Harmonic Drive actuator

Transcription

1 FHA Mini Series Servo Actuators Total Motion Control Harmonic Drive actuator Precision Gearing & Motion Control

2 SAFETY GUIDE For actuators, motors, control units and drivers manufactured by Harmonic Drive LLC Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. CAUTION Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. 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. Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation. CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING Always use under followings conditions: Follow exactly the instructions in the relating -Ambient temperature: C to 4 C manuals to install the actuator in the equipment. -Ambient humidity: % to 8%RH (Non-condensation) -Ensure exact alignment of actuator shaft center and -Vibration: Max 4.5 m/s corresponding center in the application. CAUTION -No contamination by water, oil CAUTION Failure to observe this caution may lead to vibration, -No corrosive or explosive gas resulting in damage of output elements. CAUTION FOR ACTUATORS IN OPERATIONS Keep limited torques of the actuator. -Keep limited torques of the actuator. -Be aware, that if arms attached to output element hits CAUTION WARNING by accident an solid, the output element may be uncontrollable. 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. WARNING 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. Avoid handling of actuators by cables. -Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation. CAUTIONS FOR DRIVERS AT APPLICATION DESIGNING 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. CAUTION CAUTION -Ambient temperature: C to 5 C -Ambient humidity: less than 95% RH (Non condensation) -No contamination by water, oil or foreign matters -No corrosive, inflammable or explosive gas 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. CAUTION CAUTION 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. Use a fast-response type ground-fault detector designed for PWM inverters. -Do not use a time-delay-type ground-fault detector. CAUTION FOR DRIVERS IN OPERATIONS Never change wiring while power is active. -Make sure of power non-active before servicing the products. WARNING CAUTION -Failure to observe this caution may result in electric shock or personal injury. 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. WARNING CAUTION Do not touch terminals or inspect products at least 5 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. 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 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. CAUTION

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4 Chapter Overview of the FHA-C mini series Chapter Overview of the FHA-C mini series FHA-C mini series servo actuators provide high torque and highly accurate rotary motion. The actuator is composed of a Harmonic Drive component from set (size 8-4) for precise motion control and a super-flat AC servomotor. The first feature of the FHA-C mini series actuators is their unprecedented super-flat shape. The body width is less than half of our previous models. The second feature is a through-hole in the center of the shaft, through which electric cables, air pipes, and even laser beams can be passed to supply power and signals to moving parts. The HA-8 series and the HA-68 series are dedicated servo drivers for the FHA-C mini series actuator to control its position and speed. The small and intelligent driver controls the FHA-C mini series actuators with great accuracy and reliability. FHA-C mini series actuators play an important role for driving various factory automation (FA) equipment; such as robot joints, alignment mechanisms for semiconductor and LCD equipment, ATC of machine tools, printing machine roller, etc. - Features Super-flat configuration FHA-C mini series actuator is the union of Harmonic Drive gearing with a super-flat AC servomotor for precise motion control. The compact size allows smaller machines to be designed. Hollow Shaft* The center through-hole shaft allows for the insertion of electric cables, air pipes, or laser beams through the actuator to supply power and signals to moving parts. This feature will simplify the driven machine. High torque FHA-C mini series actuator outputs have a much higher torque per volume than direct drive motors thanks to Harmonic Drive gearing. Furthermore, FHA-C mini series actuators have a higher rating than our previous models. High positioning accuracy FHA-C mini series actuators provide superior positioning accuracy. They achieve positioning accuracy of 9 arc seconds (typically, FHA-4C-) as well as an encoder resolution of 8, pulses per output revolution. High torsion stiffness FHA-C mini series actuators provide great torsion stiffness featuring shortens positioning time and decreases the vibration during servo-lock stop. Incremental or Absolute encoder An incremental or multi-turn absolute encoder is integrated to provide high resolution velocity and position feedback *Incremental encoder only. FHA-C mini 4

5 - Ordering Code FHA-8 C-3-US- -SP Chapter Overview of the FHA-C mini series Model: Servo actuator FHA mini series Frame size: 8,, 4 Design version: C Reduction ratio of Harmonic Drive gear 3: 5: : Encoder type and resolution: US - Incremental encoder with 4 wire p/rev E - Incremental encoder with 4 wire p/rev Optional specifications C: With connector (for extension cable) E: Supply voltage DC4V K: Rear exiting cables Special specification: Blank - Standard product SP - Special specification code FHA-8 C-5-S7b -C-SP Model: Servo actuator FHA mini series Frame size: 8,, 4 Design version: C Reduction ratio of Harmonic Drive gear 3: 5: : Encoder type and resolution: S7b: Absolute encoder Single turn - 3,7 cpr (7 bit) Multi-turn - 65,536 cpr (6 bit) Power supply: A: ACV specification G: ACV specification E: DC4V specification Connector: Blank - No connector (Standard) C - With connector (Option) Special specification: Blank - Standard product SP - Special specification code FHA-C mini 5

6 Chapter Overview of the FHA-C mini series -3 Combinations with drivers HA-8 and HA-68 drivers are available for use with FHA-C mini actuators. An FHA-C mini series actuator can be used for both V and V supply systems. Actuators Size 8,, 4 Input Voltage AC V 8 DC 4V DC 4V Encoder Type Incremental General/ CANopen Recommended Drivers Ether CAT General I/O RTL-3-8 REL-3-8 HA-8-- AC V RTL-3-8 REL-3-8 HA-8-- DDP-9-9, DCJ-55-9 DDP-9-8, DCJ-55-8 DEP-9-9 DEP-9-8 HA DC 4V DDP-9-36 DEP-9-36 HA ,, 4 AC /V 8 DC 4V DEP-9-9 Absolute DC 4V DEP-9-8 REL DC 4V DEP-9-36 HA-8 & HA-68 are available for MECHATROLINK-II & CC-Link FHA-C mini 6

7 Chapter Overview of the FHA-C mini series -4 Specifications of FHA-C mini actuators -4- Supply voltage ACV/V Specifications of FHA-C mini series actuators are as follows: Model FHA-8C FHA-C FHA-4C Item N m Max. torque Note kgf m Maximum speed rpm Torque constant N m/a(rms) Kgf m/a (rms) Max. current Note A(rms) Power supply voltage V AC or AC AC or AC AC or AC EMF constant V/(rpm) Phase resistance Ω( ) Phase inductance mh Number of poles Moment Incremental kg m of Inertia (GD /4) Absolute kg m Reduction ratio :3 :5 : :3 :5 : :3 :5 : Allowable N m torsional moment kgf m Moment stiffness N m/rad x 4 4 x 4 8 x 4 kgf m/rad. x 4.4 x 4.8 x 4 Motor Incremental pulse/revolution encoder Absolute Multi-turn 6 bit (65536 revolution), Single (motor) turn 7 bit (37 pulse/revolution) Quad encoder- Incremental Pulse/rev resolution Note 4 Absolute Pulse/rev 3,93,6 6,553,6 3,7, 3,93,6 6,553,6 3,7, 3,93,6 6,533,6 3,7, Arc sec One-way positioning The accuracies are improved 3% of the above values at no disturbances by accuracy Compensated the compensating function of HA-8 driver Note 5 Mass Incremental kg.4.6. Absolute kg Enclosure Totally enclosed, self-cooling (equivalent to IP44, Note 6) Environmental conditions Service / storage temperature: ~4 / -~6 Service / storage humidity: ~8%RH (no condensation) Vibration / impact resistance: 5m/s (frequency:-4hz) / 3 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist; install in room, no direct sunlight Altitude: less than, meters above sea level Magnetic noise resistance:. telsa (ABS) Motor insulation Safety standard Orientation Insulation resistance: MΩ or more (by DC5V insulation tester) Withstanding voltage: AC5V / minute Insulation class: B Compliant with the CE marking All position Note : The table shows typical output values of actuators. Note : Values for saturated temperature under the conditions that the actuator is driven by an appropriate driver. Note 3: All values are typical. Note 4: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio] Note 5: Refer to the HA-8 manual for details. Note 6: All parts, except the rotary sliding parts (oil seal) and connectors, are protected against solid bodies of superior dimensions to mm, and against the water sprays. FHA-C mini 7

8 Chapter Overview of the FHA-C mini series -4- Supply voltage DC4V Specifications of FHA-C mini series actuators are as follows: Model FHA-8C FHA-C FHA-4C Item Max. torque N m Note kgf m Maximum speed rpm Torque constant N m/a (rms) Kgf m/a (rms) Max. current Note A(rms) Allowable continuous current Note A(rms) Power supply voltage V DC4 EMF constant V/(rpm) Phase resistance Ω( ) Phase inductance mh...6 Number of poles Moment Incremental kg m of Inertia (GD /4) Absolute kg m Reduction ratio :3 :5 : :3 :5 : :3 :5 : Allowable N m torsional moment kgf m Moment stiffness N m/rad x 4 4 x 4 8 x 4 kgf m/rad. x 4.4 x 4.8 x 4 Motor Incremental pulse/revolution encoder Absolute Multi-turn 6 bit (65536 revolution), Single (motor) turn 7 bit (37 pulse/revolution) Quad Incremental Pulse/rev encoderresolution Note 4 Absolute Pulse/rev 3,93,6 6,553,6 3,7, 3,93,6 6,553,6 3,7, 3,93,6 6,533,6 3,7, Arc sec One-way positioning The accuracies are improved 3% of the above values at no disturbances accuracy Compensated by the compensating function of HA-68 driver Note 5 Mass Incremental kg.4.6. Absolute kg Enclosure Totally enclosed, self-cooling (equivalent to IP44, Note 6) Environmental conditions Service / storage temperature: ~4 C / -~6 C Service / storage humidity: ~8%RH (no condensation) Vibration / impact resistance: 5m/s (frequency:-4hz) / 3 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist; install in room, no direct sunlight Altitude: less than, meters above sea level Motor insulation Insulation resistance: M or more (by DC5V insulation tester) Withstanding voltage: AC5V / minute Insulation class: B Safety standard Orientation Compliant with the CE marking and the UL standard All position Note : The table shows typical output values of actuators. Note : Values for saturated temperature under the conditions that the actuator is driven by an appropriate HA-655 or HA-675 driver. Note 3: All values are typical. Note 4: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio] Note 5: Refer to the HA-68 manual for details. Note 6: All parts, except the rotary sliding parts (oil seal) and connectors, are protected against solid bodies of superior dimensions to mm, and against the water sprays. FHA-C mini 8

9 Chapter Overview of the FHA-C mini series -5 External dimensions of FHA-C mini actuators The external drawings are shown as follows: -5- Actuators with side-exiting cables (standard inc.) FHA-8C-xxx-US Unit: mm (third angle projection) FHA-C-xxx-US FHA-C mini 9

10 Chapter Overview of the FHA-C mini series FHA-4C-xxx-US Cables (common specifications) -5- Actuators with rear exiting cables (Optional) FHA-8C-xxx-US- K Unit: mm (third angle projection) Hollow Hollow FHA-C-xxx-US- K FHA-C mini

11 Chapter Overview of the FHA-C mini series FHA-4C-xxx-US- K Hollow Cables (common specifications) -5-3 Actuators with Absolute Encoder FHA-8C-xxx-S7b -C Unit: mm (third angle projection) FHA-C mini

12 Chapter Overview of the FHA-C mini series FHA-C-xxx-S7b -C Unit: mm (third angle projection) FHA-4C-xxx-S7b -C Unit: mm (third angle projection) FHA-C mini

13 Chapter Overview of the FHA-C mini series -6 Mechanical accuracy of FHA-C mini actuators The machining accuracy of the output flange and the mounting flange are indicated in the table below. Machined accuracy of the output flange unit: mm Machined parts FHA-8C FHA-C FHA-4C. Axial run-out of output flange.. Radial run-out of output flange. 3. Parallelism between output and mounting flange.4 4. Concentricity between output flange to fitting face.4 Note: All values are T.I.R. (Total Indicator Reading). The measuring for the values are as follows: Axial run-out of output flange The dial indicator () on a fixed portion measures the axial run-out (T.I.R.) of perimeter of output flange for one revolution. Radial run-out of output flange The dial indicator () on a fixed portion measures the radial run-out (T.I.R.) of perimeter of output flange for one revolution. Parallelism between output flange and mounting flange The dial indicator (3) on the output flange measures the axial run-out (T.I.R.) of each perimeter of both sides of the fixing flange for one revolution. Concentricity between output flange to fitting face The dial indicator (4) on the output flange measures the radial run-out (T.I.R.) of each surface of both fitting face (output flange and opposite side) for one revolution. 4 A A () (4) B (3) 3 B () FHA-C mini 3

14 Chapter Overview of the FHA-C mini series -7 One-way positioning accuracy The one-way positioning accuracy means the maximum positional difference between a commanded theoretical position and its actual angular positon for serial positioning in one revolution when approached from the same direction. (refer to JIS B ) The one-way positioning accuracy of FHA-C mini actuators is almost equal to the angular positioning accuracy of the Harmonic Drive gearing, because the effect on the positioning error of the built-in motor is reducted to its 3: or 5: or : by the gearing. The one-way positioning accuracy is shown in the table below: Item One-way positioning accuracy Model FHA-8C FHA-C FHA-4C arc second Angle offset function for a horizontally installed actuator The drivers for FHA-C mini series actuators (FHA-8C/C/4C) provide an angle offset function to improve angular positioning accuracy of a horizontally installed actuator. The function offsets against a position error by a pre-analyzed positioning error of the Harmonic Drive components to improve a one-way positioning accuracy by around 3% better than an accuracy without the angle offset function. For fluctuant load, test and examine whether the function is effective before applying it. Refer to the driver manual. -8 Encoder resolution The motors of FHA-C mini actuators are equipped with an incremental encoder of resolutions. Because the motor rotation is reduced to 3: or 5: or : by the Harmonic Drive component, the resolution of the output flange is 3 or 5 or times the encoder revolution. Additionally, the incremental encoder signal is used in quadrature. The following high resolutions are obtained: Positional difference Commanded position Start position Actual position Incremental encoder FHA-8C Model FHA-C Item FHA-4C Encoder resolution, (8, pulse/rev: quadruplicate) Reduction ratio 3 5 Detector resolution (quadruplicate) Pulse/rev 4, 4, 8, Resolvable angle per pulse (approximate value) Sec Absolute encoder FHA-8C Model FHA-C Item FHA-4C Encoder resolution 7 (3,7 pulse/rev) Reduction ratio 3 5 Detector resolution (quadruplicate) Pulse/rev 3,93,6 6,553,6 3,7, Resolvable angle per pulse (approximate value) Sec. Approx..33 Approx.. Approx.. FHA-C mini 4

15 Chapter Overview of the FHA-C mini series -9 Torsional Stiffness of actuators -9- Moment stiffness The moment stiffness refers to the torsional stiffness when a moment load is applied to the output flange of the actuator (shown in the figure to the right). For example, when a load is applied to the end of an arm attached on the output flange, the face of the output flange tilts in proportion to the moment load. The moment stiffness is expressed as the torsional moment/angle. Obliquity Load Item Moment stiffness Model FHA-8C FHA-C FHA-4C N m/rad x 4 4 x 4 8 x 4 kgf m/rad. x 4.4 x 4.8 x 4 kgf m/arc min CAUTION Do not apply torque, load or thrust to the sleeve directly. Since the sleeve is adhered to the output flange, the adhered sleeve may be detached from the output flange by the abnormal torque or load. Sleeve Output flange FHA-C mini 5

16 Chapter Overview of the FHA-C mini series -9- Torsional stiffness When a torque is applied to the output flange of the actuator with the motor locked, the resulting torsional wind up is near proportional to the torque. The upper right figure shows the torsional stiffness characteristics of the output flange applying torque starting from zero to plus side [+T] and minus side [ T]. This trajectory is called torque-torsion characteristics which typically follows a loop A B A B A as illustrated. The torsional stiffness of the FHA-C mini actuator is expressed by the slope of the curve that is a spring rate (wind-up) (unit: N m/rad). The torsional stiffness may be evaluated by dividing torque-torsion characteristics curve into three major regions. The spring rate of each region is expressed K, K, and K3 respectively. B K: spring rate for torque region -T K: spring rate for torque region T-T K3: spring rate for torque region over T The wind-up for each region is expressed as follows: T wind-up for torque region -T: θ = T < K T wind-up for torque region T-T: θ = θ T < T < T wind-up for torque region over T: θ3 = θ T < T + T T K + T T K 3 θ: Wind up The table below shows T-T3, K-K3, and θ-θ values of each actuator. Model FHA-8C FHA-C FHA-4C Reduction ratio :3 :5 : :3 :5 : :3 :5 : T N m kgf m K x 4 N m/rad kgf m/arc min θ x -4 rad arc min T N m kgf m K x 4 N m/rad kgf m/arc min θ x -4 rad arc min K3 x 4 N m/rad kgf m/arc min The table below shows torque-wind-up relation for reference. (unit: N m) Model FHA-8C FHA-C FHA-4C Reduction ratio :3 :5 : :3 :5 : :3 :5 : FHA-C mini 6

17 Chapter Overview of the FHA-C mini series - Rotary direction Forward rotary direction is defined as clockwise (CW) rotation viewing the output flange of the actuator when a driver signals forward commands. The direction can be reversed by the setting of [parameter mode] [8: rotary direction] of the driver. FWD:CW rotation Value FWD REV Setting command command FWD rotation REV rotation Default REV rotation FWD rotation - Impact resistance The actuators are resistant to impacts along the radial axes. Impact acceleration: 94 m/s Direction: top/bottom, right/left, front/back Repeating times: three However, do not apply impact to the output flange. Left Front Up Down Impact resistance Rear Right Horizontal installation - Vibration resistance The allowable vibration from all directions is as follows: Vibration acceleration: 4.5 m/s (Frequency:~4Hz) Left Up Rear Front Right Down Horizontal installation Vibration resistance FHA-C mini 7

18 Chapter Overview of the FHA-C mini series -3 Torque-speed characteristics The following are actuator speed-torque characteristics in combination with an HA-8 and HA-68 driver showing allowable duty range. Refer chapter [selection guidelines] for more details. Continuous duty range The range allows continuous operation for the actuator. CAUTION 5% duty range If your application is one-way continuous motion in the continuous duty range, contact harmonic drive systems. The range allows the 5% duty time operation of a cycle time. Refer section -4-5 [duty cycle]. Acceleration and deceleration range The range allows instantaneous operation like acceleration and deceleration, usually. The continuous and 5% ranges in each graph are measured on the condition of the FHA-C mini actuator attached on the heat radiation plate described in the figure. FHA-C mini 8

19 -4 Operating Range Chapter Overview of the FHA-C mini series FHA-8C-3 Torque [Nm] Power supply: V Radiation plate:5x5x6( mm) Acc./dec. range 5% duty range Continuous range Speed [ r / mi n] FHA-8C-3 Torque[Nm] Power supply: V Radiation plate:5x5x6( mm) Acc./dec. range 5% duty range Continuous range Speed [ r / mi n] FHA-8C-5 Power supply: V FHA-8C-5 Power supply: V Torque[Nm] 3.5 Radiation plate:5x5x6( mm) Torque[Nm] 3.5 Radiation plate:5x5x6( mm) 3. Acc./dec. range 3. Acc./dec. range % duty range. 5% duty range.5.5. Continuous range. Continuous range Speed [ r / mi n] Speed [ r / mi n] 4 FHA-8C- Torque[Nm] 6 Power supply: V Radiation plate:5x5x6( mm) FHA-8C- Torque[Nm] 6 Power supply: V Radiation plate:5x5x6( mm) Acc./dec. range 4 Acc./dec. range 3 5% duty range 3 5% duty range Continuous range Continuous range Speed [ r / mi n] Speed [ r / mi n] 6 7 FHA-C mini 9

20 Chapter Overview of the FHA-C mini series FHA-C mini

21 Chapter Overview of the FHA-C mini series FHA-C-3 Torque[Nm] Power supply: V Radiation plate:5x5x6( mm) Acc./dec. range.5 5% duty range..5. Continuous range Speed [ r / mi n] FHA-C-3 Power supply: V Torque[Nm] Radiation plate:5x5x6( mm) Acc./dec. range % duty range..5. Continuous range Speed [ r / mi n] FHA-C-5 Torque[Nm] Power supply: V Radiation plate:5x5x6( mm) Acc./dec. range 4 5% duty range 3 Continuous range Speed [ r / mi n] FHA-C-5 Power supply: V Torque[Nm] Radiation plate:5x5x6( mm) Acc./dec. range % duty range 3 Continuous range Speed [ r / mi n] FHA-C- Power supply: V Torque[Nm] Radiation plate:5x5x6( mm) FHA-C- Torque[Nm] Power supply: V Radiation plate:5x5x6( mm) 8 Acc./dec. range 8 Acc./dec. range 6 5% duty range 6 5% duty range 4 4 Continuous range Continuous range Speed [ r / mi n] Speed [ r / mi n] FHA-C mini

22 Chapter Overview of the FHA-C mini series FHA-C mini

23 Chapter Overview of the FHA-C mini series FHA-4C-3 Power supply: V Torque[Nm] Radiation plate:xx6( mm) Acc./dec. range 6 5 5% duty range 4 3 Continuous range Speed [ r / mi n] FHA-4C-3 Power supply: V Torque[Nm] Radiation plate:xx6( mm) Acc./dec. range 6 5 5% duty range 4 3 Continuous range Speed [ r / mi n] FHA-4C-5 Power supply: V Torque[Nm] Radiation plate:xx6( mm) Acc./dec. range FHA-4C-5 Torque[Nm] Power supply: V Acc./dec. range Radiation plate:xx6( mm) % duty range 6 5% duty range 4 4 Continuous range Continuous range Speed [ r / mi n] Speed [r/ mi n] FHA-4C- Power supply: V Torque[Nm] Radiation plate:xx6( mm) 3 FHA-4C- Torque[Nm] 3 Power supply: V Radiation plate:xx6( mm) 5 5 Acc./dec. range Acc./dec. range 5 5 5% duty range 5% duty range 5 Continuous range 5 Continuous range Speed [ r / mi n] Speed [ r / mi n] FHA-C mini 3

24 Chapter Overview of the FHA-C mini series FHA-C mini 4

25 Chapter Overview of the FHA-C mini series -5 Cable specifications The following tables show specifications of the cable for the motor and the encoder of the FHA-C mini actuators. -5- Incremental Encoder Motor cable Color Red White Black Green/yellow Motor lead Motor phase-u Motor phase-v Motor phase-w PE Encoder cable Color Signal Color Signal Function Red +5V (VCC) Black OV (GND) Power Green A Dark Green Gray B White Yellow Z Clear Brown U Purple Blue V Light Blue Orange W Pink A B Z U V W Encoder Feedback Motor Commutation FHA-C mini 5

26 Chapter Overview of the FHA-C mini series -5- Absolute Encoder Motor cable Pin No. Color Motor lead Red Motor phase-u White Motor phase-v 3 Black Motor phase-w 4 Green/yellow PE Connector model: Pin model: 3569 (E: 77-) Manufactured by AMP Connector pin layout Encoder cable Pin No. Color Signal Remarks A White Vcc Power supply input +5V B Black GND (Vcc) A Blue SD+ B Purple SD- 3A No connection Power supply input V (GND) Serial signal differential output (+) Serial signal differential output (-) 3B Shield FG Frame Ground 4A Orange Vbat Battery + 4B Brown GND (bat) Battery (GND) 4AA A Connector model: Pin model: 936- or 937- Manufactured by AMP 4BB Connector pin layout B FHA-C mini 6

27 Chapter Guidelines for sizing Chapter Guidelines for sizing - Allowable load inertia To achieve high accuracy performance, select an FHA-C mini actuator wherein the allowable moment of inertia (reference value) is greater than the load inertia. Refer to appendix for the calculation of moment inertia. When selecting an actuator make certain that the load inertia and the nominal speed are less than the allowable values are that indicated in the table below. Inertia (kg m ) (kgf cm s )..... FHA-4C - FHA-C - FHA-8C - FHA-4C -5 FHA-C -5 FHA-8C -5 FHA-4C -3 FHA-C -3 FHA-8C -3 Nominal speed (r/min) Actuator model FHA-8C FHA-C FHA-4C Reduction ratio :3 :5 : :3 :5 : :3 :5 : Maximum speed r/min Moment of inertia of actuator Allowable moment of inertia kg m kgf cm s kg m kgf cm s Variable load inertia FHA-C mini series actuators include Harmonic Drive gearing that has a high reduction ratio. Because of this there are minimal effects of variable load inertias to the servo drive system. In comparison to direct servo systems this benefit will drive the load with a better servo response. For example, assume that the load inertia increases to N-times during its motion (for example, robot arms). The effect of the variable load inertia to the [total inertia converted into motor shaft] is as follows: The symbols in the formulas are: J S : total inertia converted into motor shaft J M : moment inertia of motor R: reduction ratio of FHA actuator Direct drive Before: JS=JM(+L) After: JS =JM(+NL) Ratio: FHA-C mini actuator drive L: Ratio of load inertia to motor inertia N: variation ratio of load inertia JS /JS=+NL +L Before: After: Ratio: In the case of the FHA-C mini actuator drive, as the reduction ratio is [R=3], [R=5], or [R=] and the square of the reduction ratio [R =9], [R =5], or [R =] the denominator and the numerator of the ratio are almost []. Then the ratio is [F ]. This means that FHA drive systems are hardly affected by the load inertia variation. Therefore, it is not necessary to take the load inertia variation in consideration for selecting an FHA-C mini actuator or for setting up the HA-8 or HA-68 driver. FHA-mini 7

28 Chapter Guidelines for sizing -3 Verifying loads The FHA-C mini actuators include a precise cross roller bearing for directly supporting the load weight. For optimal performance, verify that the maximum load weight is less than the allowable load and life and static safety coefficient of the cross roller bearing. Verifying procedures: () Verifying the maximum load Calculate the maximum load (Mmax, Frmax, Famax). Verify the maximum loads (Mmax, Frmax, Famax) are less than ( ) allowable loads (Mc, Fr, Fa) () Verifying the life of the cross roller bearing Calculate the average radial load (Frav) and the 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. (3) Verifying the static safety coefficient Calculate the static equivalent radial load (Po) Verify the static safety coefficient. Specifications of the cross roller bearing The following table shows the specifications of the cross roller bearings built in FHA-C mini actuators. Item Circular pitch of roller (dp) Table : Specifications of the cross roller bearings Offset Basic dynamic load rating (C) Basic static load rating (Co) Allowable axial load (Fa) Allowable torsional moment (Mc) Model (R) mm mm N N N N m FHA-8C FHA-C FHA-4C Calculating the maximum load Calculate the maximum load (Mmax, Frmax, Famax) with the following formula and verify that they are less than their allowances. Load Actuator Mmax=Frmax(Lr+R)+Famax La () Fr Where, the variables of the formula are: dp Mmax: Maximum torsional moment in N m(kgf m) Frmax: Maximum radial load in N(kgf); See Fig.. La Famax: Maximum axial load in N(kgf); See Fig.. Lr, La: Loading point in mm; See Fig.. R: Offset: See Fig. and Table. Fa Lr R Fig. Loads FHA-mini 8

29 Chapter Guidelines for sizing Calculating average loads: average radial and axial loads, average output 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. Average radial load: Frav Fr Frav= /3 ntfr /3 + nt Fr () Note: "Fr " is the maximum radial load in "t " range, and "Fr 3 " is the maximum radial load in "t 3 " range. Average axial load: Faav Faav= /3 ntfa /3 Note: "Fa " is the maximum axial load in "t " range, and "Fa 3 " is the maximum axial load in "t 3 " range. Average output speed: Nav /3 nt + nt + L + nt Fa /3 nt + nt + L nt + nt + L + nntn Nav = t + t + L + tn L n + n L n + n n n t t n n n n t t n n Fr Fa /3 n /3 n (4) (3) - Radial load + - Axial load + - Output speed + Fr Time Fr 3 Fa Fa Time Fa 3 t t t 3 n n n 3 Time Fig.: Load/speed-time charts Calculating radial load factor and axial load factor Both load factors are different with average loads as follows: Faav When the right formula is satisfied,.5 (5) Frav + (Frav(Lr + R) + Faav La)/dp X=., and Y=.45 When the formula below is satisfied, X=.67, and Y=.67 Faav >.5 (5') Frav + (Frav(Lr + R) + Faav La)/dp Where, the variables of the formulas are: Mmax: Maximum torsional moment in N m(kgf m); obtained by the formula (). Frmax: Maximum radial load in N(kgf); See Fig.. Famax: Maximum axial load in N(kgf); See Fig.. Lr, La: Loading point in mm; See Fig.. R: Offset; See Fig. and Table. dp: Circular pitch of roller: See Fig. and Table. FHA-mini 9

30 Chapter Guidelines for sizing Equivalent dynamic radial load The equivalent dynamic radial load is: (Frav(Lr + R) + Faav La) Pc = X Frav + + Y Faav dp Where, the variables of the formula are: Frav: Average radial load in N(kgf); obtained by formula (). Faav: Average axial load in N(kgf); obtained by formula (3). dp: Circular pitch of roller: See Fig. and Table. X: Radial load factor; obtained by formula (5) Y: Axial load factor; obtained by formula (5') Lr, La: Loading point in mm; See Fig.. R: Offset; See Fig. and Table. Life of cross roller bearing Calculate the life of cross roller bearing with the formula below: L B 6 C = 6 Nav fw Pc /3 (6) (7) Where, the variables of the formula are: L B- : Life of cross roller bearing in hour Nav: Average output speed in rpm; obtained by formula (4). C: Basic dynamic load rating in N (kgf). See Table. Pc: equivalent dynamic radial load in N (kgf); obtained by formula (6). fw: Load factor: For smooth operation without shock or vibration: fw= to. For normal operation: fw=. to.5 For operation with shock and/or vibration: fw=.5 to 3 Life of cross roller bearing for swaying motion Calculate the life of cross roller bearing with the formula below: Loc 6 6 n 9 C fw Pc /3 (8) Where, the variables of the formula are: Loc: Life of cross roller bearing in hour n : Number of reciprocating oscillation per minute. C: Basic dynamic load rating in N (kgf). See Table. Pc: Equivalent dynamic radial load in N (kgf); obtained by formula (6). fw: Load factor: For smooth operation without shock or vibration: fw= to. For normal operation: fw=. to.5 For operation with shock and/or vibration: fw=.5 to 3 : Half of sway angle; See the right figure. If the sway angle is less than 5 degrees, please contact us. Sway angle Sway motion θ FHA-mini 3

31 Chapter Guidelines for sizing Equivalent static radial load Equivalent static radial is obtained by formula (9) below. Mmax Po = Frmax+ +.44Famax dp (9) Where, the variables of the formula are: Po: Equivalent static radial load in N (kgf); Mmax: Maximum torsional moment in N m(kgf m); obtained by the formula () Frmax: Maximum radial load in N(kgf); See Fig.. Famax: Maximum axial load in N(kgf); See Fig.. dp: Circular pitch of roller: See Fig. and Table. Static safety factor Generally, the static safety factor is limited by the basic static load rating (Co). However, for the heavy duty, the factor is limited by the following formula: Co fs = Po Where, the variables of the formula are: fs: Static safety factor; For precise positioning operation: fs 3 For operation with shock and/or vibration: fs For normal operation: fs.5 Co: Basic static load rating in N (kgf). See Table. Po: Equivalent static radial load in N (kgf); obtained by formula (9) below. () FHA-mini 3

32 Chapter Guidelines for sizing -4 Duty cycles When a duty cycle includes many frequent start and stop operations, the actuator generates heat by high starting and braking current. Therefore, it is necessary to study the duty cycle profile. The study is as follows: -4- Actuator speed Calculate the required actuator speed (r/min) to drive the load. For linear motion, convert with the formula below: Select a reduction ratio from [3], [5] and [] of an actuator of which the maximum speed is more than the required speed. -4- Load inertia Calculate the load inertia driven by the FHA-C mini series actuator. Refer to appendix for the calculation. Tentatively select an FHA-C mini actuator referring to section [- allowable load inertia] with the calculated value Load torque Calculate the load torque as follows: Rotary motion The torque for the rotating mass [W] on the friction ring of radius [r] as shown in the figure to the right. Screw pitch (mm) 3 Speed (r/min) 35r/min 5r/min 7r/min 3 r/min Friction:μ Mass: W Linear speed (mm/min) Radius: r r/min T = 9.8 µ W r T: torque (N m) : coefficient of friction W: mass (kg) r: radius of friction face (m) In the right graph, the oblique solid lines for torque have been calculated with the coefficient of the friction of =.. The oblique dot-chain lines show % torque of actuators converted from 3% torque corresponding to its maximum torque. Radius of friction face r (mm) 3 3 Example. torque calculation (friction=.) FHA(ratio:/5): % torque of maximum torque N m.7 N m.5 N m.3 N m. N m. N m N m 5 N m 3 N m N m FHA-4C-3 FHA-4C-5 FHA-4C- FHA-C- FHA-C-5 FHA-C-3 FHA-8C- FHA-8C-5 FHA-8C Mass W (kg) FHA-mini 3

33 Chapter Guidelines for sizing Horizontal linear motion The following formula calculates the torque for horizontal linear motion of mass [W] fed by the screw of pitch [P]. P T = 9.8 µ W Vertical linear motion T: torque (N m) : coefficient of friction W: mass (kg) P: screw pitch (m) The following formula calculates the torque for vertical linear motion of mass [W] fed by the screw of pitch [P]. P T = 9.8 W -4-4 Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator. Acceleration: N ta = ( JA + JL) 6 TM TL Deceleration: N td = ( JA + JL) 6 TM + TF TL Ta: acceleration time (sec) Td: deceleration time (sec) JA: actuator inertia (kg m ) JL: load inertia (kg m ) N: actuator speed (r/min) TM: maximum torque of actuator (N m) TF: actuator friction torque at max. speed (N m) TF = KT x IM - TM where, KT: torque constant (N m/a) IM: maximum current (A) TL: load torque (N m) note that the polarity of the load torque is plus (+) for counter direction of revolution, and minus (-) for same direction. Example : The load conditons are: Rotary speed: r/min Moment of inertia:.4 kg m Load torque is so small as to be negrected. () Refering the figure in section -, FHA-C-5actuator is selected for the load. () Refering the specification table in section -4, JA=.7 kg m, TM =8.3 N m, KT=6.6 N m/a, and IM =.6A are obtained for the FHA-C-5. (3) TF = 6.6x =.3 N m is obtained with the formula above. (4) Acceleration and deceleration times are: ta = (.7+.4)xxπ/6x/8.3 =.7 s td = (.7+.4)xxπ/6x/(8.3+x.3) =.46 s (5) If the calculated accelleration times are too long, correct the situation by: Reducing load moment of inertia Selecting an actuator with a larger frame size N Speed Pitch: P ta Mass: W Friction: Mass: W Pitch: P td Time FHA-mini 33

34 Chapter Guidelines for sizing -4-5 Calculating equivalent duty The load conditions, which is torque, speed, moment of inertia, acceleration/deceleration time, loading time, are limited by the actuator to drive the load. To select the proper actuator, the equivalent duty of the load should be calculated. The %ED (percent equivalent duty) is: N Speed ta tr td ts Time KLa ta + KLr tr + KLd td %ED = t where, ta: acceleration time in second td: deceleration time in second tr: driving time in second t: single cycle time in second KLa: duty factor for acceleration time KLr: duty factor for driving time KLd: duty factor for deceleration time Torque T a Ta, Tr, Td: output torque t: duty cycle Tr Td Time Example : getting duty factors of KLa, KLr and KLd With an example of the duty factor graph for FHA-C-5 actuator, the way of getting the duty factors of KLa, KLr and KLd is descrived as follow: The load conditons are same as the example described in the example: the inertia load is accelerated by the maximum torque, and is driven with a constant speed, and is decelerated by the maximum torque. The displacement angle is degrees and the cycle time is.8 s. () KLa, and KLd:: the speed is desided at 5 r/min as the average of and r/min. Then, KLa = KLd =.7 from the graph. () KLr: as the inertia load, Tr. Then KLr.9 from the graph. (3) The driving time is calculated as the area of the trapezoid of speed-time graph. Then the displacement angle is: = (N / 6) x {tr + (ta + td) / } x 36 Then, tr = / (6 x N) (ta + td) / Substituting deg. for,.7(s) for ta,.46(s) for td, r/min for N, the driving time is: tr = / (6 x ) ( ) / =.4(s) (4) Because the cycle time is.8(s), the %ED is obtained as follows: %ED = (.7 x x x.48) /.8 x = 4.% It is possible to drive the actuator with the load specifications continuously, because the %ED is less than %. If the %ED is excessed %, correct the situation by: Changing the speed-time profile Reducing load moment of inertia Selecting an actuator with a larger frame size T or FHA-C-5 () KLa, KLd KL=.33 Allowed range V V.67 Plate:5x5x6(mm).5.5 () KLr 5 5 Speed [r/min] FHA-mini 34

35 Chapter Guidelines for sizing Graphs of duty factor! FHA-8C-3! FHA-C-3 Radiation plate: 5 x 5 x 6(mm) 5 Radiation plate: 5 x 5 x 6(mm) Torque [Nm] Operable range V V 4 V KL = Torque [Nm] Operable range V V 4 V KL = Rotation speed [r/min] Rotation speed [r/min]! FHA-8C-5 4 Radiation plate: 5 x 5 x 6(mm)! FHA-C-5 Radiation plate: 5 x 5 x 6(mm) Torque [Nm] Operable range V V 4 V.67.5 Torque [Nm] Operable range V V 4 V KL =.33 KL = Rotation speed [r/min] Rotation speed [r/min]! FHA-8C-! FHA-C- 6 Radiation plate: 5 x 5 x 6(mm) Radiation plate: 5 x 5 x 6(mm) Torque [Nm] Operable range V V 4 V.67 Torque [Nm] Operable range V V 4 V.5 KL = KL = Rotation speed [r/min] Rotation speed [r/min] FHA-mini 35

36 Chapter Guidelines for sizing FHA-mini 36 5' ' 5' ' 5' ' Rotation'speed'[r/min]' Torque'[Nm]' Radiation'plate:''x''x'6(mm)' "'FHAA4CA3' KL'='.33'.67' ' ' '.5' 3' Operable'range' 'V' 4'V' 5' ' 5' ' Rotation'speed'[r/min]' Torque'[Nm]' Radiation'plate:''x''x'6(mm)' "'FHAA4CA5' KL'='.33'.67' ' 8' ' 8' 4' ' '.5' 6' 4' ' 6' ' '.5' 3' Operable'range' 'V' 4'V' Rotation'speed'[r/min]' Torque'[Nm]' Radiation'plate:''x''x'6(mm)' "'FHAA4CA' KL'='.33'.67' ' 5 5' ' 3'.5' 5' ' '.5' 8' 6' 4' ' ' Operable'range' 'V' 4'V'

37 Chapter Guidelines for sizing -4-6 Effective torque and average speed Effective torque and the average speed should also be reviewed. () The effective torque should be less than allowable continuous torque specified by the driver. () The average speed should be less than allowable continuous speed of the actuator. Calculate the effective torque and the average speed of an operating cycle as shown in the former figure. T m = Ta ( ta + td) Tm: effective torque (N m) Ta: maximum torque (N m ) Tr: load torque (N m) ta: acceleration time (s) td: deceleration time (s) tr: running time at constant speed (s) t: time for one duty cycle (s) Nav: average speed (r/min) N: driving speed (r/min) If the result is greater than the value in the table below, calculate once again after reducing the duty cycle. Model FHA-8C FHA-C FHA-4C Items Reduction ratio :3 :5 : :3 :5 : :3 :5 : Continuous torque N m (3.) Continuous speed r/min Note: The values for 4VDC are in parenthesis. t + T r t N / ta + N tr + N / td Nav = t n Example 3: getting effective torque and average speed The parameters are same as the example and for an FHA-C-5. () Effective torque From the parameters of Ta =Td =8.3 N m,tr = N m, ta=.7 s, tr=.4 s, td=.46 s, t=.8 s, As the value of Tm (3.N m) ecceeds its allowable continuous torque (.9N m), it is impossible to drive the actuator continuously on the duty cycle. The following equation is introduced by converting the equation for effective torque. The limitted time for one duty cycle can be obtained by substituting the continuous torque for the T m of the following equation. Ta ta + td + Tr tr t = Tm Substituting 8.3 N m for Ta, 8.3 for Td, N m for Tr,.9 N m for T m,.7 s for ta,.4 s for tr, and.46 s for td : 8.3 = t Namely, when the time for one duty cycle is set more than 3.4 s, the effective torque [Tm] becomes less than.9 N m, and the actuator can drive the load with lower torque than the continuous torque continuously. () Average speed ( ) ( ).9 =.97 From the parameters of N = r/min, ta=.7 s, tr=.4 s, td=.46 s, t=.97 s /.46 Nav = =.5 r / min.97 As the speed is less than the continuous speed of FHA-C-5, it is possible to drive it continuously on new duty cycle. FHA-mini 37

38 Chapter Guidelines for sizing -4-7 Permissible overloaded time The overloaded time is limited by the protective function in the driver even if the duty cycle is allowed. The limits are shown in the figure below. Overloaded time[s] FHA-8C-3 FHA-8C-5 FHA-8C- FHA-C-3 FHA-C-5 FHA-C- FHA-4C-3 FHA-4C-5 FHA-4C Torque[Nm] FHA-8C-5 FHA-8C- Overload detection time (s) FHA-8C-3 FHA-C-3 FHA-4C-3 FHA-4C-5 FHA-4C- FHA-C-5 FHA-C Torque (N m) FHA-mini 38

39 Chapter 3 Installing the FHA-C mini actuator Chapter 3 Installing the FHA-C mini actuator 3- Receiving Inspection Check the following when products are received. Inspection procedure () Check the shipping container and item for any damage that may have been caused during transportation. If the item is damaged, immediately report the damage to the dealer it was purchased from. () A label is attached on the right side of the FHA actuator. Confirm the products you ordered by comparing with the model on the [TYPE] line of the label. If it is different, immediately contact the dealer it was purchased from. The model ordering code can be found in section -. (3) A model of the driver is marked on the [TYPE] line of the label. The last three digits indicate the voltage of power supply. : 3-phase or single phase V : single phase V 4: 4VDC power If the voltage to be supplied is different from the label voltage, contact us immediately. WARNING Do not connect a supply voltage other than the voltage specified on the label. The wrong power supply voltage may damage the driver resulting physical injury and fire. FHA-C mini 39

40 3- Notice on handling Chapter 3 Installing the FHA-C mini actuator Handle FHA-C mini series actuators with care, specifically: WARNING Do not plug the actuators directly into a commercial line power source. This could burn out the actuator, potentially resulting in a fire and/or electrical hazard. CAUTION () Do not apply impact or unnecessary excessive force to output flange of actuators. () Do not put actuators on in a location where the driver could easily fall. (3) The allowable temperature for storage is from - to + 6. Do not expose it to the sunlight for a long time and do not store it in areas with widely fluctuating temperatures. (4) The allowable relative humidity for storage is less than 8%. Do not storage it in highly humid place or in a place where temperature changes excessively during the course of a day. (5) Do not store units in locations with corrosive gas or particles. 3-3 Location and installation 3-3- Environment of location The environmental conditions of the location must be as follows. Service temperature: C to 4 C When the actuator is installed in a closed space, the temperature in the space may be higher than the atmosphere because of heat emission by the actuator. Design the closed space size, ventilation system, and device locations so the ambient temperature near the actuator is always less than 4 C. Service humidity: to 8% relative humidity, without condensation Make sure no water condensation occurs at the place where there is a large temperature change in a day or due to frequent heat-and-cool cycles due to the operation of the actuator. Vibration: Impact: less than 3 m/sec (3G) less than 5m/sec (.5G) (Hz~4Hz) Make sure the actuator is in an area free from: dust, water condensation, metal powder, corrosive gas, water, water drops, and oil mist. Do not install the actuator in corrosive gas environment. Take notice that the protection degree of standard actuators is IP-44, that is, all parts of the actuators, except the rotary sliding parts (oil seal) and connectors, are protected against solid bodies of superior dimensions to mm, and against the water sprays. Locate the driver indoors or within an enclosure. Do not expose it to the sunlight. Altitude: lower than m above sea level FHA-C mini 4

41 3-3- Installation Chapter 3 Installing the FHA-C mini actuator Since the FHA-C mini series actuator is a high precision servomechanism, great care is required for proper installation. When installing the actuator, pay attention to the precision of the assembly. Do not hit the actuator with a hammer. Take note that actuators provide a glass encoder, which may be damaged by impact. 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. Note : Do not apply shock or impact during installation. () Fasten the flange of the actuator with flat washers and high strength bolts. Use a torque wrench when tightening the fasteners. The recommended tightening torque is shown in the table below: Output flange Flange Item Tightening torque FHA-8C FHA-C FHA-4C Model Output Output Output Flange Flange Flange flange flange flange Screw, 6-M3 6-M4 6-M5 4-M3 4-M4 hole depth depth: 5 depth: 5 depth: 7 4-M5 N m kgf cm (3) Refer to the driver manual for cable installation. (4) Motor cable and encoder cable Do not pull the cable with strong force, which may damage the connection. Install the cable with slack not to apply tension to the actuator. Keep the minimum bending radius more than 4mm, when the cable will be bent and stretched. R=4mm or more FHA-C mini 4

42 Chapter 3 Installing the FHA-C mini actuator CAUTION Do not apply torque, load or thrust to the sleeve directly. Since the sleeve is adhered to the output flange, the adhered sleeve may detached from the output flange by the illegal torque or load. Output flange Sleeve CAUTION Do not disassemble and re-assemble the actuator. The Harmonic Drive LLC does not guarantee the actuator that has been reassembled by others than the authorized persons by the Harmonic Drive LLC. FHA-C mini 43

43 Chapter 3 Installing the FHA-C mini actuator 3-4 Extension Cables Three kinds of optional extension cables, 3m/5m/m length, are available. Ordering model For Motor: EWC MBxx A6 SP For Absolute encoder: EWD Sxx A8 SP For Incremental encoder: EWA-Exx-HR6-SP External view of extension cable for motor xx Cable length: L 3 3m 5 5m m External view of extension cable for absolute encoder External view of extension cable for Incremental encoder FHA-C mini 44

44 Appendix Incremental encoder Appendix Incremental Encoder Detailed Specifications Signal Waveform Fig. A, B and Z signal and relationship with U-N motor EMF waveform with CW rotation facing the output flange end a,b,c,d =.5T ±.5T Tz = T ±.5T (The Z phase includes a HIGH state in case of both of A and B phase is HIGH state.) T = 36 / < ±3 (Mechanical angle) U-N Motor EMF waveform Fig. U, V and W signal and relationship with motor s EMF with CW rotation facing the output flange end R = 7 ±3 (Mechanical angle) Hn = ±3 (Mechanical angle) < ±3 (Mechanical angle) Motor Commutation Output FHA-mini 45

45 Appendix Incremental encoder Output Circuit and Example for Receiving Signal Fig. 3 Output circuit of encoder and connection example FHA-mini 46

46 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 (3) Linear acceleration SI system m/s Unit m/min ft./min ft./s in/s Factor.78 x x Unit m/min ft./min ft./s in/s Factor 36.8x SI system m/s (4) Force SI system N Unit kgf lb(force) oz(force) Factor Unit kgf lb(force) oz(force) Factor SI system N (5) Mass SI system kg Unit lb. oz. Factor Unit lb. oz. Factor SI system kg FHA-mini 47

47 Appendix Unit conversion (6) Angle SI system rad Unit Degree Minute Second Factor x x -6 Unit Degree Minute Second Factor x 3.6x 5 SI system rad (7) 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 (8) Angular acceleration SI system rad/s Unit deg/s deg/min Factor x -4 Unit deg/s deg/min Factor x 3 SI system rad/s (9) Torque SI system N m Unit kgf m lb ft lb in oz in Factor x -3 Unit kgf m lb ft lb in oz in Factor SI system N m () Moment of inertia SI system kg m kgf cm Unit kgf m s s lb ft lb ft s lb in lb in s oz in oz in s Factor x x kgf cm Unit kgf m s s lb ft lb ft s lb in lb in s oz in oz in s Factor x x x -3 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..97x -5.78x Unit kgf m/rad kgf m/arc min kgf m/deg lb ft/deg lb in/deg Factor x SI system N m/rad FHA-mini 48

48 A- Calculating moment of inertia Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar z B x Isosceles triangle pillar z x G B 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 + 4 Iy = m C + 4 m = ABCρ = B Ix m Iy = Iz = C G = 3 ( C ) ( A ) ( A ) Iz = m B C 3 m A + C 3 B m A + Specific gravity Material Specific gravity Material Specific gravity SUS Aluminum.7 Epoxy resin.9 S45C 7.86 Duralumin.8 ABS. SS Silicon.3 Silicon resin.8 Cast iron 7.9 Quartz glass. Polyurethane rubber.5 Copper 8.9 Teflon. Brass 8.5 Fluorocarbon resin. () For cases where the center of gravity is not coincident with the axis of rotation: 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 ) Ig: 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) x B 3 x G B G z z A A C y B y 3 m = 3 AB ρ 5 Ix = mb 5 Iy = m A + B Iz = m = ABCρ Ix = m( B + C ) 36 Iy = m A + C 3 Iz = m A + B 3 C G = 3 Rotary center 5 m A + B F Gravity center B G = 付 (3) Moment of inertia of an object in linear motion 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) 4-4

49 Appendix 3 Moment of inertia 3- Inertia of cylinder The moment of inertia of a cylinder may be obtained from the graphs to the right. Moment of inertia (kg m ) Inertia (specific gravity:.7) Length(mm) Length Radius The above graph is applied for alumimum (specific gravity:.7) and the lower for steel (specific gravity: 7.85). The double-dot-chain lines indicate the allowable inertia for each actuator. (Example) Material: Aluminum Diameter: mm Length: 7mm Form: cylinder As the diameter is mm, the radius is 5mm. Therefore, the above graph would indicate that the inertia is: Approx..9X -4 kg m (Exact value:.86 kg m ) FHA-C-3 FHA-8C-3 FHA-C- FHA-8C- FHA-4C-3 FHA-4C Moment of inertia (kg m ) Radius R(mm) Inertia (specific gravity: 7.85) FHA-C-5 FHA-8C-5 FHA-4C-5 Length(mm) FHA-4C- FHA-C-. FHA-8C- FHA-4C-3 FHA-C-3. FHA-8C-3 FHA-4C-5 FHA-C-5 FHA-8C Radius R(mm) FHA-mini - 5 -

50 The FHA-C mini series actuators are warranted as follows: Warranty period Under the condition that the actuator is handled, used and maintained properly followed each item of the documents and the manuals, all the FHA-C mini series actuators are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or, hours of operation. Warranty terms Warranty Period and Terms All the FHA-C mini series actuators 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 LLC (3) imperfection caused by a non-applicable product. (4) disaster or others that is not the responsibility of Harmonic Drive LLC Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive LLC to be defective. Harmonic Drive LLC 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.

51 Harmonic Drive LLC Boston US Headquarters 47 Lynnfield Street Peabody, MA 96 New York Sales Office Motor Parkway Suite 6 Hauppauge, NY 788 California Sales Office 333 W. San Carlos Street Suite 7 San Jose, CA 95 Chicago Sales Office 37 N. Oak Park Ave., Suite 4 Oak Park, IL 63 T: T: F: Group Companies Harmonic Drive Systems, Inc Minami-Ohi, Shinagawa-ku Tokyo 4-3, Japan Harmonic Drive AG Hoenbergstrasse, 4, D-6555 Limburg/Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC. Rev 76