Harmonic Drive LSA-10A-30-D-130, Technical Document

Page 1: ...unexpected accidents and shorten the life of the product Please read this document thoroughly and use accordingly to ensure safe prolonged use Product specifications are subject to change without not...

Page 2: ...m such as lasers etc that may cause physical injury are used please ensure adequate safeguards are in place to prevent accidents in case the scanner driver becomes uncontrollable Warning Operating Pre...

Page 3: ...Load Equipment 18 Chapter 4 Driver Specifications 19 4 1 Main Specifications 19 4 2 Protection Functions 19 4 3 Dimensions Third Angle Method 20 4 4 Environment Specifications 20 4 5 Connector Specif...

Page 4: ...anner operation is minimal and results in low drift High Accuracy Environmentally Strong Scanner The sensor component of the scanner can position with high accuracy system positioning repeatability wi...

Page 5: ...are as follows LSA 10 A 30 Model Galvanometer Scanner System LSA Series Maximum Torque 10 0 1 Nm Version Symbol Maximum Swing Angle 30 15 mechanical angle Specification Symbol No Symbol Standard Speci...

Page 6: ...he scanner mirror etc or for an artificial load device identical to the actual load device The customer is responsible for preparing the load device Although we can evaluate and provide data for our l...

Page 7: ...ections of the applicable models may change in accordance with the customer s operating conditions Therefore please fill in the Optical Scanner Drive Form 2 4 and contact our company before manufactur...

Page 8: ...ed adjustment amplitude If a command with an amplitude larger than the emphasized adjustment amplitude is input longer time is necessary for setting after reaching the command position On the other ha...

Page 9: ...r operating conditions 4 Drive Frequency Unit Hz This indicates the actual drive frequency Please refer to Supplementary Explanation of Optical Scanner Operating conditions Form 2 4 1 for other featur...

Page 10: ...racteristics observed by oscilloscope 5 Emphasized Adjustment Amplitude Unit This indicates the optimally adjusted amplitudes during adjustment Response and stability are well balanced and optimal whe...

Page 11: ...peed range As the shaft rotates inverse direction in the triangular wave drive positioning error immediately after inversion is large 8 Position Delay Unit ms or s This indicates time delays between p...

Page 12: ...30 Convergence Criteria 0 06 0 2 Amplitude Power Source Capacity 24V 240W Heat Radiation Conditions During Continuous Drive Driver 150x150x6mm Aluminum Heat Sink Air Cooling Fan 8W Clamp the entire s...

Page 13: ...riteria positioning accuracy or arc sec 2 6 5 Settling Time ms or s 3 Time after the input becomes constant during trapezoid wave drive 6 Range of Constant Speed 7 Please also list targeted slope duri...

Page 14: ...alues change according to the scanner angle sensitivity a and b above are the values of LSA 10A 30 13 Offset Position Unit V This indicates the offset of the origin of the scanner and the electric ori...

Page 15: ...ower Source Common Case M 100 DC500V Mega 12 Dielectric Strength 2 Motor Coil Case V 1min AC500 Sensor Power Source Common Case V 1min AC500 13 Offset Drift rad C 25 14 Scale Drift C 0 005 15 Mass g 1...

Page 16: ...follows No Items Specifications Remarks 1 Operating Temperature C 0 40 2 Humidity RH 20 85 No condensation 3 Storage Temperature C 10 70 4 Humidity RH 20 90 No condensation 5 Vibration Resistance 1 Vi...

Page 17: ...damaged and displaced The control range 15 then may not be maintained The stopper mechanism is a protection mechanism during malfunctions Refer to the over position alarm output 4 6 6 and configure th...

Page 18: ...ate unexpectedly when the servo is turned on If the scanner starts to oscillate unexpectedly the driver resistance may generate abnormal amounts of heat and start to smoke In this case immediately cut...

Page 19: ...ame Functions 1 Protection when Enable Off ON 1 Prevents unstable operation when Enable OFF ON Controls swing angle within 10 when Enable OFF ON 2 Protection when Power Off Prevents unstable operation...

Page 20: ...40 2 Humidity RH 20 85 No condensation 3 Storage Temperature C 10 70 4 Humidity RH 20 90 No condensation 5 Vibration Resistance 1 Vibration Acceleration m s2 24 5 Testing Conditions Frequency 10 1000...

Page 21: ...e Please refer to Connector Specifications of Scanner 3 2 for pin allocation of connector 4 5 3 Input Output Signal Connector CN3 Input Output Connector Connecting the Upper Controller Driver Connecto...

Page 22: ...nections are as follows Examples of the Connections when Positioning Command Signal is Differential Input Differential Input Examples Pattern 1 Pattern 2 Pattern 3 Pattern 4 Pattern 5 SIG IN 0V 5V 0V...

Page 23: ...eady for operation The servo loop will turn off motor becomes free while the signal input is high level open Examples of connections are as follows Note Please do not turn on the power supply while EN...

Page 24: ...y indicated in the scanner specifications 4 6 5 Positioning Error Signal Monitor Output POS ERR This monitors the difference of the output shaft operating positions for the changes in the positioning...

Page 25: ...ON 15 5 19 ON OFF Over 19 OFF b Over Heat Alarm Output OH ALM When the temperature of the detector attached to the heat sink of the driver exceeds the allowed value Typ 80 the alarm output turns off E...

Page 26: ...the disturbance observer s gain 12 revolutions trimmer VR 7 OB Gain Disturbance Observer Gain Course adjustment of the disturbance observer s gain 12 revolution trimmer VR 8 I Gain Integration Adjust...

Page 27: ...case please immediately cut the power source When there are changes to the adjustment specifications after shipment please consult with our company s sales office Our company will conduct studies reg...

Page 28: ...nced testing stage The data of the motor s maximum current value and the motor s effective current value will be presented Please utilize this data as a guide for power source selection Motor s Maximu...

Page 29: ...er to Overheat Alarm Output 4 6 6 to have the sequence configuration to be Enable OFF Please conduct commands input and heat release process of the driver to ensure that the detector s temperature of...

Page 30: ...the driver PT Management number of the product specifications Adjustment Label ADJ Model of the combined adjustment LSA SER Serial number of the combined adjustment LSA LOAD Identification symbol of...

Page 31: ...the cable Chapter 6 Packaging The combined adjustment components scanner driver accessories are packaged in identical and exclusive boxed packaging After opening please confirm the details of the sca...

Page 32: ...r repairing or exchanging the aforementioned product However situations that correspond to the following shall be excluded from the scope of this warranty 1 Inappropriate handling or misuse by the cus...

Page 33: ...rgstrasse 14 D 65555 Limburg a d Lahn Germany TEL 49 6431 5008 0 FAX 49 6431 5008 119 Harmonic Drive L L C 42 Dunham Ridge Beverly Massachusetts 01915 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 Certi...