Harmonic Drive LA Series User manual

LA Series
Linear Actuator Manual
（DC motor models for Closed-Loop Positioning）
●Thank you very much for your purchasing our LA series linear
actuator.
●Be sure to use sufficient safety measures when installing and
operating the equipment so as to prevent an accident resulting in
a serious physical injury damaged by a malfunction or improper
operation.
●Product specifications are subject to change without notice for
improvement purposes.
●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.
ISO14001
ISO9001

SAFETY GUIDE
For linear actuator series/servo driver system
Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator.
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.
LIMITATION OF APPLICATIONS:
The equipment listed in this document may not be used for the applications listed below:
Space equipment Amusement equipment
Aircraft, aeronautic equipment Machine or devices acting directly on the human body
Nuclear equipment Instruments or devices to transport or carry people
Household apparatus Apparatus or devices used in special environments
Vacuum equipment Instruments or devices to prevent explosion
Automobile, automotive parts
Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to
malfunction or faulty operation.
NOTICES TO USE AN ACTUATOR
Notices for designing and application: Always read the relating technical documents for the purpose.
Do not insert your hand, etc. into the operation area of the output rod (output shaft) of the linear actuator.
● High thrust is outputted from the output rod. Inserting your hand into the operation area may cause injury.
●LA series: Maximum thrust of 49N (5kgf)
Use the actuator and motors only in a specified
environment.
●Use the actuator and motors with the following indoor
conditions:
- Ambient temperature: 0 to 40°C
- Ambient humidity: 20% to 80%RH (No condensation)
- Vibration: 24.5m/S2or less
- No water or oil drips
- No corrosive or explosive gas
Install the actuator and motors with the applied
equipment precisely following the relating
instruction manuals.
●Align the shaft of actuator and motors with the applied
equipment precisely following the relating instruction
manuals.
●Secure the output rod (output shaft) of the actuator to
the paired unit properly according to the technical
documents.
●If the alignment is not precise, vibration will occur,
resulting in damage to the bearing.
Notices for operation: Always read the relating technical documents for the purpose.
Do not apply thrust exceeding the actuator’s and
motor’s maximum thrust.
●Using the actuator by exceeding its maximum thrust
may cause lower precision or failure.
LA series: Maximum thrust of 49N (5kgf)
Do not plug actuators or motors directly to the
commercial power supply.
●An actuator or a motor cannot run without paired driver
unit.
●Direct connection to the commercial power supply will
damage the actuator or motor , and may cause fire.
Do not hit actuators and motors.
●As an actuator or a motor houses an encoder, do not
hit it with a wooden hammer or others.
●When an encoder is fault, the actuator or the motor
runs uncontrollably.
Do not pull lead wires.
●Pulling lead wires will damage wire connections,
causing uncontrolled rotation.
Do not use the output rod for any purposes
involving hitting to stop.
● It may cause damage in the actuator driving system,
resulting in failure or a shorter life.
Do not operate the actuator with wet hands.
●It may cause an electric shock.
Do not touch the main body during operation.
●The output rod generates high thrust. It may run
away due to wrong wiring, etc.
●The surface of the actuator may become very hot
during operation.
The output rod has no self-holding function.
●It cannot hold the load in case of alarm stop or power
shutdown. Provide an external function to avoid
danger.
Do not repair, disassemble, or modify it.
●It may cause an electric shock, injury, or fire. Also,
the initial performance may not be reproduced.
SYSTEMS
CAUTION
CAUTION
CAUTION
WARNING
WARNING
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CAUTION
CAUTION
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NOTICES TO USE A DRIVER UNIT
Notices for designing and application: Always read the relating technical documents for the purpose.
Always use the driver unit in the specified
environment.
●The control unit is for indoor use only. Observe the
following conditions:
- Install it with vertical orientation having enough space
from other devices.
- 0 to 40°C, 95%RH or less (No condensation)
- No vibration, no shock
- No water or oil drips
- No corrosive gas, no explosive gas, no dust, or no
powder.
Make sufficient noise suppression and grounding.
●Electric noise on a signal wire may cause result in unit
malfunction or unexpected occurrence of troubles.
Keep the following conditions:
- Separate signal wires from power lines.
- Make electric wires short as much as possible.
- Actuators and control units should be grounded at one
single point having grounding resistance class 3 or more.
- Do not use a power line filter into motor circuit.
Notices for operation: Always read the relating technical documents for the purpose.
Do not change wiring whenever power supply is
active.
●Turn power OFF at first, then disconnect or connect
connectors or wires. Getting an electric shock or
abnormal damage may occur by changing wire
during power active.
Do not touch a terminal after at least five minutes
from power-OFF.
●Even after power-OFF, electric charge remains in the
control unit. To avoid an electric-shock-accident,
inspection must start after five minutes from
power-OFF.
●The control unit should be housed in a cabinet box
designed not to touch electric parts easily/
Do not make a withstanding voltage test.
●Do not make a withstand test or a voltage resistance
test. The test causes damage to the control unit.
●For this type of use, consult with us.
Do not operate a control unit by means of power
ON/OFF operation.
●The frequent power ON/OFF operation may cause
deterioration of the electric elements.
●Start/stop operation should be performed by means of
input signals.
In case of power failure, turn off the power of the
control unit and driver.
●Failure to do so may cause injury or damage to the
device due to sudden restart.
Do not touch the actuator with wet hands.
●It may cause an electric shock.
Do not repair, disassemble, or modify it.
● It may cause an electric shock, injury, or fire. Also,
the initial performance may not be reproduced.
Abandonment of an actuator and servo driver:
Abandon an actuator and motor as industrial waste.
●Upon disposal, disassemble it as much as possible, separate parts with indicated materials according to the markings, and
dispose of them as industrial waste.
C
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CAUTION
WARNIN
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WARNIN
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LA Series Linear Actuator Manual
Contents
Chapter 1 Outlines of the LA series························································································1
1-1 Features····················································································································1
1-2 Ordering information··································································································1
1-3 External view·············································································································2
1-4 Specifications ············································································································3
1-4-1 Actuator specifications ······························································································3
1-4-2 Encoder specifications ······························································································4
1-5 Accuracy····················································································································5
1-6 Testing system and standards for testing··································································5
1-6-1 Testing system···········································································································5
1-6-2 Standard for testing···································································································6
1-7 Allowable loads ·········································································································8
Chapter 2 Notices at system design and on usage·······························································9
2-1 Environment··············································································································9
2-2 Fundamental notices on usage·················································································9
2-3 Actuator installation···································································································9
2-4 Load direction··········································································································10
2-5 Stroke limits·············································································································10
Chapter 3 Connections···········································································································12
3-1 Motor connection and moving direction ··································································12
3-2 Color of encoder leads····························································································12
3-3 Treatment of encoder leads ····················································································12
3-4 Motor Iead extension·······························································································12
3-5 Encoder lead extension···························································································13
Chapter 4 Control unit············································································································16
Chapter 5 Trial operation········································································································18
5-1 Relationship between input signal and actuator rod···············································18
Chapter 6 Storing····················································································································19
6-1 Storing place············································································································19
6-2 Anti-corrosion··········································································································19
6-3 Storing posture········································································································19

LA Series Linear Actuator Manual
- 1 -
Chapter 1 Overview of the LA series
The LA series actuators (DC motor model) are linear actuators incorporating a precise ball screw, a DC motor for
closed-loop positioning, and a Harmonic drivecomponent having small size, high precision, and no backlash.
With a dedicated control unit, the actuators offer remarkable preciseness in positioning and the smoothest motion
from top speed to extremely low speed responding to input signals.
1-1 Features
◆Ultra-high positioning accuracy in sub-micron-meter-meter order
◆High repeatability in positioning
◆High thrust, small size
◆Closed-loop positioning
◆Low vibration, No skip step, Low heat radiation
◆Long travel
1-2 Ordering information
30
32
10
30
ＬＡ-３０ Ｂ-１０-Ｆ-Ｌ
Linear actuator: LA series
Frame Number:
Version Code:
Stroke(mm):
Mounting: Flange mount
Encoder output type
L:Line driver type
None:Open collector type

LA Series Linear Actuator Manual
- 2 -
1-3 External view
■LA-30B-10-F
Unit:mm
■LA-32-30-F
10
10
143
133
2.5
5
11
28
21
9
21
28
o23 h7
o23
o27
o10
0
-0.021
L-300mm (0.08mm2)
L-300mm (0.08mm2)
4-o3.4
40
36
28
150.8
30
164.1
4
2
7.8
5
5.5
13.3
9
10
36
o10
28
L-300mm (0.08mm2)
L-300mm (0.08mm2)
o12
o 32 h7
0
-0.025
o32
o27

LA Series Linear Actuator Manual
- 3 -
1-4 Specifications
1-4-1 Actuator specifications
Models
Specifications
LA-30B-10-F
LA-32-30-F
Resolution per encoder pulse
0.0174m
Stroke
10 mm
30mm
Rated speed
0.5 mm/sec
Maximum speed
0.9 mm/sec
Maximum load capacity
49N(5 kgf)
Motor
Model
MDC02-1C22
Rated voltage
DC 12V
Rated current
0.5 A
Excitation
Permanent Magnet
Insulation class
B class
Withstand voltage
AC 500V, 1 minute
Insulation resistance
100MΩ or more (by DC500V insulation tester)
Enclosure
Totally Enclosed
Reduction device
Harmonic drive, Ratio: 1/80
Linear motion mechanism
Ball screw, 4 lead: 0.5mm
M5 Lead screw, lead: 0.5mm
Ambient temperature
10ºC to 25ºC
Lubrication
Grease
Storage temperature
-20ºC to +50ºC
Mass
320g
550g
※Dc servomotor needs brush replacing.

LA Series Linear Actuator Manual
- 4 -
1-4-2 Encoder specifications
Signal output
Open collector
Line driver
Resolution
360 pulses/rev
Output channel
3 channels (A, B, Z)
Power supply
DC5V, ±5%, 60mA Max
DC5V, ±5%, 170mA Max
Output level
VOL≦0.5V
Output current
IOL≦20mA
Signal power supply
+5V≦VCC≦+15V
－
Allowable signal voltage
36VDC Max
－
Signal rise time
1S Max. (RL=1kΩ)
0.1S Max. (RL=1kΩ)
Signal fall time
1S Max. (RL=1kΩ)
0.1S Max. (RL=1kΩ)
Max. response frequency
100kHz
Light source
LED
■Line Driver Output Circuit ■Open Collector Output Circuit
■Colors of Encoder Cables
Cable Color
Line Drive
Open Collector
Brown
PhaseA
PhaseA
Blue
Phase
A
－
Red
PhaseB
PhaseB
Green
Phase
B
－
Yellow
PhaseZ
PhaseZ
Orenge
Phase
Z
－
White
Power Supply
Power Supply
Black
Ground(COM)
Ground(COM)
Shield
Floating
Floating
■Line Driver Output Wavefrom
■Open Collector Output Wavefrom
Phase A
Phase
A
Phase B
Phase Z
Phase A
Phase B
Phase Z
Phase
B
Phase
Z

LA Series Linear Actuator Manual
- 5 -
1-5 Accuracy
Items
Stroke
Accuracy
Pay Load
Repetitive accuracy
1 mm
±0.1m or less
9.8～49N
(1～5kgf)
Full stroke
positioning accuracy
Full stroke
10m or less
for 10mm travel
Short stroke
positioning accuracy
Stroke:40m
0.4m pitch
2m or less
for 40m travel
Lost motion
1 mm
5m or less
Note: Measuring temperature: 20ºC±1ºC
1-6 Testing system and standards for testing
1-6-1 Testing system
The LA series linear actuators are guaranteed with the following tests under JIS B6201 standard using our
original measuring system.
Main instruments:
Laser Linear encoder: CANON L-104
Resolution: 0.01m
Repeatability: 0.01m or less
Interface and Indicator: CANON CL-40
Control unit: Harmonic driveHA-360-1A
Controller MYCOM Co. SCN-110
Personal Computer
Control Unit:
HS-360-1A

LA Series Linear Actuator Manual
- 6 -
1-6-2 Standard for testing
(1)Repetitive positioning accuracy
A. Actuator rod moves toward pushing direction until the stroke center.
B. The rod moves 1mm toward pushing direction. The position is named [A1].
C. The rod draws 1mm toward pulling direction, and the position is measured. The position is named [P1].
D. The rod moves 1mm toward pushing direction [A2]. Then it draws 1mm toward pulling direction, and the
position is measured. The position is named [P2].
E. Above push-pull motion is repeated seven times in total. Then seven positions [P1, P2, …, P7] are measured.
The repetitive accuracy is obtained as a half of difference from the maximum measured value to the minimum
value.
(2)Full stroke positioning accuracy
A. Actuator rod moves 5.3mm distance toward pulling direction from the stroke center. Then it moves 0.3mm
toward pushing direction. The position is assigned to “Base position”.
B. From the base position, the rod moves 10mm toward pushing direction by 100m pitch measuring every
position.
C. Position errors are calculated for every position by subtracting the actual position value from its ideal value.
The full stroke positioning accuracy is obtained as the difference of the maximum error and the minimum
error.

LA Series Linear Actuator Manual
- 7 -
(3)Short stroke positioning accuracy
A. Actuator rod moves toward pushing direction until the stroke center. The position is assigned to “Base
position”.
B. Form the base position, the rod moves pushing direction 100 steps by 0.4m pitch measuring every position.
(Total measuring range is 40m.)
C. Position errors are calculated for every position by subtracting the actual position value from its ideal value.
The full stroke positioning accuracy is obtained as the difference of the maximum error and the minimum error.
(4)Lost motion
A. Actuator rod moves toward pushing direction until the stroke center. The position is named [A0].
B. Form [A0], the rod moves 1mm toward pushing direction. The position is named [A1].
C. The rod draws 1mm toward pulling direction, and the position is measured. The position is named [P1].
D. The rod draws 1mm toward pulling direction [A1’] in succession.
E. Then it moves 1mm toward pushing direction, and the position is measured. The position is named [P1’].
F. Above push-pull motion is repeated seven times in total. Then seven pairs of positions (P1, P1’, P2, P2’, …, P7,
P7’) are measured. The lost motion is obtained as the difference between the average of [P1, P2, … P7] and
[P1’, P2’, …, P7’].

LA Series Linear Actuator Manual
- 8 -
1-7 Allowable loads
Allowable loads to the output rod are as follows:
Load
Allowance
Fa: Axial Load
49N (5kgf ) or less
Fr: Side Load
Inhibited
Tm: Rotary Torque
5kgf∙cm (0.49N∙m)
or less

LA Series Linear Actuator Manual
- 9 -
Chapter 2 Notices at system design and on usage
2-1 Environment
Install and use the actuators in the environment as follows:
■Indoor
■Ambient temperature: +10～+25ºC, The temperature fluctuation is recommended to be within ±1ºC to
obtain the best positioning accuracy.
■Ambient humidity: 35～80% RH (Non-condensation)
■Vibration: Less than 2G (19.6 m/s2) (No vibration is recommended, fundamentally)
■No water or oil drip
■No corrosive gas, no explosive gas, no dust, no powder
2-2 Fundamental notices on usage
Do not loose any screws of the actuator, nor disassemble the actuator. Loosening and disassembling may
cause a malfunction, poor accurate positioning, short life, and abnormal noise of the actuator.
2-3 Actuator installation
No limitation on install direction. However, pay attention to holding force when the actuator is installed vertically.
The following drawing is machining dimensions for the attachment.
■LA-30B-10-F
The actuator flange provides four M4 tapped holes, which are available to use for M3 screws.
Install the actuator firmly using M3 or M4 screws.
■LA-32-30-F
The flange for mounting the LA-32-30-F has four through holes 3.4mm in diameter drilled in it. Tap M3 on the
mating side and securely fasten the flange using four M3 screws.
О32 or more

LA Series Linear Actuator Manual
- 10 -
2-4 Load direction
The load direction to the output rod should be one way of pushing direction. In order to move a parts toward
pulling direction, force of 1 kgf (9.8N) to 3 kgf (29N) by means of a spring or a pneumatic cylinder should be
applied to the rod end.
To get high positioning accuracy, pre-load of 1 kgf (9.8N) to 3 kgf (49N) should also be applied to the rod end,
because of no pre-load mechanism in the actuators.
A hemisphere shaped screw is attached on the rod end. Do not apply force from the direction other than
pushing one for keeping high mechanical characteristics such as positioning accuracy.
The hardness of the part to attach the actuator load should be HRC 55～65.
2-5 Stroke limits
Do not move actuator rod exceeding the stroke limit shown below. Otherwise, performance of the actuator may
be worse, and life may be shorten. Three indication lines are marked on the rod side face.
■LA-30B-10-F ■LA-32-30-F
The linear actuators do not house a stroke-end limit switch or a sensor. If the rod moves beyond one of the end
limit lines, the overrunning motion may cause poor positioning accuracy, shorter life or mechanical damage.
Users should install stroke-end limit switches or sensors on the driven mechanism to stop motor rotation.
The figure below shows the motion limits without any margine.
■LA-30B-10-F
Permitted range

LA Series Linear Actuator Manual
- 11 -
■LA-30B-10-F ■LA-32-30-F
Do not make the system of dead-end-stroke even in the permitted range of the rod, because it may cause poor
positioning accuracy, shorter life or mechanical damage the actuator.
Push-out limit
Pull-in limit
Stroke limit

LA Series Linear Actuator Manual
- 12 -
Chapter 3 Connections
3-1 Motor connection and moving direction
The rod moves toward pushing direction when power supply (+) to white motor lead, and (-) to black motor lead.
3-2 Color of encoder leads
Notice: Do not measure resistance of encoder circuitry. Measuring may cause encoder failure.
3-3 Treatment of encoder leads
Do not apply tensile force of more than 0.5kg to an encoder lead and a motor lead.
Slacken off encoder leads for their installation. Do not bend an encoder lead less than 40mm of curvature
radius.
3-4 Motor lead extension
Use cable of 0.8mm2or thicker for extension.
To avoid noise influence to surrounding circuitry, use shielded cable.
Cable Color
Line Drive
Open Collector
Brown
PhaseA
PhaseA
Blue
Phase
A
－
Red
PhaseB
PhaseB
Green
Phase
B
－
Yellow
PhaseZ
PhaseZ
Orenge
Phase
Z
－
White
Power Supply
Power Supply
Black
Ground(COM)
Ground(COM)
Shield
Floating
Floating

LA Series Linear Actuator Manual
- 13 -
3-5 Encoder lead extension
Twist shielded cable is recommended for extension encoder cable. When the extension cable length is shorter
than 2m, shield cable is possible to use.
Total length of the extension cable should be less than 10m. The length is near to 10m, check the followings:
①Check the supplied voltage at the extension cable end of encoder side whether it is more than rated value.
②Check the signal pulse form at the extension cable end of encoder side whether the rise-form delays by the
influence of stray capacitance of the long cable.
Contact us when the cable length exceeds 10m.
Do not use a single cable for motor power leads and encoder leads. Take are not to be affected by noise from
signal lines for other equipment, if the lines uses same extension cable for the encoder.
Take care that an interface circuit for the encoder is not affected by noise. The followings show typical interface
circuit for long extension encoder cable.
■Direct inputting to C-MOS gate
This is useful when the extension is relatively short (a few meter) and noise circumstance is good.
(1) Set the pull-up resistance (RL) with the following equation so that IOL is 5～20mA.
VCC2
IOL = (A)
(2)Set the filter constant (R1, C1) so that the cut-off frequency (fc) is more than 2.8 times of the maximum signal
pulse frequency. １
fc = (Hz)
(3)Shield line should be connected to receiver ground (GND) or metal flame.
(4)If noise circumstance is good, usual shield cable may usable. However twist shield cable is recommended.
RL
2C1
R1
C1≦1000
pF

LA Series Linear Actuator Manual
- 14 -
■Connection through opto-isolator
This is useful when the extension distance is less than 10m.
(1)Opto-Isolator: TLP550 (Maximum: around 50kHz) for an example
(2)Set the pull-up resistance (RL) with the following equation so that IOL is 10～20mA.
VCC1－VF
IOL = (A)
VF: Input forward voltage for photo isolator (approximately 1V to 1.6V)
(3)Set the filter constant (R1, C1) so that the cut-off frequency (fc) is more than 2.8 times of the maximum signal
pulse frequency. １
fc = (Hz)
(4)Shield line should be connected to receiver ground (GND1) or metal flame.
(5)If noise circumstance is good, usual shield cable may usable. However twist shield cable
is recommended.
RL
2C1
RL
C1≦1000
pF

LA Series Linear Actuator Manual
- 15 -
■Influence of cable stray capacitance to signal wave form
Cable stray capacitance deforms and delays signal wave form as shown in the figure below.
When “tr” is longer than “T/8” (tr≧T/8), signal transmission problem may occur. The limit length of the cable is
obtained from the equation below. 1
n = (m)
Where:
n: Limit cable length (m)
Cs: Stray capacitance of cable (F/m)
RL: Load resistance (or pull-up resistance) (Ω)
f: Encoder frequency (pps)
For safety, half length of the value obtained from above equation is recommended for the limit. When the actual
length for the cable is longer than the half, make CSand RLsmall, or use line driver/receiver system. (Contact
us regarding the system.)
●Inputting to Line Driver
・Suitable where the transmission distance is long and noise environment is poor.
・Line driver: AM26LS31
・A terminating resistor of the RT transmission line and 150 to 300Ωis normally specified.
・Line receiver: Conforms to RS422
Note: The examples illustrated above are general examples. Circuit design and selection of constants matching
18.4CsRLf

LA Series Linear Actuator Manual
- 16 -
operating conditions are needed when equipment is designed. Contact HarmonicDrive if you have a question.
Chapter 4 Control unit
◆The following is an external connection example where the pulse output configuration is a line driver.
◆The command configuration is 2-pulse train.
Note: GND (CASE) terminal is connected to inside of the frame.
※：Be certain to connect the mounting part of the actuator and “E”of TB2 by wire.
An encoder error (Alarm 02) may result if wire is not installed.
CN1
HS-360 シリーズ
220
1
2
220
3
4
IN-POS
ALARM
9
位置決め完了出力
アラーム出力
14
READY
動作準備完了出力
Z-IZ
エンコーダＺ出力
OUT-COM
出力信号コモン
10
11
12
13
TB1
電源ﾄﾗﾝｽ
電源入力
AC100V
(50/60Hz)
Ｒ
Ｔ
Ｅ
ﾗｲﾝﾌｨﾙﾀ
L/F
NFB
CP
Ｐ
Ｎ
回生ユニット
8
IN-COM
ALM-RST
ENABLE
CLEAR
DC24V
0V
外部供給電源
アラームリセット
イネーブル
偏差カウンタクリア
5
6
7
2.7k
2.7k
2.7k
35/36
Ａ
シールド
CN2
1～4
5～8
9
10
12
、
13
+5V
Ａ
GND
11
14
Ｂ
Ｂ
Ｚ
Ｚ
E
LMT-VCC
FWD-LMT
REV-LMT
DC＋24V
Input of operation limit signal
2.7k
2.7k
29
31
33
FWD+
FWD-
REV+
REV-
正転指令パルス信号入力
逆転指令パルス信号入力
DC reactor (For HS-360-1A only)
TB2
＋
－
Ｅ
Linear Actuator LA Series
M
金属（※）
FG
FG
FG
シールド
シールド
HS-360 Series
FWD command pulse
signal input
REV command pulse
signal input
External power supply
Alarm Reset
Error Counter Clear
Ready output
Alarm output
In-position output
Encoder Z output
Output Signal Common
Shield
Shield
Shield
CLEAR
Line filter
Power transformer
Power input
Regeneration unit
Encoder Monitor +5V Power
Encoder Monitor Power Common
Encoder Monitor Phase-A signal outp
ut
Encoder Monitor Phase-B signal output
Encoder Monitor Phase-Z signal output
Metall（※）
Enable
25
35/36
26
27
24
23