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Harmonic Drive FHA Series User Manual
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W
orldwide Locations:
Harmonic Drive Systems, Inc.
Minamiohi 6-25-3, Shinagawa-ku
T
okyo 140, Japan
Harmonic Drive AG
Hoenbergstr
, 14
Limburg/Lahn, D-65555 Germany
FHA rev 03-06
Harmonic Drive LLC
Boston
247 L
ynnfield Str
eet
Peabody
, MA 01960
New Y
ork
89 Cabot Court
Hauppauge, NY 11788
800-921-3332
F: 978-532-9406
www
.HarmonicDrive.net
50
Table of Contents
Default Chapter
3
Table of Contents
3
Safety Guide
4
Chapter 1 Overview of the FHA-C Series
6
Features
6
Combinations with Drivers
7
Ordering Information
7
For Incremental Positioning System
8
Specifications of FHA-C Actuators
8
For Absolute Positioning System
9
External Dimensions of FHA-C Actuators
10
For Incremental Positioning System
10
For Absolute Positioning System
12
Mechanical Accuracy of FHA-C Actuators
14
Encoder Resolution
15
Moment Stiffness
15
One-Way Positioning Accuracy
15
Torsional Stiffness of Actuators
15
Torsional Stiffness
16
Impact Resistance
17
Rotary Direction
17
Torque-Speed Characteristics
17
Vibration Resistance
17
Cable Specifications
20
Signal Waveforms
21
Chapter 2 Selection Guidelines
22
Allowable Load Inertia
22
Variable Load Inertia
22
Verifying Loads
23
Actuator Speed
27
Duty Cycles
27
Load Inertia
27
Load Torque
27
Acceleration Time and Deceleration Time
28
Calculating Equivalent Duty
29
Effective Torque and Average Speed
32
Permissible Overloaded Time
33
Regeneration Energy
33
Chapter 3 Installing the FHA Actuator
34
Receiving Inspection
34
Environment of Location
35
Location and Installation
35
Notice on Handling
35
Installation
36
Chapter 4 Options
37
Brake for Motor
38
Brake Leads
38
Specifications for Incremental Encoder System
38
Cable-End Connectors
39
Clamp for Output
39
Cable Outlets from Back Face
40
Meter Cables
40
Rotary Position Sensor Set
41
Specifications
41
Adjusting Procedure for Sensor Locations
42
Movable Range for each Limit Switch
43
Connectors
44
Extension Cables
44
Appendix 1
45
Unit Conversion
45
Appendix 2
47
Moment of Inertia/Calculation of Mass and Moment of Inertia
47
Inertia of Cylinder
49
Warranty and Terms
50
AC100V Power Supply
37
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Harmonic Drive FHA Series Specifications
General
Brand
Harmonic Drive
Model
FHA Series
Category
Controller
Language
English
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