Harmonic Drive FHA-C mini Series User manual

AC Servo Actuator
FHA-C mini Series
＋
Panasonic Corporation
AC Servo Amplifier MINAS A6
Manual
ISO14001
ISO9001

Introduction
Introduction
Thank you very much for your purchasing our FHA-Cmini series servo actuator.
Wrong handling or use of this product may result in unexpected accidents or shorter life of the product.
Read this document carefully and use the product correctly so that the product can be used safely for
many years.
Product specifications are subject to change without notice for improvement purposes.
Company names and product names in this document are generally registered trademarks or
trademarks of their respective companies.
Keep this manual in a convenient location and refer to it whenever necessary in operating or
maintaining the units.
The end user of the actuator should have a copy of this manual.

SAFETY GUIDE
1
SAFETY GUIDE
To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this
document carefully and fully understand the information provided herein before using the actuator.
NOTATION
Important safety information you must note is provided herein. Be sure to observe these instructions.
Indicates a potentially hazardous situation, which, if not avoided, could result
in death or serious personal injury.
Indicates a potentially hazardous situation, which, if not avoided, may result in
minor or moderate personal injury and/or damage to the equipment.
Indicates what should be performed or avoided to prevent non-operation or
malfunction of the product or negative effects on its performance or function.
LIMITATION OF APPLICATIONS
The equipment listed in this document may not be used for the applications listed below:
･Space equipment
･Aircraft, aeronautic equipment
･Nuclear equipment
･Household apparatus
･Vacuum equipment
･Automobile, automotive parts
･Amusement equipment, sport equipment, game machines
･Machine or devices acting directly on the human body
･Instruments or devices to transport or carry people
･Apparatus or devices used in special environments
If the above list includes your intending application for our products, please consult us.
Safety measures are essential to prevent accidents resulting
in death, injury or damage of the equipment due to
malfunction or faulty operation.
CAUTION
WARNING
CAUTION

SAFETY GUIDE
2
1
2
3
4
5
6
7
8
9
10
11
付
SAFETY NOTE
CAUTIONS FOR ACTUATORS AT APPLICATION DESIGNING
Always use under followings conditions:
The actuator is designed to be used indoors. Observe the following
conditions:
・Ambient temperature: 0 to 40 ℃
・Ambient humidity: 20 to 80 %RH (Non-condensation)
・Vibration: Max 24.5 m/s2
・Impact: Max 294 m/s2
・No contamination by water, oil
・No corrosive or explosive gas
Follow exactly the instructions in the relating manuals to
install the actuator in the equipment.
・Ensure exact alignment of actuator shaft center and corresponding
center in the application.
・Failure to observe this caution may lead to vibration, resulting in
damage of output elements.
CAUTION FOR ACTUATORS IN OPERATIONS
Never connect cables directly to a power supply socket.
・Each actuator must be operated with a proper servo amplifier.
・Failure to observe this caution may lead to injury, fire or damage of
the actuator.
Do not apply impacts and shocks.
・Do not use a hammer during installation.
・Failure to observe this caution could damage the encoder and may
cause uncontrollable operation.
Avoid handling of actuators by cables.
・Failure to observe this caution may damage the wiring, causing
uncontrollable or faulty operation.
Keep limited torques of the actuator.
・Keep limited torques of the actuator.
・Be aware, that if arms attached to output element hits by accident an
solid, the output element may be uncontrollable.
CAUTION
WARNING
CAUTION

SAFETY GUIDE
3
ITEMS YOU SHOULD NOTE WHEN USING THE SERVO AMPLIFIER
Read the related manuals to ensure safe operation. For details on the related
manuals, refer to the [Related manual] (P4).
Before usage, ensure you read the "Safety Guide AC Servo Motor & Amplifier
MINAS A6 Series" operation manual.
Please download the operation manual from the Panasonic Corporation website.
http://industrial.panasonic.com/jp/products/motors-compressors/fa-motors
OPERATIONAL PRECAUTIONS
Never change any wiring while the power is active.
Make sure that the power is not active before servicing the products. Failure to
observe this caution may result in an electric shock or uncontrollable
operation.
Do not touch the terminals for at least 15 minutes after
turning OFF the power supply.
･Even after the power supply is turned OFF, electric charge remains in the
servo amplifier. In order to prevent electric shock, perform inspections 15
minutes or more after the power supply is turned OFF.
･When installing, make sure that the inner electronic components are hard
to reach.
DISPOSAL
The actuator and servo amplifier must be disposed of as
industrial waste.
When disposing of the actuator or servo amplifier, disassemble it as much as
possible, separate parts according to the material description (if indicated),
and dispose of them as industrial waste.
WARNING
CAUTION

Related manual
4
1
2
3
4
5
6
7
8
9
10
11
付
Related manual
The related manual is listed below. Use it as a reference as necessary.
Title Document No. Description
Obtaining
method
Modbus communication
and Block operation
Specification
No.SX-DSV03033
MINAS A6/A6L Modbus communication
specification
s and block operation function
specifications are explained.
Can be
downloaded
from the
Panasonic
Corporation
website.
Functional Specification No.SX-DSV02910 Servo amplifier MINAS A6 series functions are
explained.
Realtime Express（RTEX）
Functional Specification No.SX-DSV03027 Servo amplifier MINAS A6N series functions
are explained.
Realtime Express（RTEX）
Communication
Specification
No.SX-DSV03028
The specifications of the network interface
"Realtime Express" RTEX, which connects the
servo amplifier MINAS A6N series to the host
device, are explained.
EtherCAT
Functional Specification No.SX-DSV03215 Servo amplifier MINAS A6B series functions
are explained.
EtherCAT
Communication
Specification
No.SX-DSV03216
The specifications of the network interface
EtherCAT, which connects the servo amplifier
MINAS A6B series (slave) to the host device
(master), are explained.

5
Contents
SAFETY GUIDE ..................................................................................................... 1
NOTATION...........................................................................................................1
LIMITATION OF APPLICATIONS .........................................................................1
SAFETY NOTE ....................................................................................................2
Related manual ...................................................................................................... 4
Contents ................................................................................................................. 5
Chapter 1 Outlines
1-1 Outlines......................................................................................................1-1
1-2 Model .......................................................................................................1-2
1-3 Combinations with servo amplifier and extension cables........................... 1-3
1-4 Specifications.............................................................................................1-4
1-5 External drawing ........................................................................................1-5
1-6 Mechanical accuracy .................................................................................1-7
1-7 Uni-directional positional accuracy.............................................................1-8
1-8 Output shaft resolution...............................................................................1-9
1-9 Rigidity ..................................................................................................... 1-10
Moment stiffness .............................................................................................1-10
Rotation direction torsional stiffness ................................................................ 1-11
1-10 Rotation direction.....................................................................................1-12
1-11 Shock resistance...................................................................................... 1-13
1-12 Resistance to vibration............................................................................. 1-14
1-13 Operable range........................................................................................1-15
1-14 Cable specifications.................................................................................1-18
Chapter 2 Selection guidelines
2-1 FHA-C mini series selection.......................................................................2-1
Allowable load inertia moment...........................................................................2-1
2-2 Change in moment of inertia of load ..........................................................2-2
2-3 Verifying and examining load weights ........................................................2-3
2-4 Examining operating status........................................................................ 2-7
Examining actuator rotation speed ....................................................................2-7
Calculating and examining load inertia moment ................................................2-7
Load torque calculation .....................................................................................2-8
Acceleration time and deceleration time............................................................2-9
Examining effective torque and average rotation speed ..................................2-10

Contents
6
Chapter 3 Installation
3-1 Receiving inspection..................................................................................3-1
Verification steps ...............................................................................................3-1
3-2 Notices on handling ...................................................................................3-2
3-3 Installation location and installation............................................................3-3
Environment of installation location ...................................................................3-3
Installation.........................................................................................................3-3
Appendix
Apx-1 Unit conversion .....................................................................................Apx-1
Apx-2 Calculating inertia moment....................................................................Apx-3
Formula of mass and inertia moment ............................................................Apx-3

1
Outlines
Outlines of product models, specifications, external drawings, etc., are explained in this
chapter.
1-1 Outlines··········································································· 1-1
1-2 Model ············································································· 1-2
1-3 Combinations with servo amplifier and extension cables ············ 1-3
1-4 Specifications ··································································· 1-4
1-5 External drawing ······························································· 1-5
1-6 Mechanical accuracy·························································· 1-7
1-7 Uni-directional positional accuracy ········································ 1-8
1-8 Output shaft resolution························································ 1-9
1-9 Rigidity·········································································· 1-10
1-10 Rotation direction ···························································· 1-12
1-11 Shock resistance ····························································· 1-13
1-12 Resistance to vibration······················································ 1-14
1-13 Operable range ······························································· 1-15
1-14 Cable specifications ························································· 1-18
Chapter

1-1 Outlines
1-1
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
1-1 Outlines
FHA-C mini series AC Servo Actuators provide high torque and highly accurate rotary operation.
These integrated AC Servo Actuators are each composed of a thin type speed reducer
HarmonicDrive®for precision control from models No. 8 to No. 14 and a flat AC servo motor.
Can now be controlled by Modbus, RTEX, or EtherCAT when combined with the Panasonic AC servo
amplifier MINAS A6 series.
FHA-C mini series actuators play an important role in driving various factory automation (FA)
equipment, such as robot joints, alignment mechanisms for semi-conductor LCD devices, etc.
Slim line body
Combines an ultra-thin speed reducer HarmonicDrive®for precision control with an ultra-flat AC
servo motor for an ultra-slim design. The compact size allows much smaller machines and
devices to be designed.
Lightweight, compact and high-output torque
The thin type speed reducer HarmonicDrive®for precision control allows the FHA-C mini series
actuator to have a much higher output torque per external drawing than direct drive motors.
High positional accuracy
Achieves unidirectional positional accuracy within 150 seconds.
* Varies by model No. and speed ratio. For details, refer to [1-7 Uni-directional positional
accuracy] (P1-8).

1-2 Model
1-2
Apx
Apx
10
11
1
2
3
4
5
6
7
8
9
10
11
Outlines
1-2 Model
Model names for the FHA-C mini series and how to read the symbols are explained below.
FHA-8 C-30-14S17b G-C-A6
Model: AC Servo Actuator
FHA-C mini series
Model No.: 8, 11, 14
Version symbol
Reduction ratio of the HarmonicDrive®
30 : 1/30
50 : 1/50
100 : 1/100
With connector (standard specification)
Encoder type and resolution
14S17b
Absolute encoder
(Conforming to MINAS format)
131072 p/rev
(17bit)
Input power supply
G: 200 VAC specification
Combined amplifier symbol
A6: MINAS A6 series

1-3 Combinations with servo amplifier and extension cables
1-3
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
1-3 Combinations with servo amplifier and extension cables
The combinations of FHA-C mini series actuators, MINAS A6 servo amplifiers, and extension cables are as
follows:
Actuator model Model No. FHA-8C
FHA-11C
FHA-14C
Speed ratio 30 50 100 30 50 100 30 50 100
Servo amplifier model MADL□05■○○○○○○○○
MADL□15■○
Extension cables
(option)
Motor wire EWD-MB**-A06-TN-P
Encoder wire
MFECA0
**
-0EAE (With battery box)
"□" and "■" in the servo amplifier model are the function classifications for safety functions and interface
specifications. See below for details.
Symbol
Symbol
Specification
□
N
Without safety function
T
With safety function
Symbol
Symbol
Interface specification
Function classification
■
SE
Analog/Pulse
Position control type
SG
General purpose communication type
SF
Multi-function type
NE
RTEX
Standard type
NF
Multi-function type
BN
EtherCAT
Standard type
BF
Multi-function type
For details on servo amplifiers and encoder extension cables, contact Panasonic Corporation customer support.

1-4 Specifications
1-4
Apx
Apx
10
11
1
2
3
4
5
6
7
8
9
10
11
Outlines
1-4 Specifications
The specifications for the FHA-C mini series actuators are as follows.
Model
Item
FHA-8C
FHA-11C
FHA-14C
30
50
100
30
50
100
30
50
100
Maximum torque *1
N･m
1.8
3.3
4.8
4.5
8.3
11
9.0
18
28
kgf･m
0.18
0.34
0.49
0.46
0.85
1.1
0.92
1.8
2.9
Allowable continuous
torque
*1*2
N
･
m 0.75 1.5 2 1.8 2.9 4.2 3.5 4.7 6.8
Max. rotational speed r/min
200
120
60
200
120
60
200
120
60
Allowable continuous
rotation speed
*2
r/min 116.7 70 35 116.7 70 35 100 60 30
Torque constant N
･
m/A
3.9
6.7
14
3.8
6.6
13
4.2
7.2
15
kgf
･
m/A 0.40 0.68 1.4 0.39 0.67 1.4 0.43 0.74 1.5
Max. current
*1
A 0.61 0.64 0.48 1.5 1.6 1.1 2.9 3.2 2.4
Allowable continuous
current
*1*2
A 0.31 0.34 0.26 0.74 0.69 0.54 1.27 1.06 0.85
Input power supply
(servo amplifier)
V AC200
EMF constant (interphase) V/(r/min)
0.48
0.80
1.6
0.48
0.80
1.6
0.52
0.86
1.70
Phase resistance (20 °C)
Ω
14
3.7
1.4
Phase inductance mH
5.7
3.2
1.8
Inertia moment (GD2/4) kg
･
m2
0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
(J) kgf
･
cm
･
s2
0.0270 0.0747 0.298 0.0630 0.176 0.705 0.197 0.547 2.189
Reduction ratio
30
50
100
30
50
100
30
50
100
Permissible moment load N
･
m
15
40
75
kgf
･
m
1.5
4.1
7.7
Moment stiffness N
･
m/rad
2 x 104
4 x 104
8 x 104
kgf
･
m/rad
0.2 x 104
0.4 x 104
0.8 x 104
Encoder type Absolute encoder
Encoder resolution
Single-turn
detector
217（131072）
Multi-turn
detector
216（65536）
Output shaft resolution Pulse/rev
3932160
6553600
13107200
3932160
6553600
13107200
3932160
6553600
13107200
Uni-directional
positional accuracy
Sec. 150 120 120 120 90 90 120 90 90
Mass kg
0.50
0.75
1.3
Protection structure
Totally enclosed self-cooled type
Environmental conditions
Operating temperature: 0 to 40 °C /Storage temperature: -20 to 60 °C
Operating humidity/storage humidity: 20 to 80 % RH (no condensation)
Resistance to vibration: 24.5 m/s2(frequency 10 to 400 Hz) *3
Shock resistance: 294 m/s2*3
No dust, metal powder, corrosive gas, inflammable gas, or oil mist.
To be used indoors, no direct sunlight.
Altitude: less than 1000 m above sea level
Magnetic noise resistance: 0.01 tesla
Motor insulation
Insulation resistance: 100 MΩ or more (by 500 VDC insulation tester)
Dielectric strength: 1500 VAC/1 min
Insulation class: B
Safety standard compliance
CE marking
Mounting direction
Can be installed in any direction.
The table shows the output shaft values of the actuators.
*1: The typical value when combined with a MINAS A6 servo amplifier.
*2: Values after the temperature has risen and saturated when installed on the following aluminum radiation plates.
8C, 11C: 150×150×6 [mm]
14C : 200×200×6 [mm]
*3: For testing conditions, refer to [1-11 Shock resistance] (p.1-13) and [1-12 Resistance to vibration] (p.1-14).

1-5 External drawing
1-5
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
1-5 External drawing
The external drawings of FHA-C mini series are shown below.
Use the included accessory encoder connector converter cable to connect the encoder.
Unit [mm] (third angle projection)
FHA-8C-xx-14S17bG-C-A6
Output
rotary unit
Output
rotary unit
FHA-11C-xx-14S17bG-C-A6
FHA-14C-xx-14S17bG-C-A6
Output
rotary unit

1-5 External drawing
1-6
Apx
Apx
10
11
1
2
3
4
5
6
7
8
9
10
11
Outlines
Cable pullout (common specification)
Note: Tolerances may vary due to product manufacturing method (foundry piece,
machine-finished good). Please contact us for the tolerance when it is not indicated in the
dimensions.
Encoder connector converter cable
Note: For details on the connector, refer to [1-14
Cable specifications
] (P1-18).
[Servo amplifier side]
[Actuator side]
Housing
Tab contact
Receptacle housing:
Receptacle contact :
Plug housing
Pin contact
Housing
Tab contact
(PVC tube)
Motor connector
Encoder connector
Motor cable 4-core
Encodor cable
(3-pair + shield)

1-6 Mechanical accuracy
1-7
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
1-6 Mechanical accuracy
The mechanical accuracies of the output shaft and mounting flange are shown below for FHA-C mini
series actuators.
Mechanical accuracy
Accuracy items
FHA-8C
FHA-11C
FHA-14C
1. Output shaft
surface runout
0.010
2. Deflection of
output shaft
0.010
3. Parallelism
between the
output shaft end
mounted surface
0.040
4. Concentricity
between the
output shaft and
fitting part
0.040
Note: All values are T.I.R. (Total Indicator Reading).
The measuring for the values are as follows:
1Output shaft surface runout
The dial gauge on the fixed part measures the axial
runout (maximum runout width) of the outermost
periphery of output shaft of the output rotary unit per
revolution.
2Deflection of output shaft
The dial gauge on the fixed part measures the radial
runout (maximum runout width) of output shaft of the
output rotary unit per revolution.
3Parallelism between the output shaft end mounted surface
The dial gauge on the output rotary unit measures the
axial runout (maximum runout width) of the outermost
periphery of the mounting surface (both on the output
shaft side and opposite side) of the output rotary unit
per revolution.
4Concentricity between the output shaft and fitting part
The dial gauge on the output rotary unit measures the
radial runout (maximum runout width) of the fitting part
of the output rotary unit per revolution.
Unit [mm]

1-7 Uni-directional positional accuracy
1-8
Apx
Apx
10
11
1
2
3
4
5
6
7
8
9
10
11
Outlines
1-7 Uni-directional positional accuracy
The uni-directional positional accuracy means the maximum positional difference between the actual
rotated angle from the datum position and its theoretical rotational angle in 1 revolution when series of
positionings are performed in the same rotation direction.
(refer to JIS B-6201-1987.)
FHA-C mini series actuators house speed reducer HarmonicDrive®for precision control, so the
positioning error of the motor shaft is compressed to 1/30, 1/50 or 1/100 by the gearing. The actual
angle transmission error of the speed reducer determines the uni-directional positional accuracy.
Therefore, the measurement value of the angle transmission error of the speed reducer is expressed
as the uni-directional positioning accuracy of the FHA-C mini series.
The uni-directional positional accuracy is shown in the table below:
Model
Item
FHA-8C
FHA-11C
FHA-14C
30
50
100
30
50
100
30
50
100
Uni-directional
positional accuracy
Sec. 150 120 120 120 90 90 120 90 90
Datum position
Actual stop position
Theoretical stop position
Positioning error

1-8 Output shaft resolution
1-9
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
1-8 Output shaft resolution
The motors of the FHA-C mini series actuators are equipped with an absolute encoder of 131072
pulses per revolution. The function reduces the motor output to 1/30, 1/50 and 1/100 by using a speed
reducer HarmonicDrive®for precision control. The output shaft resolution per revolution is 30, 50 or
100 times.
Speed ratio
Item 30 50 100
Encoder resolution
2
17
(131072 pulse/rev)
Reduction ratio
30
50
100
Output shaft resolution
Pulse/rev
3932160
6553600
13107200
Resolvable angle per pulse
Sec.
Approx. 0.33
Approx. 0.2
Approx. 0.1

1-9 Rigidity
1-10
Apx
Apx
10
11
1
2
3
4
5
6
7
8
9
10
11
Outlines
1-9 Rigidity
Moment stiffness
The moment stiffness refers to the torsional stiffness when a moment load is applied to the output
shaft of the actuator (shown below).
For example, when a load is applied to the end of an arm attached on the actuator output shaft, the
face of the output shaft tilts in proportion to the moment load (shown below). The moment stiffness is
expressed as the tensional moment/angle.
Model
Item
FHA-8C FHA-11C FHA-14C
Moment stiffness
N･m/rad
2 x 10
4
4 x 10
4
8 x 10
4
kgf･m/rad
0.2 x 10
4
0.4 x 10
4
0.8 x 10
4
kgf･m/arc-min
0.59
1.2
2.4
Load
Gradient

1-9 Rigidity
1-11
1
2
3
4
5
6
7
8
9
10
11
Apx
Outlines
Rotation direction torsional stiffness
If a torque is applied to the output shaft of the actuator with the servo locked, the output shaft
generates a torsional stress roughly in proportion to the torque.
The upper right figure shows the torsional angle of the
output shaft when a torque starting from zero and
increased to positive side [+T0] and negative side [–T0] is
applied to the output shaft. This is called [torque vs.
torsional angle] diagram, which typically follows a loop
0→A→B→A'→B'→A. The torsional rigidity of the FHA-C
mini series actuator is expressed by the slope of this
[torque vs. torsional angle] diagram representing a spring
constant (unit: [N·m/rad]).
As shown by lower right figure, this [torque vs. torsional
angle] diagram is divided into 3 regions and the spring
constants in these regions are expressed by K1, K2, and
K3, respectively.
K1: Spring constant for torque region 0 to T1
K2: Spring constant for torque region T1to T2
K3: Spring constant for torque region over T2
The torsional angle for each region
is expressed as follows:
Range where torque T is T1 or below:
Range where torque T is T1 to T2:
Range where torque T is T2or above:
The table below shows the average value of each actuator.
Model
Item
FHA-8C
FHA-11C
FHA-14C
30
50
100
30
50
100
30
50
100
T1N
･
m
0.29
0.29
0.29
0.80
0.80
0.80
2.0
2.0
2.0
kgf･m
0.030 0.030 0.030 0.082 0.082 0.082 0.20 0.20 0.2
K1
x104N･m/rad
0.034 0.044 0.091 0.084 0.22 0.27 0.19 0.34 0.47
kgf･m/arc-min
0.010
0.013
0.027
0.025
0.066
0.080
0.056
0.10
0.14
θ
1
x10-4 rad
8.5
6.6
3.2
9.5
3.6
3.0
10.5
5.8
4.1
arc-min
3.0
2.3
1.1
3.3
1.2
1.0
3.6
2.0
1.4
T2
N･m
0.75 0.75 0.75 2.0 2.0 2.0 6.9 6.9 6.9
kgf･m
0.077
0.077
0.077
0.20
0.20
0.20
0.70
0.70
0.7
K2x10
4
N
･
m/rad
0.044
0.067
0.10
0.13
0.30
0.34
0.24
0.47
0.61
kgf
･
m/arc-min
0.013
0.020
0.031
0.037
0.090
0.10
0.07
0.14
0.18
θ
2
x10-4 rad
19
13
8
19
8
6
31
16
12
arc-min
6.6
4.7
2.6
6.5
2.6
2.2
10.7
5.6
4.2
K3x10
4
N
･
m/rad
0.054
0.084
0.12
0.16
0.32
0.44
0.34
0.57
0.71
kgf･m/arc-min
0.016 0.025 0.036 0.047 0.096 0.13 0.10 0.17 0.21
The table below shows reference torque values calculated for different torsional angles. Unit [N·m]
Model
Torsional
angle (arc-min)
FHA-8C
FHA-11C
FHA-14C
30 50 100 30 50 100 30 50 100
2
0.20
0.25
0.56
0.49
1.3
1.8
1.1
2.0
3.0
4
0.42
0.63
1.2
1.1
3.3
4.2
2.3
4.7
6.5
6
0.68
1.1
1.9
1.8
5.2
6.8
3.6
7.6
11
3
2
2K
TT −
+θ=ϕ
2
1
1K
TT −
+θ=ϕ
1K
T
=ϕ
angleTorsional:*φ
Torsional angle
Hysteresis loss
Torque
0
B’
B
A
+T
0
-T
0
A’
Torsional angle
K
3
K
2
K1
T
1
T
2
Torque
0
θ
1
θ
2