Harmonic Drive FHA-Cmini Series Manual de usuario

AC Servo Actuator

FHA-Cmini series manual

ISO14001

ISO9001

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.

SAFETY GUIDE

1-2

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.

Indicates a potentially hazardous situation, which, if not avoided, may result in

minor or moderate personal injury and/or damage to the equipment.

Indicates what should be performed or avoided to prevent non-operation or

malfunction of the product or negative effects on its performance or function.

LIMITATION OF APPLICATIONS

The equipment listed in this document may not be used for the applications listed below:

･Space equipment

･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.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to

malfunction or faulty operation.

WARNING

CAUTION

SAFETY GUIDE

SAFETY NOTE

CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING

Always use under followings conditions:

The actuator is designed to be used indoors. Observe the following

conditions:

・Ambient temperature: 0℃to 40℃

・Ambient humidity: 20% to 80%RH (Non-condensation)

・Vibration: Max 24.5 m/S2

・Impact: Max 294 m/S2

・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

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.

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.

CAUTION

WARNING

CAUTION

SAFETY GUIDE

1-2

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.

・0℃to 50℃, 95% 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 100 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

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 15

minutes after turning OFF power.

・Otherwise residual electric charges may result in electric shock. In

order to prevent electric shock, perform inspections 15 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.

CAUTION

WARNING

SAFETY GUIDE

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

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

Structure of this document

Chapter 1 Outlines Ou

tlines of product models, specifications, external drawings, etc.,

are explained.

Chapter 2 Selection guidelines Selection guidelines for the FHA-C mini series actuator are explained

in this chapter.

Chapter 3 Installation This chapter explains the procedure for installing the FHA-C mini

series actuator.

Appendix How to calculate unit conversions and inertia moments are explained

in this chapter.

Contents

SAFETY GUIDE ..................................................................................................... 1

NOTATION .............................................................................................................1

LIMITATION OF APPLICATIONS............................................................................1

SAFETY NOTE ......................................................................................................2

Structure of this document...................................................................................... 5

Contents ................................................................................................................. 6

Chapter 1 Outlines

1-1 Outlines......................................................................................................1-1

Main features.......................................................................................................1-1

1-2 Model.........................................................................................................1-2

1-3 Combinations with drivers..........................................................................1-3

1-4 Specifications............................................................................................. 1-4

Input voltage 100VAC/200VAC specification .......................................................1-4

Input voltage: 24VDC specification ......................................................................1-5

1-5 External drawing ........................................................................................1-6

Side-leading cables (standard specification/incremental encoder model) ............1-6

Side-leading rear cables (option specification/incremental encoder model) .........1-7

Side-leading cables (standard specification/absolute encoder model) .................1-8

1-6 Mechanical accuracy .................................................................................1-9

1-7 Uni-directional positional accuracy...........................................................1-10

Angle correction function during horizontal indexing..........................................1-10

1-8 Detector resolution................................................................................... 1-11

1-9 Rigidity ..................................................................................................... 1-12

Moment stiffness ...............................................................................................1-12

Rotation direction torsional stiffness ..................................................................1-13

1-10 Rotation direction..................................................................................... 1-14

1-11 Shock resistance...................................................................................... 1-15

1-12 Resistance to vibration.............................................................................1-16

1-13 Operable range........................................................................................1-17

1-14 Cable specifications.................................................................................1-24

Contents

Chapter 2 Selection guidelines

2-1 Connecting power cables...........................................................................2-1

2-2 Change in moment of inertia of load ..........................................................2-2

2-3 Verifying and examining load weights........................................................2-3

2-4 Examining operating status........................................................................2-7

Examining actuator rotation speed ......................................................................2-7

Calculating and examining load inertia moment...................................................2-7

Load torque calculation .......................................................................................2-8

Acceleration time and deceleration time ..............................................................2-9

Duty cycles........................................................................................................2-10

Duty factor graphs .............................................................................................2-11

Examining effective torque and average rotation speed.....................................2-13

Overload detection time.....................................................................................2-14

Chapter 3 Installation

3-1 Receiving inspection.................................................................................. 3-1

3-2 Notices on handling ...................................................................................3-3

3-3 Installation location and installation............................................................ 3-4

Environment of installation location .....................................................................3-4

Installation ...........................................................................................................3-4

Appendix

Apx-1 Unit conversion......................................................................................Apx-1

Apx-2 Calculating inertia moment....................................................................Apx-3

Formula of mass and inertia moment ..............................................................Apx-3

Inertia moment of a cylinder ............................................................................Apx-5

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