servo actuators cha-c

Servo Actuators CHA-C

2

Our inspiration

Since its inception over 40 years ago, Harmonic Drive AG has transformed itself into the company offering the solution of choice for high precision drive technology with over 400 employees in Limburg/Lahn. Whether for servo drives, direct drives, gears following the strain wave principle or planetary drives: the more demanding the task, the better!

The focus of our efforts is the joint development of the best possible solution for you – of course always in respect of time, cost and technology terms.

Overall we currently offer more than 23,000 different products, of which more than 80 % are customer specific solutions which can be manufactured from a lot size of 1.

Any questions you may have, please direct them to our staff in sales and in our technical customer services. It does not matter whether you want advice, check the current status of your order, start to use our products or simply purchase spare parts – we are happy to help you.

Our products are sold throughout the world. Harmonic Drive AG is the contact for customers in Europe, Asia, Africa and South America. North America and the Far East are looked after by our partner companies in those areas, with whom we constantly exchange our knowledge.

3

Harmonic Drive AG and its products are being used in many different industries. Currently we offer drive solutions for use across many application sectors including:

• Robotics and Automation• Machine Tools• Semiconductor Technology• Medical Technology• Packaging Machines• Aerospace and Defence Technology

Quality assured!

With our EN 9100 certification we meet both industrial requirements and even more demanding requests from the aerospace industry and defence technology.We also comply with other requirements, for environmental management and safety at work which are reviewed annually.

Group of companies – we can offer more

Our subsidiaries, Ovalo GmbH and Micromotion GmbH, use the HarmonicDrive® Technology in combination with special production technology for large scale production and in the field of micro systems technology.

QUICKLINK www.harmonicdrive.co.uk/0010

Medical technology

Robotics and Automation

Machine tools

Packaging machines

Semiconductor technology

Aerospace and Defence

4

CHA-CHollow Shaft Servo Actuators

Largest hollow shaft with precision output bearing, new motor feedbackCHA-C Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in four sizes with gear ratios between 30 and 160:1, the actuators can provide maximum torques from 19 to 647 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations.

To adapt to your specific application, the CHA-C Series offers many possible combinations when selecting the motor winding, motor feedback, brake, various sensors and cable as well as connector options. By combining the CHA-C Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.

The integrated 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 bearing offering maximum tilting rigidity, the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable machine characteristics, increased operating reliability and consistent quality. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.

Harmonic Drive ® Servo Actuators are the perfect combination of highly dynamic

compact servo motors, precision Harmonic Drive® Component Sets and integral high load

capacity, tilt resistant output bearings.

• Excellent lifetime precision

• Large hollow shaft

• Easy to customise

• Servo controller available

• Various feedback systems

• Integrated high capacity output bearing

• Third party controller compatibility

• Corrosion protection

Feat

ures

CHA-CQUICKLINKwww.harmonicdrive.co.uk/1015

Cust

omer

Ben

efits

Optimised for your applications:

• Reduced material use

• Higher product quality

• Less waste

• Consistent quality

• High availability

• Reduced Total Cost of Ownership

• Reduced maintenance costs

• Optimal design solution

• Increased operating reliability

• Reduced set up time

• Shorter time to market

• Flexible control configuration

• Easy load connection

• Low manufacturing and installation costs

6


Ordering code

Table 6.5

Table 6.6

Option 1

Ordering code Description

EC Single turn absolute EnDat® Encoder system at the gear output

Option 2

Ordering code Description

K Cable outlet axial

– Standard (cable outlet radial)

Table 6.2

Table 6.1

Table 6.3

Table 6.4

Motor winding

SizeVersion Ordering code Maximum DC bus

voltage

20C AM

680 VDC25C AR

32C AR

40C AU

Series SizeVersion Ratio Motor

windingConnector

configurationMotor

feedback Brake Option 1 Option 2 Special design

CHA

20C25C32C40C

30303000

50505050

80808080

100100100100

120120120120

160160160160

AMARARAU

HN

ROOMGSSIEDCO

B Sensor Cable/Connector

According to customer

requirements

Ordering code

CHA 20C 100 AM H MGS B EC K SP- -- - - -- --

Variations in bold print are available at short notice, subject to prior sale.

Motor feedback

Ordering code Type Protocol

ROO Resolver –

MGS Multi-turn absolute SSI

SIE Single turn absolute EnDat® 2.1/01

DCO Incremental –

Connector configuration

Ordering code Motor feedback Motor Motor feedback

HROOMGSSIE

6 pin (M23) 17 pin (M23)

N DCO 8 pin (M17) 17 pin (M17)

7

Combinations

Table 7.1

● available on request – not available

Gear Component Set

• Zero backlash• Hollow shaft• Transmission accuracy better than 1 arcmin• Repeatability better than ±6 arcsec

Motor feedback

• Incremental encoder• Single- or multi-turn absolute encoder• Resolver

AC Hollow shaft motor

• Sine commutated hollow shaft AC motor• Multiple motor winding options• Winding temperature monitoring with

temperature sensor• Maintenance free

Output bearing

• High load capacity• Tilt resistant• Excellent running characteristics

SizeVersion 20C 25C 32C 40C

Ratio

30 -

50 ● ● ● ●

80

100 ● ● ● ●

120

160

Motor winding

AM ● - - -

AR - ● ● -

AU - - - ●

Connector configurationH ● ● ● ●

N ●

Motor feedback

ROO ●

MGS ● - - -

SIE ● ● ● ●

DCO ● - - -

Brake B ● ● ● ●

Option 1 (Sensor) EC

Option 2 (Cable/Connector) K

8


Technical data

Table 8.1

Table 8.2

Clarification of the technical data can be found in the Glossary of the CatalogueQUICKLINK www.harmonicdrive.co.uk/1015

Actuator Unit CHA-20C CHA-25C

Motor feedback ROO / MGS / SIE / DCO SIERatio i [ ] 30 50 80 100 120 160 30 50 80 100 120 160Maximum output torque Tmax [Nm] 27 56 74 82 87 92 50 98 137 157 167 176Maximum output speed nmax [rpm] 200 120 75 60 50 38 187 112 70 56 47 35Continuous stall torque TO [Nm] 19 32 47 49 49 49 38 55 87 108 108 108Moment of inertia

- with Resolver ROO without brake Jout [kgm²] 0.11 0.30 0.77 1.20 1.73 3.07 – – – – – –- with Resolver ROO with brake Jout [kgm²] 0.14 0.40 1.01 1.58 2.28 4.05 – – – – – –- with Encoder MGS without brake Jout [kgm²] 0.12 0.35 0.88 1.38 1.99 3.54 – – – – – –- with Encoder MGS with brake Jout [kgm²] 0.16 0.44 1.13 1.76 2.54 4.52 – – – – – –- with Encoder SIE without brake Jout [kgm²] 0.19 0.52 1.34 2.09 3.01 5.34 0.38 1.06 2.72 4.25 6.11 10.9- with Encoder SIE with brake Jout [kgm²] 0.22 0.62 1.58 2.47 3.56 6.32 0.53 1.48 3.79 5.92 8.52 15.2- with Encoder DCO without brake Jout [kgm²] 0.09 0.26 0.66 1.03 1.49 2.64 – – – – – –- with Encoder DCO with brake Jout [kgm²] 0.13 0.35 0.91 1.42 2.04 3.62 – – – – – –

Brake holding torque TH [Nm] 27 45 72 82 87 92 54 90 137 157 167 176Weight without brake m [kg] approx. 3.1 4.8Weight with brake m [kg] approx. 3.8 6.0Hollow shaft diameter dH [mm] 18 27Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 1.5 < 1 < 0.8Lost Motion [arcmin] < 1 < 1Torsional stiffness K3 [103 Nm/rad] 11 23 29 21 44 57Ambient operating temperature [°C] 0 … 40 0 … 40Output bearingDynamic radial load FR dyn (max) [N] 8600 12700Dynamic axial load FA dyn (max) [N] 15800 19200Dynamic tilting moment Mdyn (max) [Nm] 172 254

Actuator Unit CHA-32C CHA-40C

Motor feedback SIE SIERatio i [ ] 30 50 80 100 120 160 50 80 100 120 160Maximum output torque Tmax [Nm] 100 216 304 333 353 372 402 519 568 617 647Maximum output speed nmax [rpm] 160 96 60 48 40 30 80 50 40 33 25Continuous stall torque TO [Nm] 44 71 119 154 179 216 125 208 260 314 420Moment of inertia without brake Jout [kgm²] 0.56 1.57 4.01 6.26 9.01 16.0 3.33 8.53 13.3 19.2 34.1Moment of inertia with brake Jout [kgm²] 0.68 1.88 4.81 7.52 10.9 19.3 3.80 9.73 15.2 21.9 38.9Brake holding torque TH [Nm] 54 90 144 180 216 288 225 360 450 540 647Weight without brake m [kg] 7.3 11.9Weight with brake m [kg] 8.4 13.2Hollow shaft diameter dH [mm] 32 39Transmission accuracy [arcmin] < 1.5 < 1 < 0.8 < 0.7 < 0.5Lost Motion [arcmin] < 1 < 1Torsional stiffness K3 [103 Nm/rad] 49 98 120 180 230Ambient operating temperature [°C] 0 … 40 0 … 40Output bearingDynamic radial load FR dyn (max) [N] 14600 27500Dynamic axial load FA dyn (max) [N] 22300 42000Dynamic tilting moment Mdyn (max) [Nm] 578 886

9QUICKLINK www.harmonicdrive.co.uk/CAD1015

CHA-20C CHA-25CIllustration 9.1 Illustration 9.2[mm] [mm]

Table 9.3

Unit CHA-20C CHA-25C

Motor feedback ROO / DCO / MGS / SIE SIE

Length (without brake) L [mm] 118 132.5

Length (with brake) L1 [mm] 139 160

CHA-32C CHA-40CIllustration 9.4 Illustration 9.5[mm] [mm]

Table 9.6

Unit CHA-32C CHA-40C

Motor feedback SIE SIE

Length (without brake) L [mm] 145 158

Length (with brake) L1 [mm] 172.5 177

10


Motor feedback

Resolver

Position measuring system

Encoder

Table 10.1

Table 10.2

Type Incremental Single turn absolute Multi-turn absolute

Ordering code DCO SIE MGS

Manufacturers designation - ECI 119 -

Protocol - EnDat® 2.1/01 SSI (binary)

Power supply 5 VDC ±10% 3.6 … 14 VDC 5 … 30 VDC

Incremental signal EIA 422 1 Vss 1 Vss

Signal form Square wave sinusoidal sinusoidal

Resolution 2048 32 128

Commutation signals 5 x U, V, W - -

Reference signal 1 x Z - -

Absolute position value/revolution - 524288 (19 bit) 131072 (17 bit)

Revolutions - -4096 (12 bit)

Battery back up (internal battery available)

Type Resolver

Ordering code ROO

Power supply 7 VAC

Input frequency 5 … 10 kHz

Current dissipation < 50 mA

Number of pole pairs 1

Transformation ratio 0.5 ±10%

Type Single turn absolute

Ordering code EC

Manufacturers designation ECN 113

Protocol EnDat®

Power supply 3.6 … 14 VDC

Incremental signal 1 Vss

Signal form sinusoidal

Resolution 2048

Absolute position value/revolution 8192 (13 bit)

Revolutions -

System accuracy ±20 “

Table 10.3

11

ESR Pollmeier GmbHwww.esr-pollmeier.de

Compatibility

Product DC bus voltage Temperature sensor Motor feedback

Manufacturer TypeCH

A-C

320

VDC

560

VDC

PTC

KTY

84-1

30

Res

olve

r 2-p

ole

ROO

SSI +

SIN

/CO

S M

GS

EnDa

t® 2

.x/0

1 S

IE

Incr

emen

tal T

TLDC

O

Harmonic Drive AG YukonDrive® ● ● ● ● ● ● ●

Siemens SINAMICS S120 ● ● ● ● ● ●

Bosch Rexroth IndraDrive ● ● ● ● ●

Beckhoff AX 5000 AX 2000

●

●

●

●

●

●

●

●

B&R ACOPOS ● ● ● ●

NUM NUMDrive ● ● ● ●

LTi Drives ServoOne ● ● ● ● ● ● ●

Elmo Gold Trombone ● ●

SEW-EURODRIVE MOVIDRIVE B MOVIAXIS

●

●

●

●

●

●

Lenze Global Drive ● ● ●

Metronix ARS 2000 ● ● ● ●

Parker COMPAX ● ●

KOLLMORGEN AKD S700

Table 11.1

● in service compatible according to datasheet

Compatibility with other manufacturers controllers are available upon request.

12/2

014

10

1807

1

GermanyHarmonic Drive AGHoenbergstraße 1465555 Limburg/Lahn

[email protected]

We reserve the right to make technical changes and modifications without prior notice.

T +49 6431 5008-0F +49 6431 5008-119

USA

Belgium

United Kingdom

The Netherlands

Sweden

TurkeySpain

Israel

Austria

Finland Italy

Brazil Denmark

PolandNorway

India

Switzerland South Africa

France

Japan Russia

Czech Republic

servo actuators cha-c

Documents