Harmonic Drive LLC Product
Member Since 2014
Harmonic Drive, LLC engineers and manufactures precision servo actuators, gearheads and gear component sets. We work closely with Fortune 500, start-ups and companies of all sizes to understand their application requirements and provide a standard or, in most cases, a
Product filed under:
Actuators, Motors & Drives, and Power Transmission Actuators, Motors & Drives, Power Transmission, and Actuators & Mechanics
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HMA Hollow shaft servo motors are available in 5 frame sizes. Large Hollow Shaft design allows cables, shafts or lasers to pass through the axis of rotation.
Models:
HMAC08*200 | HMAB09*200 | HMAB09*100 | HMAB12*200 | HMAB15*200 | HMAA21A*200
Key Features:
- AC Servomotor
- Large Hollow Shaft
- Absolute Encoder (17 bit single-turn, 16 bit multi-turn)
- Available in 5 frame sizes
- Rated output from 163 to 1320 W
- Available with or without brake
Specifications:
| Item | HMAC08 |
HMAB09A200 |
HMAB09A100 |
HMAB12 |
HMAB15 |
HMAA21 |
|
| Rated torque *1,*2 | Nm | 0.52 |
0.80 |
0.80 | 1.55 | 3.6 | 12.6 |
| Rated rotational speed *1,*2 | rpm | 3000 | 3000 | 3000 | 2500 | 2000 | 1000 |
| Rated power *1,*2 | W | 163 | 251 | 251 | 406 | 754 | 1320 |
| Torque constant *1 | Nm/A(rms) | 0.35 | 0.41 | 0.24 | 0.44 | 0.54 | 0.72 |
| Rated current *1,*2 | A(rms) | 2.1 | 2.5 | 4.3 | 4.2 | 7.8 | 20.0 |
| Rated stall current *2 | A | 2.4 | 3.6 | 6.2 | 8.5 | 13 | 33 |
| Max. torque *1 | Nm | 1.8 | 3 | 3 | 6.6 | 13 | 33 |
| Max. rotational speed *1 | rpm | 6000 | 5600 | 4800 | 4800 | 4000 | 3000 |
| Max. current *1 | A(rms) | 6.5 | 8.9 | 15.4 | 19 | 29 | 75 |
| EMF constant *3 | V/(rpm) | 0.037 | 0.043 | 0.025 | 0.046 | 0.057 | 0.075 |
| Phase resistance (at 20?) | Ω | 1.43 | 1.2 | 0.4 | 0.33 | 0.19 | 0.028 |
| Phase inductance | mH | 2.5 | 3 | 1 | 1.4 | 1.2 | 0.29 |
| Moment of Inertia (without brake) | x10-4 kg?m2 | .734 | 1.78 | 1.78 | 6.45 | 15.8 | 125 |
| Moment of Inertia (with brake) | x10-4 kg?m2 | .828 | 2.16 | 2.16 | 6.83 | 19.8 | 141 |
| Mass (without brake) | kg | 1.4 | 2.0 | 2.0 | 3.4 | 5.5 | 17.5 |
| Mass (with brake) | kg | 1.5 | 2.1 | 2.1 | 3.8 | 6.2 | 19.7 |
| Power Supply Voltage | V | AC200 | AC200 | AC100 | AC200 | AC200 | AC200 |
| Encoder type | ? | Absolute encoder | |||||
| Single turn motor revolution encoder resolution |
217 (131072) |
||||||
|
Multi-turn revolution counter *4 (battery buffered) |
? | 216 ( 65536) | |||||
| Motor insulation | ? | Insulation resistance: 100 MΩ (500 VDC) or higher |
|||||
| Dielectric strength : AC1500V/1min?Insulation class : A | |||||||
* B indicates with brake
* 1 The table show typical output values of actuators
* 2 Value after temperature rise and saturation when it is used with aluminum radiation plate shown below:
HMAC08: 320 x 320 x 16 [mm], HMAB09: 350 x 350 x 18 [mm], HMAB12: 400 x 400 x 20 [mm], HMAB15: 500 x 500 x 25 [mm], HMAA21A: 650 x 650 x 30 [mm]
* 3 This is the value of the phase EMF constant multiplied by 3.
* 4 The range of the multi revolution counter is from -32,768 to 32,767.
