Harmonic Drive FHA Series User Manual

Harmonic Drive LLC 800-921-3332
30
2-4-7 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.
2-4-8 Regeneration energy
When a large inertia is accelerated and decelerated frequently, the regenerated energy will be quite large. The HA-650 driver is equipped with a
regeneration resistor of 40W capacity to consume the energy. If the energy is larger than the capacity, an additional resistor is required externally.
The required capacity of the external resistor is:
1
2
2 x p x N 1
W
r
= JA + JL x x –40 (W)
2
( ) {
60
}
t
Wr: capacity of external resistor (W)
JA: actuator inertia (kg•m
2
)
JL: load inertia (kg•m
2
)
N: actuator speed at deceleration (r/min)
T: time for one duty cycle (s)
Additional resistors are not required for FHA-17C and FHA-25C actuators. However, it is sometimes required for FHA-32C and FHA-40C actuators.
For reference, the graph to the right shows the required capacity of the resistor, when load inertia is three times of actuator inertia.
1
10
10 0
10 0 0
10 100 1000
FHA-17C-50
FHA-40C-50
FHA-25C-50
FHA-17C-160
FHA-25C-100
Torque [Nm]
Overloaded times [s]
FHA-17C-100
FHA-32C-50
FHA-40C-100
FHA-32C-100
FHA-25C-160
FHA-32C-160
FHA-40C-160
50W
246
Time for one duty cycle (s)
80
60
50
40
Spee d
r
/mi n
External resistor for FHA-32C (JL=3JA)
200W
100W
U
n
necessary
(
)
70
Chapter 2 Guidelines for sizing

Harmonic Drive FHA Series Specifications

General

Brand	Harmonic Drive
Model	FHA Series
Category	Controller
Language	English