HD SYSTEMS

Rotary Actuator FHA Series with Copley XTL Xenus

HD SYSTEMS FHA Series Rotary Actuator with AC Brushless motor With Copley XTL Xenus Amplifier

Features

Hollow-shaft design. High Torque range 15Nm to 300Nm continuous, 39Nm to 820Nm peak. Speed range 25rpm to 96rpm. Commutating Encoder 2500 line count (up to 1,600,000cpr at output shaft). High Rigidity range 2.2Nm/rad to 14 Nm/rad moment of stiffness. 24V Brake option.

www.copleycontrols.com Filename: XTL-Xenus_to_HD-Systems-FHA.doc

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Motor Data

Rotary Actuator FHA Series with Copley XTL Xenus

Harmonic Drive Systems motor data files can be downloaded from the web for use with the Xenus XTL-230-18 and CME2 software. http://www.copleycontrols.com/motion/software/#m FHA-17C -50 -100 39 57 96 48 21 42 0.93 0.74 FHA-25C -50 -100 150 230 90 45 22 45 2.1 2.1

Max torque Nm Max speed of rotation r/min Torque constant Nm/A Continuous Current A Moment of kgm2 0.17 0.67 1.7 0.81 3.2 8.3 inertia(GD2/4) Tolerable radial load kN 2.9 4.9 Tolerable axial load kN 9.8 14.7 Tolerable moment of Nm 188 370 load Rigidity of moment Nm/rad 220X103 490X103 One-direction sec. 60 40 40 40 30 30 positional accuracy Quad Encoderp/rev 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 resolution FHA-32C -50 -100 281 398 80 40 27 54 3.1 3.1 FHA-40C -50 -100 500 690 70 35 31 64 4 4

-160 64 30 67 0.51

-160 260 28 72 1.6

-160 -160 Max torque Nm 453 820 Max speed of rotation r/min 25 21.9 Torque constant Nm/A 86 102 Continuous current A 3 3.8 Moment of kgm2 1.8 7.1 18.1 4.9 19.5 50 inertia(GD2/4) Tolerable radial load kN 9.5 14.7 Tolerable axial load kN 24.5 39.2 Tolerable moment of Nm 530 690 load Rigidity of moment Nm/rad 790X103 1400X103 One-direction sec. 40 30 30 40 30 30 positional accuracy Quad Encoderp/rev 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 resolution

www.copleycontrols.com Filename: XTL-Xenus_to_HD-Systems-FHA.doc

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Dimensions

Rotary Actuator FHA Series with Copley XTL Xenus

Size FHA-17C FHA-25C FHA-32C FHA-40C Size FHA-17C FHA-25C FHA-32C FHA-40C

A 6-5.5 8-6.6 12-6.6 8-11 Mh7 108 128 148 185

B 118 142 162 208 N 6.5 11 7.7 11 P 4 4 4 8

C 60 74 95 112 Q 5 5 5 7

D 6-M5 8 Deep 8-M6 10 Deep 16-M6 10 Deep 8-M10 15 Deep R 16 20 17 23 S 12 15 18 22

E 128 155 175 230 T 45 50.5 71.5 75

Fh7 105 125 140 185

Gh7 70 85 105 130 W 8.5 9 9 9

H H7 25 42 60 60 Y 12 10 9 10

18 3.5 106 32 5 123

35 3.5 129 45 7.6 164 Z 68 77 80 97 Weight 2.5kg 4kg 6.5kg 12kg

U 78 90.5 111.5 127

Dimensions in mm

www.copleycontrols.com Filename: XTL-Xenus_to_HD-Systems-FHA.doc

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XTL Xenus Wiring
Controller
Analog +/-10 V

Rotary Actuator FHA Series with Copley XTL Xenus

Chassis Gnd Ref - Input Ref + Input Enable (In1) GP (In2) GP (In3) GP (In4) GP (In11) GP (In12) HS (In6) HS (In7) HS (In8) HS (In9) HS (In10) Signal Gnd (Out1) (Out2) (Out3) +5 VDC @ 400 mA Signal Gnd Multi-Mode Enc /X Multi Mode Enc X Multi-Mode Enc /B Multi-Mode Enc B Multi-Mode Enc /A Multi-Mode Enc A CAN_H

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 1 2 7 8 1 2 7 8

1 2 3 4 5 6 7 8 9

Chassis Gnd +5VDC 400mA Hall U +5VDC 400mA Signal Gnd Hall V Enc /X Enc X Hall W Motemp Enc /B Enc B Enc /A Enc A Signal Gnd Motor U Motor V Motor W Chassis Gnd

Shield
Red +DC 5V

Brown U

Black GND Blue V Yellow/White /Z Yellow Z Orange W

Hall sensors

J8

10 11 12

Gray/White /B Gray B Green/White /A Green A

TBD line Encoder

J7

13 14 15 1

Red U White V Black W Green/Yellow GND

J2

2 3 4

Motor

L1 L2 Chassis L3

Fuse

H N

L1 L2
AC Mains 85 - 264 VAC 47 - 63 Hz

J1

2 3 4

AC Line filter

Fuse

Fuse

L3

24 VDC Return Brake +24 VDC Input Chassis Gnd No connection Regen Resistor No connection Regen Resistor

J4 2
3 1

CAN

Brake

CAN_L CAN_Gnd (CAN_V+)

To another axis or CAN Network terminator

CAN_H CAN_L CAN_Gnd (CAN_V+)

J6

+24 VDC @ 0.5 A supply

J3 3
4 5 2

XTL-RA-03 or XTL-RA-04
Regen Resistor Assy COMx (RS232)

RxD Input Ground Ground TxD Output

J5

3 4 5

www.copleycontrols.com Filename: XTL-Xenus_to_HD-Systems-FHA.doc

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Typical Profile

Rotary Actuator FHA Series with Copley XTL Xenus

Image of CME2 Softwares Scope Screen using the Profile tab. Using Harmonic Drive Systems FHA-17C-100-D250 1rev at 30rpm at output shaft is 100rev at 3000rpm at the internal motor shaft.

www.copleycontrols.com Filename: XTL-Xenus_to_HD-Systems-FHA.doc