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Servo Actuators CHA-C

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  • 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

    CHA-CHollow Shaft Servo Actuators

    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 2Special 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

    CHA-CHollow Shaft Servo Actuators

    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 [kgm] 0.11 0.30 0.77 1.20 1.73 3.07 - with Resolver ROO with brake Jout [kgm] 0.14 0.40 1.01 1.58 2.28 4.05 - with Encoder MGS without brake Jout [kgm] 0.12 0.35 0.88 1.38 1.99 3.54 - with Encoder MGS with brake Jout [kgm] 0.16 0.44 1.13 1.76 2.54 4.52 - with Encoder SIE without brake Jout [kgm] 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 [kgm] 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 [kgm] 0.09 0.26 0.66 1.03 1.49 2.64 - with Encoder DCO with brake Jout [kgm] 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 [10

    3 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 [kgm] 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 [kgm] 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 [10

    3 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

    CHA-CHollow Shaft Servo Actuators

    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 VssSignal 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 VssSignal 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.

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    GermanyHarmonic Drive AGHoenbergstrae 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

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