Harmonic Drive HMA, HMAB12, HMAC08, HMAB15, HMAA21A Series Manual

Flat Hollow Shaft AC Servo Motors

HMA s eries m anual

ISO14001

ISO9001

Introduction

Introduction

Thank you for purchasing our HMA series AC servo motor.
Incorrect handling or improper use of this product m ay result in unexpected accidents or a shorter
product life. Read t his manual caref ully and us e the pr oduct corr ectly s o 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 cor rectly, be sure to read the SAF ETY GUIDE and other parts of this
document carefully and fully understand the information provided here in bef or e using the pr od uct .

NOTATION

Important safety information you must note is provided herein. Be sure to observe these instructions.

Indicates a potentiall y hazardous situatio n, which, if not avoi ded, 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 b e performed or avoided to prevent non-operation or
malfunction of the product or negative effects on its performance or function.

LIMIT ATION 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 th e manual t o ensure t hat th e 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 comm ercial power supp ly 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 be cause 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 dam age connectors, causing the motor to bec ome

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.

An y noise gener ated on a signa l wire ca uses vibra tion 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.

Mak e s ure that th e po wer i s not ac ti ve bef or e ser vic in g the products. Failure t o

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 suppl y is turned OFF, electric charge remains in the

driver. In order to prevent electric shock, perform inspections 5 m inutes 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 t est or voltag e resistance t est. F ailure to obser ve

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.

W hen disposing of the motor or driver, disassemble it as much as poss ible,

separate parts acc ording to the m aterial des cription ( if indic ated), and dispos e

of them as industrial waste.

CAUTION

CAUTION

5

Contents

SAFETY GUIDE .................................................................................................. 1

NOTATION ............................................................................................................. 1

LIMIT ATION OF APPLIC ATIONS ............................................................................ 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 2 Selection 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 t he 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 4 Options

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 driv er s 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 stick er

According to the UL10 04-1, UL1004-6 (File No. E243316) standards , the following spec ifications are
indicated on the HMA series motors.

Nameplate

field

Description

(1)

Output [W] at point A on 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 point A

V

130

(3) Allowable continuous current

A

2.1

(4) Speed at point A

r/min

3,000

(5) Frequency at point A

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 point A

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 point A

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 point A

V

129

(3) Allowable continuous current

A

4.2

(4) Speed at point A

r/min

2,500

(5) Frequency at point A

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 point A

V

125

(3) Allowable continuous current

A

7.8

(4) Speed at point A

r/min

2,000

(5) Frequency at point A

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 point A

V

100

(3) Allowable continuous current

A

20.0

(4) Speed at point A

r/min

1,000

(5) Frequency at point A

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

1-1 Outlines

All HMA series AC servo motor models feature a ho llow bore structure and compact design. Wires,
pipes, ball screws, or laser beams go through the hollow bore dependin g 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 ro bot j oints , al ig nment mechanisms f or s em i-conduc tor s an d LC D de v ices , ATC of
metal-cutting machines, printing machine roller drives, etc.

 Comes standard with a 17-bit magnetic absolute encoder

The HMA series 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 func tion which is a m ust-have feat ure of m otors, but it als o has an internal b ackup
battery to retain absolute positions even when the encoder cable is disconnected briefly.
The encoder also consta ntly compares two sets of detec ted angles. If any abnorm ality 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 s eries drivers f eature a thin design, con tributing to the r eduction in the c ontrol
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 format A, 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

1-3

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℃)

Ω

1.43 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･m2

0.734 1.78 6.45 15.8 125

(0.828)

(2.16)

(6.83)

(19.8)

(141)

J

×10-4kgf

･

cm･s2

7.49 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 axia l lo a d

(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

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/s

2

(frequency: 10 to 400Hz)

Resistance to impact: 300 m/s

2 *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 temperatur e ha s ri sen and sa tur at ed when installed on the fol lowing aluminum radiation plate s.

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 co nsta nt 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 vibr ation s an d im pac ts 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 H MA series motors are us ed to hold th e m otor shaf t in plac e when the power
is cut off. With some m odels (H MAB09, 12), the m otor's bui lt-in circuit controls the voltage supplied to
the brake in order to reduce the power consumption while the brake is actuated.
Always us e a DC po wer suppl y that has a proper brak e exc itation voltag e and is capable of outp utti ng
enough current during suction.

Specifications

Model

Item

HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A

Type

Dry non-excitation actuation ty pe

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

1-6 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 ill ustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, mac hi ne

-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, mac hi ne

-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