Unit lb. oz. Factor.. SI system kg () Angle SI system rad Unit Degree Min. Sec. Factor.. x -. x - Unit Degree Min. Sec. Factor.. x. x SI system rad () Angular speed SI system rad/s Unit deg/s deg/min r/s r/min Factor.. x -.. Unit deg/s deg/min r/s r/min Factor.. x.. SI system rad/s -

61 Unit conversion () Angular acceleration SI system rad/s Unit deg/s deg/min Factor.. x - Unit deg/s deg/min Factor.. x SI system rad/s () Torque SI system N m Unit kgf m lb ft lb in oz in Factor.... x - Unit kgf m lb ft lb in oz in Factor.... SI system N m () 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..... x.. x. Unit kgf m s kgf cm s lb ft lb ft s lb in lb in s oz in oz in s Factor..... x -.. x -. x - 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.. x -. x -.. Unit kgf m/rad Kgf m/arc min kgf m/deg lb ft/deg lb in/deg Factor.. x.. SI system N m/rad Appendix -

62 Calculating inertia moment Appendix - - 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 rotate around x-, y-, z-axes respectively (kg m ) G: distance from end face of gravity center ρ: specific gravity Unit Length: m; Mass: kg; Inertia moment: kg m Object form Cylinder x R z L Slanted cylinder θ L R y Mass, inertia, gravity center m = π R Ix = mr Iy = Iz = m m m = π R Iθ = m L ρ R R L ρ L + L + { R ( + cos θ) + L sin θ} Object form Circular pipe z x Ball R R L R: outer diameter, R: inner diameter R y m = π Mass, inertia, gravity center ( R R ) L ρ ( ) Ix = m R + R Iy = m Iz = m m = πr I = mr ( R + R ) ( R + R ) ρ L + L + Appendix Ellipsoidal cylinder z B x C y L Rectangular pillar B z x C y A m = BC L ρ ( C ) Ix = m B + C Iy = m B Iz = m m = ABCρ L + L + ( C ) Ix = m B + ( A ) Iy = m C + ( B ) Iz = m A + Cone z R x G L Square pipe B D z x A y y m = π R Ix = mr L ρ ( L ) Iy = m R + ( L ) Iz = m R + L G = m = AD( B - D)ρ {( B - D) D } Ix = m + A Iy = m + ( B- D) + D A Iz = m + ( B-D) + D -

63 Calculating inertia moment Object form Rhombus pillar z B x C y A Isosceles triangle pillar z G x C y A B Mass, inertia, gravity center m = ABCρ Ix = m B + Iy = m C + m = ABCρ = B Ix m Iy = Iz = C G = ( C ) ( A ) ( A ) Iz = m B + m A m A + C + C B + Object form Hexagonal pillar A y Right triangle pillar z x B x G G A B z B C y Mass, inertia, gravity center 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 = Example of specific gravity The following tables show reference values for specific gravity. Confirm the specific gravity for the material of the drive load. Material Specific Specific Specific Material Material gravity gravity gravity SUS. Aluminum. Epoxy resin. SC. Duralumin. ABS. SS. Silicon. Silicon resin. Cast iron. Quartz glass. Polyurethane rubber. Copper. Teflon. Brass. Fluorocarbon resin. () 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. 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 Gravity center () Inertia moment of linear motion objects The inertia moment, converted to FHA-C 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 motion object converted to actuator axis (kg m ) m: Mass (kg) P: Linear travel per actuator revolution (m/rev) F Appendix -

64 Calculating inertia moment Appendix Inertia moment of a cylinder The moment of inertia of a cylinder may be obtained from the graphs to the right. Inertia moment (kg m ) Inertia moment (specific gravity:.) Length (mm) Length Radius Apply the top graph to aluminum materials (specific gravity:.) and bottom graph to steel materials (specific gravity:.): The double-dot dash lines in the graph indicate the allowable maximum inertia moment (estimated value) for each FHA-C series actuator FHA-C-, FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- (Example) Material: Aluminum Outer diameter: mm Length: mm Shape: Cylinder Since the outer diameter is mm, the radius is mm. Therefore, the above graph gives the inertia moment as approx.. x - kg m. (Calculated value:. kg m ) - - Inertia moment (kg m ) Radius R (mm) Inertia moment (specific gravity:.) FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C- FHA-C-, FHA-C- FHA-C- FHA-C- FHA-C- Length (mm).. Appendix Radius R (mm)

65 Index A Accuracy... - B Bearing... - C Cables... - Combined... - D Duty... - E Effective torque... - Environment... - External drawing... - I Inertia moment...-, - Inertia moment of a cylinder...- L Load... - Load torque... - M Maximum load... - Model... - O Operating rotation speed... - Outlines... - P Power supply... - R Radial load... - Resolution... - Rigidity... - S Safety factor... - Specifications... - T Torsional stiffness... - U Unit...-

66 Warranty period and terms The warranty period of the FHA-Cmini series and warranty terms are explained below. Warranty period Under the condition that it is used properly according to each item specified in the manuals and operation manuals, this product is warranted for the period of year after delivery or, hours of operation (this product), whichever ends first. Warranty terms If the product fails due to any defect in workmanship or material during the warranty period specified above, the defective product will be repaired or replaced free of charge. This limited warranty does not apply to any product that has been subject to: () Improper handling or use by the customer; () Modification or repair carried out other than by Harmonic Drive Systems, Inc.; () Failure not attributable to this product; or () Natural disaster or any other event beyond the control of Harmonic Drive Systems, Inc. The warranty covers only the above-named product purchased from Harmonic Drive Systems, Inc. Harmonic Drive Systems, Inc. shall not be liable for any consequential damages of other equipment caused by the defective product, or expenses and labor costs for removing and installing the defective product from/to your system.

67 Certified to ISO/ISO (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of April. Head Office/Ichigo Omori Building, F -- Minami-Ohi, Shinagawa-ku, Tokyo, Japan - TEL+()-- FAX+()-- Overseas Division/- Hotakamaki Azumino-shi Nagano, Japan - TEL+()-- FAX+()-- HOTAKA Plant/- Hotakamaki Azumino-shi Nagano, Japan - TEL+()-- FAX+()-- Harmonic Drive AG/Hoenbergstrasse, Limburg, Germany TEL+--- FAX+--- Harmonic Drive L.L.C/ Lynnfield Street, Peabody, MA,, U.S.A. TEL+- -- FAX+- -- "HarmonicDrive " is a trademark of Harmonic Drive Systems, Inc. The academic or general nomenclature of our products "HarmonicDrive " is "strain wave gearing." No.-R-TFHAmini-E