Harmonic Drive CHA, Engineering Data

Page 1: ...AC Servo Actuators CHA Engineering Data QUICKLINK www harmonicdrive de 1010...

Page 2: ...eedback Systems 52 3 3 8 Temperature Sensors 57 3 3 9 Electrical Connections 58 3 3 10 Options 63 4 Actuator Selection Preocedure 64 4 1 Selection Procedure and Calculation Example 64 4 2 Calculation...

Page 3: ...products of Harmonic Drive AG you may require additional documents Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website www harmonicdr...

Page 4: ...erous electrical voltage and its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components 1 2 Disclaimer and Copyright The contents images...

Page 5: ...ially before opening covers the actuator must be properly isolated In addition to the main circuits the user also has to pay attention to any auxilliary circuits Observing the five safety rules Discon...

Page 6: ...Intended Purpose The Harmonic Drive servo actuators and motors are intended for industrial or commercial applications They comply with the relevant parts of the harmonised EN 60034 standards series T...

Page 7: ...cuum Machines for domestic use Medical equipment which comes into direct contact with the human body Machines or equipment for transporting or lifting people Special devices for use in annual markets...

Page 8: ...ntegrated hollow shaft can be used to feed through supply lines or services for additional axes enabling space saving designs with minimal installation dimensions required With a reinforced output bea...

Page 9: ...30 30 30 30 30 50 50 50 50 50 50 50 50 80 80 80 80 80 80 80 80 100 100 100 100 100 100 100 100 120 120 120 120 120 120 120 160 160 160 160 160 160 E H L N C1024 M512P RES D2048 M128S B Sensor Cable c...

Page 10: ...not available 1 Only for resolver and with increased length Gear Component Set Zero backlash Hollow shaft Transmission accuracy better than 1 arcmin Repeatability better than 6 arcsec Motor feedback...

Page 11: ...sulation voltage 10s Vrms 600 Lubrication Harmonic Drive Flexolub A1 Degree of predection EN 60034 5 IP65 Ambient operating temperature C 0 40 Ambient storage temperature C 20 60 Relative humidity wit...

Page 12: ...20 C INLS Arms 1 0 0 9 0 8 0 8 No load current 40 C INLS Arms 3 1 3 7 4 5 5 1 No load running current constant 30 C KINL x10 3 Arms rpm 4 6 7 6 12 2 15 2 No load running current constant 80 C KINL x10...

Page 13: ...on M128S tm ms 7 4 No load current INLS Arms 0 13 0 12 0 10 0 10 No load running current constant 30 C KINL x10 3 Arms rpm 0 5 0 8 1 2 No load running current constant 80 C KINL x10 3 Arms rpm 0 2 0 3...

Page 14: ...Moment of inertia at motor without brake J x10 4 kgm 0 347 Moment of inertia at motor with brake J x10 4 kgm 0 438 Motor feedback system D2048 Ratio i 30 50 80 100 Moment of Inertia output side Momen...

Page 15: ...ntriebskennlinien CHA 14A 100 E Drehzahl Drehmoment Maximal 0 28 85 28 85 0 85 0 85 0 40 28 53 0 53 0 53 0 53 0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbetrieb 0 11 35 11 35 0 35 0 35 0 Spannungsgrenze 0 0...

Page 16: ...0 0 0 0 2 4 6 8 10 12 14 16 18 20 0 50 100 150 200 CHA 14A 50 H L Berechnung von Antriebskennlinien CHA 14A 100 H L Drehzahl Drehmoment Maximal 0 28 85 28 85 0 85 0 85 0 S3 ED 25 0 0 0 0 0 0 0 0 0 0 S...

Page 17: ...9 0 No load current 20 C INLS Arms 0 8 0 7 0 6 0 6 0 6 No load current 20 C INLS Arms 2 6 3 5 3 9 4 4 4 7 No load running current constant 30 C KINL x10 3 Arms rpm 4 6 7 7 12 3 15 4 18 5 No load runni...

Page 18: ...stant 20 C Version M128S tm ms 4 5 No load current INLS Arms 0 15 0 13 0 11 0 11 0 10 No load running current constant 30 C KINL x10 3 Arms rpm 1 2 3 4 5 No load running current constant 80 C KINL x10...

Page 19: ...ent of inertia at motor without brake J x10 4 kgm 1 056 Moment of inertia at motor with brake J x10 4 kgm 1 158 Motor feedback system D2048 Ratio i 30 50 80 100 120 Moment of Inertia output side Momen...

Page 20: ...min 1 Speed rpm CHA 17A 50 E Berechnung von Antriebskennlinien CHA 17A 100 E Drehzahl Drehmoment Maximal 0 54 60 54 66 15 66 0 66 0 28 54 35 0 35 0 35 0 35 0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbetrieb...

Page 21: ...0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbetrieb 0 26 70 26 70 0 70 0 70 0 Spannungsgrenze 0 0 0 0 0 0 5 10 15 20 25 30 35 40 0 20 40 60 80 100 120 140 160 Drehmoment Nm Torque Nm Drehzahl min 1 CHA 17A 5...

Page 22: ...fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 7 0 Maximum motor speed nmax rpm 6000 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 5 9 Inductance L L LL L mH 8 0 Numbe...

Page 23: ...CHA 20A 80 CHA 20A 100 CHA 20A 120 CHA 20A 160 Illustration 23 1 Illustration 23 2 Illustration 23 3 Illustration 23 4 Illustration 23 5 Illustration 23 6 Speed rpm Speed rpm Speed rpm Speed rpm Speed...

Page 24: ...voltage fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 5600 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0...

Page 25: ...110 15 110 30 35 30 0 30 0 Spannungsgrenze 54 157 56 140 0 20 40 60 80 100 120 140 160 180 0 10 20 30 40 50 60 CHA 25A 100 Berechnung von Antriebskennlinien CHA 25A 160 Drehzahl Drehmoment Maximal 0 1...

Page 26: ...voltage fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 4800 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6...

Page 27: ...8 0 Dauerbetrieb 0 165 33 0 33 0 33 0 33 0 Spannungsgrenze 40 333 48 230 0 50 100 150 200 250 300 350 0 10 20 30 40 50 60 CHA 32A 100 0 6 1 A 2 3 A H C n e i n i l n n e k s b e i r t n A n o v g n u...

Page 28: ...tal wave only UM Vrms 220 430 Demagnetisation current IE Arms 18 Maximum motor speed nmax rpm 4000 Rated motor speed nN rpm 3000 Resistance L L 20 C RL L 2 9 Inductance L L LL L mH 6 0 Number of pole...

Page 29: ...HA 40A 80 0 2 1 A 0 4 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 617 33 617 33 0 33 0 33 0 S3 ED 25 0 617 10 617 33 390 33 0 33 0 S3 ED 50 0 440...

Page 30: ...ental wave only UM Vrms 220 430 Demagnetisation current IE Arms 18 Maximum motor speed nmax rpm 3500 Rated motor speed nN rpm 2500 Resistance L L 20 C RL L 3 5 Inductance L L LL L mH 12 Number of pole...

Page 31: ...ahl min 1 Speed rpm CHA 50A 80 0 2 1 A 0 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1080 28 1080 30 1000 30 0 30 0 S3 ED 25 0 1080 8 1080 30 40...

Page 32: ...e fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 25 Maximum motor speed nmax rpm 3000 Rated motor speed nN rpm 2000 Resistance L L 20 C RL L 2 4 Inductance L L LL L mH 9 Number...

Page 33: ...rpm CHA 58A 80 0 2 1 A 8 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1720 25 1720 25 0 25 0 25 0 S3 ED 25 0 1700 25 500 25 0 25 0 25 0 S3 ED 50...

Page 34: ...fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 7 0 Maximum motor speed nmax rpm 6000 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 5 9 Inductance L L LL L mH 8 0 Number...

Page 35: ...36 48 36 0 36 0 Spannungsgrenze 0 0 0 0 0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 CHA 20A 100 Berechnung von Antriebskennlinien CHA 20A 160 Drehzahl Drehmoment Maximal 0 92 37 5 92 37 5 0 37...

Page 36: ...oltage fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 5600 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0...

Page 37: ...110 15 110 30 35 30 0 30 0 Spannungsgrenze 54 157 56 140 0 20 40 60 80 100 120 140 160 180 0 10 20 30 40 50 60 CHA 25A 100 Berechnung von Antriebskennlinien CHA 25A 160 Drehzahl Drehmoment Maximal 0 1...

Page 38: ...voltage fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 4800 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6...

Page 39: ...Dauerbetrieb 0 165 33 0 33 0 33 0 33 0 Spannungsgrenze 40 333 48 230 0 50 100 150 200 250 300 350 0 10 20 30 40 50 60 CHA 32A 100 0 6 1 A 2 3 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h...

Page 40: ...tal wave only UM Vrms 220 430 Demagnetisation current IE Arms 18 Maximum motor speed nmax rpm 4000 Rated motor speed nN rpm 3000 Resistance L L 20 C RL L 2 9 Inductance L L LL L mH 6 0 Number of pole...

Page 41: ...HA 40A 80 0 2 1 A 0 4 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 617 33 617 33 0 33 0 33 0 S3 ED 25 0 617 10 617 33 390 33 0 33 0 S3 ED 50 0 440...

Page 42: ...mental wave only UM Vrms 220 430 Demagnetisation current IE Arms 18 Maximum motor speed nmax rpm 3500 Rated motor speed nN rpm 2500 Resistance L L 20 C RL L 3 5 Inductance L L LL L mH 12 Number of pol...

Page 43: ...ahl min 1 Speed rpm CHA 50A 80 0 2 1 A 0 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1080 28 1080 30 1000 30 0 30 0 S3 ED 25 0 1080 8 1080 30 40...

Page 44: ...fundamental wave only UM Vrms 220 430 Demagnetisation current IE Arms 25 Maximum motor speed nmax rpm 3000 Rated motor speed nN rpm 2000 Resistance L L 20 C RL L 2 4 Inductance L L LL L mH 9 Number o...

Page 45: ...rpm CHA 58A 80 0 2 1 A 8 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1720 25 1720 25 0 25 0 25 0 S3 ED 25 0 1700 25 500 25 0 25 0 25 0 S3 ED 50...

Page 46: ...rd cable length l m approx 1 5 approx 1 5 CHA 14A E CHA 17A E Illustration 46 1 Illustration 46 2 mm mm QUICKLINK www harmonicdrive de CAD1010 Table 46 3 Symbol Unit CHA 14A E CHA 17A E Motor feedback...

Page 47: ...th without brake L mm 118 132 5 Length with brake L1 mm 138 160 Standard cable length l m approx 1 8 approx 1 8 CHA 32A CHA 40A Illustration 47 4 Illustration 47 5 mm mm Table 47 6 Symbol Unit CHA 32A...

Page 48: ...M512P Length without brake L mm 118 132 Length with brake L1 mm 137 159 5 CHA 50A CHA 58A Illustration 48 1 Illustration 48 2 mm mm QUICKLINK www harmonicdrive de CAD1010 Table 48 3 Symbol Unit CHA 5...

Page 49: ...mbol Unit CHA 32A CHA 40A Motor feedback system M512P M512P Length without brake L mm 144 5 157 Length with brake L1 mm 172 176 CHA 50A M512P CHA 58A M512P Illustration 49 4 Illustration 49 5 mm mm Ta...

Page 50: ...0 7 0 5 0 7 0 5 0 7 0 5 Repeatability arcmin 0 1 0 1 0 1 0 1 Hysteresis loss arcmin 3 1 1 1 1 1 1 1 1 Lost Motion arcmin 1 1 1 1 Symbol Unit CHA 14A CHA 17A CHA 20A CHA 25A T1 Nm 2 3 9 7 14 T2 Nm 6 9...

Page 51: ...58 4 These data are valid for n 15 rpm and L10 15000h 3 4 These data are only valid if the following conditions are fulfilled for M0 Fa 0 N Fr 0 N Fa M 0 Nm Fr 0 N Fr M 0 Nm Fa 0 N 5 Average value Tec...

Page 52: ...l signal value needed for setting the position is for med by adding up the incremental position changes Where incremental encoders have square wave signals definition of the edge evaluation can be qua...

Page 53: ...ommutation signals upp Vss 1 Signal form sinusoidal Number of pulses n2 C D 1 Reference signal n3 R 1 Accuracy 1 arcsec 12 Incremental resolution motor side 2 inc 262144 Resolution output side 2 Gear...

Page 54: ...output side 2 Gear ratio CHA i 30 50 80 100 120 160 arcsec 0 33 0 20 0 12 0 10 0 08 0 06 1 Source Manufacturer 2 for interpolation with 8 bit 3 increasing position values for redation in clockwise di...

Page 55: ...de 136 81 51 40 34 25 Incremental resolution motor side 2 inc 32768 Resolution output side 2 Gear ratio CHA i 30 50 80 100 120 160 arcsec 1 32 0 79 0 49 0 40 0 33 0 25 1 Source Manufacturer 2 for Inte...

Page 56: ...0 2048 a b c d 0 25 T Tz 1 4 T HN 360 5 72 5 el Illustration 56 2 Ordering code Symbol Unit D2048 Manufacturer s designation EBG Power supply 1 Ub VDC 5 10 Current consumption without load 1 I mA 40 I...

Page 57: ...ng the KTY 84 130 the values given in the table can be parametrized in the servo controller or an external evaluation unit Table 57 1 Table 57 3 Illustration 57 2 4000 3000 2000 1000 0 TNAT 5 TNAT TNA...

Page 58: ...1 2 3 4 5 6 7 15 8 9 10 16 11 12 13 14 15 7 16 10 17 C 1024 Signal A A R D C C GND Temp KTY Temp KTY Up B B R D GND Sensor Up Sensor Inner Shield Colour yellow green red white yellow blue grey brown...

Page 59: ...CHA with brake 6FX8002 5DA01 1xx0 Motor feedback H C1024 6FX8002 2CA31 1xx0 H M512P H M128S 6FX8002 2EQ10 1xx0 Version Part no Length m H C1024 308853 308854 308855 308856 308857 5 10 15 20 25 H M512...

Page 60: ...01193 External diameter ca 26 mm Length ca 60mm Encoder connector 12 M23 x 1 Cable plug 12 M23 x 1 Part no 303494 External diameter ca 26 mm Length ca 60 mm CHA 14 17 Connector pin 1 2 3 4 5 6 Motor p...

Page 61: ...black white blue white Cross section mm 0 34 0 15 Connector pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 RES Signal SIN SIN Vss Temp KTY Temp KTY Vss COS COS Colour green yellow violet grey black wh...

Page 62: ...or Table 62 6 Table 62 1 Table 62 3 Table 62 4 CHA xx E RES E M128S E D2048 Motor connector 8 M17 x 1 Cable plug 8 M17 x 1 Part no 1011412 Encoder connector 17 M17 x 1 Cable plug 17 M17 x 1 Part no 10...

Page 63: ...n c n c Up CLOCK CLOCK GND Inner shield B B DATA A A DATA Connecting Cables SIMODRIVE 6FX8002 2AD00 1xx0 SINAMICS S 120 SMC20 6FX8002 2CH00 1xx0 YukonDrive Part no 1010747 3 m other length on request...

Page 64: ...output torque of the actuator No Yes Determine the torque pattern and calculate the effective torque Trms Equation 64 2 Calculate average Speed nav Equation 64 3 Calculate duty factor ED Equation 64...

Page 65: ...ficiency JL kgm2 TL Nm Coefficient of friction of bearing m kg D m r m Speed pattern Torque pattern n2 Speed n rpm T1 T2 T3 t1 t2 t3 tP Torque T Nm Operational cycle t0 Note t1 t3 Time t s Time t s TL...

Page 66: ...sed to cyclically position a mass with a horizontal axis of rotation Speed pattern Torque pattern n2 40 rpm Speed n rpm T1 T2 T3 t1 0 1 t2 0 1 t3 0 1 tP 1 Torque T Nm t0 1 3 Note t1 t3 Time t s Time t...

Page 67: ...1 0 1 0 1 100 1 3 ED 23 Calculate required acceleration torque T1 Trms 35 Nm nav 6 rpm T1 5 2 1 3 0 86 40 93 Nm 60 0 1 Confirm Is the required acceleration torque less than the maximum output torque o...

Page 68: ...104 Nm rad 7 15 10 4 rad 2 5 arc min 180 60 arc min rad Example T 60 Nm K1 6 7 104 Nm rad T1 29 Nm K2 1 1 105 Nm rad T2 108 Nm K3 1 2 105 Nm rad T T1 K2 T1 K1 T1 T T2 T T2 T2 T1 K2 T1 K1 T T2 K3 4 2...

Page 69: ...oducts see Output Bearing Ratings in the appropriate product chapter Oscillating angle Illustration 69 2 with L10 h Operating life nav rpm Average output speed C N Dynamic load rating see table Output...

Page 70: ...maximum radial force Fax represents the maximum axial force tp represents the pause time between cycles Load factors x y 1 0 45 0 67 0 67 Frav 2 M dp 1 5 Faav Frav 2 M dp 1 5 Faav Illustration 70 5 I...

Page 71: ...tilting moment acting on the output bearing can be calculated by means of equation 71 1 M KB 4 3 2 Angle of Inclination with arcmin Angle of inclination of the output flange M Nm Tilting moment actin...

Page 72: ...d Operation 5 1 Transport and Storage The transportation of the servo actuators and motors should always be in the original packaging If the servo actuators and motors are not put into operation immed...

Page 73: ...asures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handling can cause damage to persons and property The respective national local an...

Page 74: ...to 5 minutes of continuous running at a motor speed of less than 1000 rpm These values should not be exceeded in order to avoid thermal damage to the actuator 5 6 Overload Protection Temperature sens...

Page 75: ...ded by the user or the maintenance of a constant pressure inside the actuator Please contact Harmonic Drive AG for further information Specification sealing air constant pressure in the actuator as de...

Page 76: ...red to Burns from hot surfaces with temperatures of over 100 C Let the motors cool down before starting work Cooling times of up to 140 minutes may be necessary Wear protective gloves Do not work on h...

Page 77: ...cify to change the complete motor feedback system latest 10 years after delivery DANGER 6 Decommissioning and Disposal The servo actuators and motors from Harmonic Drive AG include lubricants electron...

Page 78: ...fied TA limit Backlash Harmonic Planetary gears arcmin When subjected to the rated torque Harmonic Planetary gears display characteristics shown in the hysteresis curve When a torque is applied to the...

Page 79: ...tilting moment with no additional axial forces or radial forces applied Electrical time constant e s The electrical time constant is the time required for the current to reach 63 of its final value Ho...

Page 80: ...que Tmax Nm Specifies the maximum allowable acceleration and deceleration torques For highly dynamic processes this is the maximum torque available for a short period The maximum torque can be paramet...

Page 81: ...en driven at rated torque TN when mounted on a suitably dimen sioned heat sink Rated power PN W Output power at rated speed and rated torque Rated speed nN rpm Mechanical The rated speed is a referenc...

Page 82: ...g the normal operating cycle the repeatable peak torque TR should be not be exceeded Resistance L L 20 C RL L Winding resistance measured between two conductors at a winding temperature of 20 C Size 1...

Page 83: ...torsional rigidity of the Harmonic Planetary gear describes the rotation of the gear above a reference torque of 15 of the rated torque In this area the torsional stiffness is almost linear Transmiss...

Page 84: ...s the applicable requirements in the harmonization legislation established the Community REACH Regulation REACH is a European Community Regulation on chemicals REACH stands for Registration Evaluation...

Page 85: ...Germany Harmonic Drive AG Hoenbergstra e 14 65555 Limburg Lahn info harmonicdrive de www harmonicdrive de Subject to technical changes T 49 6431 5008 0 F 49 6431 5008 119 12 2015 1018854 V01...