Harmonic Drive HMA Series User manual

Flat Hollow Shaft AC Servo Motors
HMA series manual
ISO14001
ISO9001

Introduction
Introduction
Thank you for purchasing our HMAseries AC servo motor.
Incorrect handling or improper use of this product may result in unexpected accidents or a shorter
product life. Read this manual carefully and use the product correctly so that the product can be used
safely for many years.
The information contained in this manual is subject to change without notice.
Keep this manual in a convenient location and refer to it whenever necessary in operating or
maintaining the product.
The end user of the product should have a copy of this manual.

SAFETY GUIDE
1
SAFETY GUIDE
To use this product safely and correctly, be sure to read the SAFETY GUIDE and other parts of this
document carefully and fully understand the information provided herein before using the product.
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
･Machines 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 intended application for our products, please consult us.
If this product is utilized in any facility in which human life is
at stake or that may incur material losses, install safety
devices so that accidents do not occur even when the output
control is disabled due to damage.
WARNING
CAUTION
CAUTION

SAFETY GUIDE
2
SAFETY NOTE
ITEMS YOU SHOULD NOTE WHEN USING THE MOTOR
CAUTIONS RELATED TO THE DESIGN
Always use the motor under the specified conditions:
The motor is designed to be used indoors. Observe the following conditions:
･Ambient temperature: 0 to 40℃
･Ambient humidity: 20 to 80% RH (no condensation)
･Vibration: Max. 25 m/s2
･No contamination by water or oil
･No corrosive or explosive gas
Always follow the instructions in the related manuals to
install the motor in the equipment.
･Follow the instructions in the manual to ensure that the center of the motor
is aligned with the center of the paired unit.
･Improper alignment may cause vibration or damage to the output shaft.
OPERATIONAL PRECAUTIONS
Do not exceed the allowable torque.
･Do not apply a torque exceeding the maximum torque.
･Be aware that, if arms directly attached to the output shaft are hit, the output
shaft may become uncontrollable.
Never connect cables directly to a power supply socket.
･Motors must be connected to the proper driver to operate.
･Do not connect a commercial power supply directly to the motor. Failure to
observe this caution may damage the motor, possibly resulting in a fire.
Do not apply impacts and shocks to the motor.
･Do not tap the motor with a hammer or other tool because an encoder is
connected directly to the motor.
･If the encoder is damaged, the motor may become uncontrollable.
Do not pull the cables.
･Pulling the cables can damage connectors, causing the motor to become
uncontrollable.
CAUTION
WARNING

SAFETY GUIDE
3
ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER
CAUTIONS RELATED TO THE DESIGN
Always use the motor under the specified conditions:
The driver generates heat. Take extra caution for radiation and use it under the
following conditions.
･Mount in a vertical position keeping sufficient distance from other devices to
let heat generated by the driver radiate freely.
･0 to 50℃, 95% RH or below (No condensation)
･No vibration or physical shock
･No dust, dirt, corrosive, or explosive gas
Use sufficient noise suppressing means and safe grounding.
Any noise generated on a signal wire causes vibration or improper motion. Be
sure to observe the following precautions.
･Keep signal and power leads separated.
･Keep leads as short as possible.
･Ground the motor and driver at one single point, minimum ground
resistance class: D (less than 100 ohms)
･Do not use a power line filter in the motor circuit.
Pay attention to negative torque caused by inverse load.
･An inverse load may cause damage to the driver.
･Please consult our sales office if you intent to use the motor in such
applications.
Use a fast-response type ground-fault detector designed for
PWM inverters.
When using a fast-response type ground-fault detector, use one that is
designed for PWM inverters. Do not use a time-delay-type ground-fault
detector.
If this product is utilized in any facility in which human life is
at stake or that may incur material losses, install safety
devices so that accidents do not occur even when the output
control is disabled due to damage.
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 5 minutes after turning
OFF the power supply.
･Even after the power supply is turned OFF, electric charge remains in the
driver. In order to prevent electric shock, perform inspections 5 minutes or
more after the power supply is turned OFF.
･When installing, make sure that the inner electronic components are hard to
reach.
CAUTION
WARNING

SAFETY GUIDE
4
Do not perform a voltage resistance test.
･Do not perform a Megger test or voltage resistance test. Failure to observe
this caution may result in damage to the control circuit of the driver.
･Please consult our sales office if you intent to perform such tests.
Do not operate the driver by switching the power ON/OFF.
･Frequent power ON/OFF operations may cause deterioration of circuit
elements inside the driver.
･Use command signals to start or stop the motor.
DISPOSAL
The motor and driver must be disposed of as industrial
waste.
When disposing of the motor or driver, disassemble it as much as possible,
separate parts according to the material description (if indicated), and dispose
of them as industrial waste.
CAUTION
CAUTION

5
Contents
SAFETY GUIDE .................................................................................................. 1
NOTATION.............................................................................................................1
LIMITATION OF APPLICATIONS............................................................................1
SAFETY NOTE ......................................................................................................2
Contents .......................................................................................................... 5
Related manual .................................................................................................. 7
Conformance to overseas standards ......................................................................... 7
Chapter 1 Outlines
1-1 Outlines ...................................................................................................... 1-1
1-2 Model .......................................................................................................1-2
1-3 Combinations with drivers and extension cables..........................................1-3
1-4 Specifications............................................................................................... 1-4
1-5 Holding brake...............................................................................................1-6
1-6 External dimensions.....................................................................................1-7
1-7 Mechanical accuracy.................................................................................. 1-12
1-8 Detector specifications (Absolute encoder)................................................ 1-13
1-9 Rotation direction....................................................................................... 1-14
1-10 Shock resistance...................................................................................... 1-15
1-11 Resistance to vibration............................................................................. 1-16
1-12 Operable range........................................................................................ 1-17
1-13 Cable specifications................................................................................. 1-20
Motor cable specifications .................................................................................1-20
Encoder cable specifications.............................................................................1-21
Chapter 2Selection guidelines
2-1 HMA series selection.................................................................................... 2-1
Allowable load inertia moment.............................................................................2-1
2-2 Verifying and examining load weights.......................................................... 2-2
2-3 Examining the operating status.................................................................... 2-3
Examining motor rotational speed .......................................................................2-3
Calculating and examining load inertia moment...................................................2-3
Load torque calculation .......................................................................................2-4
Acceleration time and deceleration time..............................................................2-5
Evaluating effective torque and average rotational speed....................................2-6

Contents
6
Chapter 3 Installing the HMA motor
3-1 Receiving inspection....................................................................................3-1
Inspection procedure...........................................................................................3-1
3-2 Notices on handling...................................................................................... 3-2
Installation and transmission torque ....................................................................3-2
Precautions on installation...................................................................................3-3
Use of positioning pins ........................................................................................3-4
Motor shaft material.............................................................................................3-4
3-3 Location and installation............................................................................... 3-5
Environment of location.......................................................................................3-5
Installation...........................................................................................................3-6
Chapter 4Options
4-1 Options ......................................................................................................4-1
Cable taken out from side face (option code: Y) ..................................................4-1
Extension cables.................................................................................................4-2
Appendix
A-1 Unit conversion............................................................................................ 5-1
A-2 Calculating inertia moment.......................................................................... 5-3
Formulas of mass and inertia moment.................................................................5-3
Inertia moment of cylinder ...................................................................................5-5

Related manual
7
Related manual
The related manual is listed below. Use it as a reference as necessary.
Title
Description
AC Servo Driver
HA-800 series manual The specifications and characteristics of HA-800 series drivers are explained.
Conformance to overseas standards
The HMA series motors are compliant with the following overseas standards.
UL standards
UL1004-1, UL1004-6 (File No. E243316)
CSA standards
C22.2 No.100
European Low Voltage EC Directives
EN60034-1, EN60034-5
UL nameplate sticker
According to the UL1004-1, UL1004-6 (File No. E243316) standards, the following specifications are
indicated on the HMA series motors.
Nameplate
field
Description
(1)
Output [W] at pointAon the graph below
(2)
Voltage [V] between motor wires at point A on the
graph below
(3)
Allowable continuous current [A]
(4)
Rotational speed at point A on the graph below [r/min]
(5)
Current fundamental frequency [Hz] at point A on the
graph below
(6)
Allowable ambient temperature [
℃
]
(7)
Number of phases
(1)
(2)
(3)
(4)
(5)
(6)
(7)
UL nameplate sticker
Rated torque
A
Motion range during
acceleration and deceleration
Aluminum radiation plate: 320*320*16
Continuous motion
range
Rotation speed [r/min]
Torque [Nm]

Conformance to overseas standards
8
The values displayed on the name plate for each model are shown below.
Model
Item
HMAC08
(1) Output at point A
W
163
(2) Voltage at pointA
V
130
(3) Allowable continuous current
A
2.1
(4) Speed at point A
r/min
3,000
(5) Frequency at pointA
Hz
250
(6) Allowable ambient temperature
℃
40
(7) Number of phases
-
3
Model
Item
HMAB09
(Motor input voltage 200 V)
HMAB09
(Motor input voltage 100 V)
(1) Output at point A
W
251
251
(2) Voltage at pointA
V
136
71
(3) Allowable continuous current
A
2.5
4.3
(4) Speed at point A
r/min
3,000
3,000
(5) Frequency at pointA
Hz
250
250
(6) Allowable ambient temperature
℃
40
(7) Number of phases
-
3
Model
Item
HMAB12
(1) Output at point A
W
406
(2) Voltage at pointA
V
129
(3) Allowable continuous current
A
4.2
(4) Speed at point A
r/min
2,500
(5) Frequency at pointA
Hz
208
(6) Allowable ambient temperature
℃
40
(7) Number of phases
-
3
Model
Item
HMAB15
(1) Output at point A
W
754
(2) Voltage at pointA
V
125
(3) Allowable continuous current
A
7.8
(4) Speed at point A
r/min
2,000
(5) Frequency at pointA
Hz
167
(6) Allowable ambient temperature
℃
40
(7) Number of phases
-
3
Model
Item HMAA21A
(1) Output at point A
W
1,320
(2) Voltage at pointA
V
100
(3) Allowable continuous current
A
20.0
(4) Speed at point A
r/min
1,000
(5) Frequency at pointA
Hz
133
(6) Allowable ambient temperature
℃
40
(7) Number of phases
-
3

Chapter 1
Outlines
This chapter explains the features, functions and specifications of the motor.
1-1 Outlines ·············································································1-1
1-2 Model················································································1-2
1-3 Combinations with drivers and extension cables ·························1-3
1-4 Specifications······································································1-4
1-5 Holding brake······································································ 1-6
1-6 External dimensions ·····························································1-7
1-7 Mechanical accuracy ·························································· 1-12
1-8 Detector specifications (Absolute encoder) ······························ 1-13
1-9 Rotation direction······························································· 1-14
1-10 Shock resistance····························································· 1-15
1-11 Resistance to vibration ····················································· 1-16
1-12 Operable range······························································· 1-17
1-13 Cable specifications ························································· 1-20

1-1 Outlines
1-1
Outlines
1
Appe
1-1 Outlines
All HMA series AC servo motor models feature a hollow bore structure and compact design. Wires,
pipes, ball screws, or laser beams go through the hollow bore depending on the mechanism design
required for your applications.
HMA series AC servo motors play an important role in driving various factory automation (FA)
equipment, such as robot joints, alignment mechanisms for semi-conductors and LCD devices, ATC of
metal-cutting machines, printing machine roller drives, etc.
Comes standard with a 17-bit magnetic absolute encoder
The HMAseries AC servo motors are equipped with a highly reliable 17-bit magnetic absolute encoder*
with safety function. The serial communication requires fewer cables and provides not only a multi
revolution counting function which is a must-have feature of motors, but it also has an internal backup
battery to retain absolute positions even when the encoder cable is disconnected briefly.
The encoder also constantly compares two sets of detected angles. If any abnormality is found, the
encoder's built-in failsafe function outputs a signal to the host system. This helps you build a safe
system.
* Model No. 08 is equipped with an optical encoder.
Supporting a more compact control board and open network control with a
dedicated driver
The dedicated HA-800 series drivers feature a thin design, contributing to the reduction in the control
board size. It also allows you to control your motor on a MECHATROLINK-II or CC-Link network.

1-2 Model
1-2
Outlines
1
Appe
1-2 Model
The model names for the HMA series motors and how to read the symbols are explained below.
Model example:
HMA B 09 A 200 - 10 S17b A - C Y - SP
(1) (2) (3) (4) (5) - (6) (7) (8) - (9) (10) - (11)
(1) Model: HMA series AC servo motor
(2) Motor version symbol
A Model No. 21A
B Model Nos. 09, 12, 15
C Model No. 08
(3) Model Nos.: 08, 09, 12, 15, 21A
(4) Brake
A Without brake
B With brake
(5) Applicable servo driver input voltage
100 100 V
200 200 V
(100 V is compatible with model No. 09 only.)
(6) Encoder format
10 Compliant with formatA, transmission rate: 2.5 Mbps, 1-on-1 connection
(7) Encoder type, resolution
S17b 17-bit multi-turn absolute encoder, 131,072 pulses/revolution
(8) Encoder phase angle: Phase difference between the voltage induced in motor phase U and
absolute origin
A 0 degree
(9) Connector specification
C With standard connector
N Without connector
(10) Option symbol
Y Cable taken out from the side
(Please contact us for model No. 08. This option is not available for model No. 21A.)
(11) Special specification
No description Standard product
SP Special specification product

1-3 Combinations with drivers and extension cables
1-3
Outlines
1
Appe
1-3 Combinations with drivers and extension cables
The combinations of HMA motors, HA-800 drivers and extension cables are as follows:
HMAC08
HMAB09
HMAB12
HMAB15
HMAA21A
I/O command type HA-800A
-3D/E-200
HA-800A
-3D/E-200
(HA-800A
-6D/E -100)
HA-800A
-6D/E-200 HA-800A -24D/E-200 HA-800A -24D/E -200
MECHATROLINK-II type HA-800B
-3D/E-200
HA-800B
-3D/E -200
(HA-800B
-6D/E -100)
HA-800B
-6D/E-200 HA-800B -24D/E-200 HA-800B -24D/E -200
CC-Link type HA-800C
-3D/E-200
HA-800C
-3D/E -200
(HA-800C
-6D/E -100)
HA-800C
-6D/E-200 HA-800C -24D/E-200 HA-800C -24D/E -200
Extension
cables
(option)
For motors EWD-MB**-A06-TN3 EWD-MB**
-A06-TMC EWD-MB** -D09-TMC
For
encoders EWD-S**-A08-3M14 EWD-S**
-D10-3M14
*1: ** in the extension cable model indicates the cable length: 03 = 3m, 05 = 5m, 10 = 10m
*2: The driver models shown in parentheses are used when combined with motors whose applicable servo driver
input voltage is 100 V.

1-4 Specifications
1-4
Outlines
1
Appe
1-4 Specifications
The specifications of the HMA series motors are shown below.
Model
Item
HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A
Compatible drivers HA-800□-3
D/E-200 HA-800□-3 D/E-200 HA-800□-6 D/E-100 HA-800□-6 D/E-200 HA-800□-2 4D/E-200 HA-800□-2 4D/E-200
Input power supply V 200 200 100 200 200 200
Rated output W 163 251 406 754 1,320
Maximum momentary
torque*1 Nm 1.8 3.0 6.6 13 33
kgf
･
m 0.18 0.31 0.67 1.33 3.37
Rated torque*1*2 Nm 0.52 0.80 1.55 3.60 12.6
kgf
･
m 0.053 0.082 0.158 0.367 1.29
Max. rotational speed*1 r/min 6,000 5,600 4,800 4,800 4,000 3,000
Rated rotational speed r/min 3,000 3,000 2,500 2,000 1,000
Instantaneous max. current*1 A 6.5 8.9 15.4 18 29 55
Rated current*1*2 A 2.1 2.5 4.3 4.2 7.8 20.0
Torque constant*1 Nm/A 0.35 0.41 0.24 0.44 0.54 0.72
kgf
･
m/A
0.036
0.042
0.024
0.045
0.055
0.073
MEF constant*3 V/(r/min) 0.037 0.043 0.025 0.046 0.057 0.075
Phase resistance (20
℃
) Ω1.43 1.2 0.4 0.33 0.19 0.028
Phase inductance mH 2.5 3.0 1.0 1.4 1.2 0.29
Inertia moment
Values in
parentheses are for
models with a
brake.
GD2/4 ×10-4 kg
･
m20.734 1.78 6.45 15.8 125
(0.828)
(2.16)
(6.83)
(19.8)
(141)
J ×10-4kgf
･
cm
･
s27.49 18.2 65.8 161 1,280
(8.45) (22.1) (69.7) (202) (1,444)
Allowable radial load
(when stationary) N
800
800
1,200
2,400
4,500
kgf 81.6 81.6 122 245 459
Allowable axial load
(when stationary) N 1,900 2,400 3,600 5,000 14,000
kgf 194 245 367 510 1,429
Rated radial load
(at rated rotational speed) N 175 185 233 530 1,040
kgf 17.9 18.9 23.8 54.1 106.1
Rated axial load
(at rated rotational speed) N
100
105
130
180
880
kgf 10.2 10.7 13.3 18.4 89.8
Encoder type Absolute encoder
Encoder resolution
Single-turn
detector
217 (131,072)
Multi-turn
detector
*4
216 (65,536)
Mass
Values in parentheses are for
models with a brake.
kg 1.4 2.0 3.4 5.5 17.5
(1.5) (2.1) (3.8) (6.2) (19.7)

1-4 Specifications
1-5
Outlines
1
Appe
Environmental conditions
Operating temperature: 0 to 40
℃
/Storage temperature: -20 to 60
℃
Service/storage humidity: 20 to 80% RH (no condensation)
Resistance to vibration: 25m/s2 (frequency: 10 to 400Hz)
Resistance to impact: 300 m/s2 *5
No dust, metal powder, corrosive gas, inflammable gas, or oil mist.
To be used indoors, no direct sunlight.
Altitude: less than1,000 m above sea level
Motor insulation
Insulation resistance: 100 MΩ or more (500 VDC insulation tester)
Dielectric strength: 1,500 VAC/1 min
Insulation class: A
Mounting direction Can be installed in any direction.
Protection structure Totally enclosed self-cooled type (IP54)
The table above shows the typical values.
*1: Indicates typical characteristics when combined with our driver (driven using an ideal sine wave).
*2: Values after the temperature has risen and saturated when installed on the following aluminum radiation plates.
HMAC08: 320×320×16 [mm]
HMAB09: 350×350×18 [mm]
HMAB12: 400×400×20 [mm]
HMAB15: 500×500×25 [mm]
HMAA21A: 650×650×30 [mm]
*3: Value of the phase-induced voltage constant multiplied by 3.
*4: The multi-turn detector range is -32,768 to 32,767.
*5: For testing conditions, refer to [1-10 Shock resistance] (P1-15) and [1-11 Resistance to vibration] (P1-16).
Motor operation is not guaranteed in applications where vibrations and impacts are continuously applied for a
long period of time.

1-5 Holding brake
1-6
Outlines
1
Appe
1-5 Holding brake
The brakes equipped on HMA series motors are used to hold the motor shaft in place when the power
is cut off. With some models (HMAB09, 12), the motor's built-in circuit controls the voltage supplied to
the brake in order to reduce the power consumption while the brake is actuated.
Always use a DC power supply that has a proper brake excitation voltage and is capable of outputting
enough current during suction.
Specifications
Model
Item
HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A
Type
Dry non-excitation actuation type
Power-saving control No Yes No
Brake excitation voltage V 24 VDC ± 10% (no polarity) *1
Current consumption
during suction
A 0.37 0.8*2 0.8*2 0.7 0.9
Current consumption
during holding
A 0.37 0.3 0.3 0.7 0.9
Holding torque Nm 0.6 1.0 2.0 4.0 15
kgf·m
0.06 0.102 0.204 0.408 1.53
Allowable number of
normal brakings
*3
100,000 times
Allowable number of
emergency stops
*4
200 times
*1: The power supply for the brake is not included in the product. Use a power supply that is capable of outputting
enough current during brake suction.
*2: The duration the current is supplied during suction is 0.5 second or less for the power supply of 24VDC ± 10%.
*3: When the brake is activated at the rotational speed of 150 r/min or less.
*4: When the brake is activated at the rotational speed of 3,000 r/min, provided that the inertia moment of load is 3
times or less than that of the motor.
The holding brake cannot be used for deceleration.
Do not use the holding brake more than the allowable number of normal
brakings (100,000 times at the rotational speed of 150 r/min or less) or allowable
number of emergency stops (200 times at the rotational speed of 3,000 r/min,
provided that the inertia moment of load is 3 times or less than that of the
motor).
Exceeding the allowable number of normal brakings and allowable number of
emergency stops may cause the holding torque to decrease and consequently
become unusable as a brake.
WARNING

1-6 External dimensions
1-7
Outlines
1
Appe
1-6 External dimensions
The external dimensions of the HMA series motors are shown below.
HMAC08 (with/without brake) Unit: mm (third angle projection)
Note: For details on external dimensions, see our illustrated specifications. Tolerances may vary with the product manufacturing method (foundry piece, machine
-finished good).
Contact us for the differential range of the size that is not described.
Encoder cable
Motor cable
(Cable outer diameter:
(Cable outer diameter:
Motor connector
Encoder connector
Housing : Tab contact:
Housing Pin contact
Pin contact
R0.4 or less
R0.4 or less
15 or less

1-6 External dimensions
1-8
Outlines
1
Appe
HMAB09 (with/without brake)
Unit: mm (third angle projection)
Note: For details on external dimensions, see our illustrated specifications. Tolerances may vary with the product manufacturing method (foundry piece, machine
-finished good).
Contact us for the differential range of the size that is
not described.
Encoder cable
Motor cable
(Cable outer diameter:
(Cable outer diameter:
Motor connector
Encoder connector
Housing Pin contact
Pin contact
Housing : Tab contact:
R0.4 or less
R0.4 or less
15 or less