High Precision Direct Drive Motor Series. KDU Series. ISO14001 Hotaka Plant

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1 High Precision Direct Drive Motor Series KDU Series ISO14001 Hotaka Plant ISO9001

5arc sec Accuracy [arc-sec] Number of iterative operations Absolute

2 KDU Series Extra-high resolution High precision Absolute positional accuracy: ±0.5arc sec Accuracy [arc-sec] Number of iterative operations Absolute positional accuracy: 10arc sec Accuracy [arc-sec] Output shaft angle [deg] Mechanical accuracy Runout on output side: 2m

3 11.84 million divisions/rotation 0.11arc-sec/pulse Large hollow opening diameter Large hollow opening diameter: 50mm Motor outside diameter: 130mm Stopping stability In Operation When Stationary Positioning Completed signal Positioning completed range ±2 pulses Position deviation signal Position deviation (1 pulse = 0.11 arc-sec)

4 KDU Series Models and Symbols The direct drive motor KDU series is a set that functions in combination with an AC servo driver HA-770. The following table gives guidance how to find a system model name and symbol. When ordering, specify your requirement in the following form. The following table gives guidance how to find a system model name and symbol for the direct drive motor KDU series. KDU-13SB D3 100 KDU 13SB E No. Symbol Detail of symbols Motor model System Power voltage Specification symbol Model name: KDU series KDU-13SB: KDU-13SB-E10 KDU-13WB: KDU-13WB-E10 Combination with an AC servo driver HA : AC100V 200: AC200V No symbol: Standard specification SP: Special specification Motor single type No. Symbol Detail of symbols Model Model number Version symbol Encoder type Encoder resolution KDU series 13S, 13W B: Version symbol E: Incremental encoder 10: 11,840,000p/rev 6 Specification symbol No symbol: Standard specification SP: Special specification Example of System Configuration KDU series Encoder interpolator Personal computer* 1 Encoder cable Motor cable USB cable* 1 Power supply connector* 2 Note: Relay cable for encoder* 2 Cable for analog monitor * 2 RS-422/485 communication cable* 2 Power supply Single phase AC100V/AC200V* 1 Note: Relay cable for motor* 2 Connector for I/O signal* 2 Notes: *1: To be supplied by the customer. *2: An option. See "Connection Example" on page 10 for wiring between the power source and driver. Relay cables for encoder and motor are mandatory for connection with KDU series and HA-770. AC servo driver HA-770 Series Host controller* 1 or pulse generator* 1 4

5 KDU Series Specification The table below shows KDU series specification. Item Maximum torque* 1 Maximum rotational speed Torque constant Input power supply voltage Induced voltage constant Line resistance Line inductance Moment of inertia Moment of rigidity Motor position sensor GD 2 /4 J Repeatable positioning accuracy* 2 Absolute positioning accuracy* 2 Mass Protective structure Ambient conditions Motor insulation Mounting direction Model -13SB Insulation resistance: 100m ohm or more (DC 500V) Dielectric strength: AC 1500V/1min Insulation class: Class B Output shaft to face upward KDU AC100 AC ± (Angular position corrected) *3 Totally-enclosed self-cooled type (IP40 or equivalent) -13WB Incremental encoder Rectangular wave of Phases A and B: 11,840,000 Pulse signal of Phase Z Operating temperature: 10 to 30 C/ Storage temperature: -10 to 60 C ( * 2) Operating humidity/storage humidity: 20 to 80% RH (no condensation) Resistance to vibration during delivery/installation: 25m/s 2 (frequency: 10 to 400Hz) Resistance to impact during delivery/installation: 300m/s 2 No powder or dust, metal powder, corrosive gases, flammable gases, or oil mist, etc. To be used indoors. No direct sunlight. Altitude: 1000m or lower 5.0 The table above shows output values of output shaft. *1: The values in the table above are obtained when connected to HA-770 servo driver. *2: The Repeatable positioning accuracyand Absolute positioning accuracyare the values measured in an environment of 23 ±0.3 C in temperature, 50% RH in humidity and with output shaft facing upward in mounting direction. Please operate the product after checking "Precautions for maintaining accuracy". *3: Value after angular position of the HA-770 servo driver is corrected. Precautions for Maintaining Accuracy Strictly follow the precautions written below in the use of the product to obtain years of built-in accuracy. Checking the operating environment. Harmonic Drive Systems Inc. measures accuracy at 23 ±0.3 o C in temperature and 50% RH in humidity. When operating in a system that requires a high repeatability, operate after carefully examining the mechanism stiffness, expansion coefficients of the components, external vibration and other factors within temperature variations of less than ±3 o C. Periodically rotate the output shaft 90 or more. Where the system operating environment requires fine motions, periodically rotate the output shaft more than 90 o to maintain the accuracy in order to prevent uneven wear of the crossed roller bearing due to depletion of grease. Checking mounting direction. The condition of Harmonic Drive Systems Inc. for measurement of accuracies is that the output shaft is facing upward. Please contact Harmonic Drive Systems Inc. if you would like to install the output shaft other than facing upward. Accuracy cannot be guaranteed if the installation environment is subjected to vibration or shocks. The resistance to vibration and shocks specified in the specification are the values anticipating carrying and mounting. Be cautious and prevent applying vibration or shocks to the product while carrying or mounting it. Operate the product in am environment that is free of vibration and shocks to ensure a high accuracy of the product. 5

6 KDU Series External Dimensions (unit: mm) Encoder interpolator Motor connector Tap for fixing the rotating part Hole for fixing the stopper part Hollow shaft diameter50 Rotating part Fixed part * Please confirm dimensions and shape against the illustrated specifications accompanying the delivered product which is issued by us. 6

7 Operable Range KDUHA-770 Operable Range Rotational Speed [r/min] Operable Range Torque [Nm] Rotational Speed [r/min] Operable Range Torque [Nm] 7

8 Overview of HA-770 Driver The HA-770 driver is a driver dedicated for driving a positioning direct drive motor of the KDU series featuring an extra-high resolution and precision positioning. The HA-770 Driver abounds with many features to maximally demonstrate the performance of the KDU series. Main Feature A shaft control function by the command communication system, point table system or pulse input system. A driver with a positioning control function by the command communication system, point table system or pulse input system as a servo control method. Host Equipment Command Communication Travel stroke, speed, etc. Host Equipment Point Table Travel stroke, speed, etc. Host Equipment Pulse Generator Number of pulses Command processor RS-422 or RS-485 I/O processor Servo controller Position control Load mechanism Easy precision indexing at an extra-high resolution High precision indexing of an encoder at an extra-high resolution of million pulses is achieved by a control theory unique to HarmonicDrive. High-precision positioning by a combination of control technology and precision motor of a fine mechanism. High-precision positioning is ensured by control technology that focuses on a stopping stability and by a mechanism that incorporates a motor of high precision. Auto tuning function The auto tuning function of the driver estimates the load during tuning operation, allowing automatic setting of an appropriate servo gain. HA-770 Driver Model The model and symbol of the HA-770 driver are designated as follows. HA No. Symbol Detail of symbols Type Series Rated current Symbol AC servo driver 770 Series Rated current: 2:1.8A No symbol: Standard specification SP: Special specification 8

9 HA-770 Driver Specification Number of signals Function selection Input signal Single phase: AC100 to 115V, +10% to -15%, 50/60Hz 1.8Arms 10Arms Operating Temp. 0 to 50 CStorage Temp.-20 to 65 COperating/Storate humidity 95% RH or less and no condensation) Resistance to vibration4.9/s 2 10 to 55Hz/shock resistance98m/s 2 Ambience: Do not expose to metal powder, dust, oil mist or corrosive gas Base mount (wall installation) Single phase: AC200 to 230V, +10% to -15%, 50/60Hz Pulse string input command, command communication command, point table program command (32 points) Line driver system: Maximum response frequency 2 pulse system, 1 pulse system: 1MHz, 2-phase pulse system: 200kHz Operation by input/output ports, operation by a communication command (Parameter selection) Input: 15 pins, Output: 8 pins Pin assignment by parameters Self-cooled type Servo on, FWD inhibit, REV inhibit, alarm reset, deviation clear, origin start, origin detection, emergency stop, start, hold, operation stop, forward jog, reverse jog, teaching, point Nos. 0 to 4, input branch, pulse magnification selection, position command inhibit Output signal Interface Communication speed Operation function Components Status display function Operation function Servo ready, positioning completed, alarm, alarm code, program in execution, program completed, torque limit, forward being inhibited, reverse being inhibited, origin completed, position correction enable, origin position output, current point output, point completed output, pulse magnification being selected RS-422, RS-485 9,600bps, 19,200bps, 38,400bps Servo on, position command operation, speed command operation, jog operation, point table operation, parameter change, point table editing, origin detection, status monitoring, auto tuning Display (7-segment LEDs) in 5 digits (red), four pushbutton switches Parameter check, current position, position command, position deviation, current speed, command speed, torque command, relative command position, torque peak, point table status, distance between ORG-Z pulses, effective load rate, current torque, servo status, I/O status Parameter change, jogging, point table editing 2-ch positioning speed, command torque, position deviation, in position (parameter selection) Output resolution: 8 bits, output range: 0V to 4V Sine wave PWM (pulse width modulation) system, switching frequency: 25kHz 0.1r/ min Jogging, auto tuning, position correction Z signal, origin LS + Z signal (parameter selection) Incorporated 0.8kg Compliance with RoHS Note: The memory of the HA-770 driver is stored with position correction data for the KDU series. If combined with another drive motor, positional accuracy cannot be guaranteed. HA-770 Driver External Dimensions (unit: mm) Nameplate for Adjustment * Please confirm dimensions and shape against the illustrated specifications accompanying the delivered product which is issued by us. 9

10 Example of HA-770 Driver Connection The figure below shows a connection example in the pulse command input. Forward command FWD+ 220 FWD- 4.7k Reverse command External power supply Input 0 Input 0 (Servo ON) REV+ REV- Electromagnet contactor Noise filter Molded case circuit breaker AC Power input AC200V or AC100V (50/60Hz) Input 1 (Forward inhibit) Input 2 (Reverse inhibit) Input 3 Input 4 Input 5 Input 6 (Origin start) (Origin signal) (Start) (Hold) Red White Black M KDU Series E Input 7 (Stop) Green Input 8 Input 9 (Forward Jog) (Reverse Jog) Be certain to ground before use Input 10 (Teaching) Input 11 (point 0 input) Input 12 (point 1 input) Input 13 (point 2 input) Input 14 (point 3 input) Output 0 (Servo ready) Black Green Green/White Grey Grey/White Yellow Interpolator Output 1 (Positioning completed) Brown Output 2 (Alarm) Brown/White Blue Output 3 (Program in execution) Blue/White Output 4 (Complete) Output 5 (Origin resetting completed) Output 6 (Z signal output) Output 7 (Resolution in selection) Output signal common Shield Use a twisted pair shielded cable Securely mount the shield onto the cable clamp of a suitable connector with a ground plane. Encoder A+ phase signal output Encoder A- phase signal output Encoder B+ phase signal output Encoder B- phase signal output Encoder Z+ phase signal output Encoder Z- phase signal output Encoder monitor Ground plate 10

11 Options Relay cable for encoder Order Code: EWA-E**-OM15-3M14 The cable to connect interpolator of encoder and servo driver. ** in code indicates the cable length (015: 1.5m, 035: 3.5m). The cable length on the motor side is about 1.5m. The total length will be about 3m when combined with 015 and about 5m when combined with 035. Note: This cable is mandatory for the connection between encoder and servo driver. Relay cable for motor Order Code: EWA-M**-A04-WG04-01 The cable to connect interpolator of encoder and servo driver. ** in code indicates the cable length (03: 3m, 05: 5m). Note: This cable is mandatory for the connection between encoder and servo driver. RS-422/485 Communication Cable Order Code: HDM-RS422-HA770 USB RS485 /RS422 converter module and servo driver. Standard cable length is 1.5m. Cable for analog monitor The signal cable for measuring speed, torque and other signals on an oscilloscope. Connector set Order Code: CNK-HA77-S1 Connector for power supply and input/output signal. Chart for standard combinations 11

12 Information desk for urgent repair and inquiry [Information desk for urgent repair request and technical consultation] TEL: CS division +81-(0) Business hours: Monday to Friday 9:00 to 12:00 13:00 to 17:00 (Except Saturdays, Sundays, national holidays and our specified days off) Certifications for ISO (Hotaka Plant) and ISO 9001 obtained from TÜV Product Service GmbH For safery use of the KDU series and HA series Before using the product, read and understand the tecnical materials and operation manual thoroughly. Restriction on application Products are not designed for follwing usages: Devices and Instruments used in aerospace equipment, aircraft equipment, nuclear equipment, and household equipment and devices. Vacuum equipment, automobile equipment, amusement equipment, and equipment that directly affects human body. Equipment for human transportation, equipment for special environments, and explosion-protection equipment. * When using this product for the application as described above, consult with us in advance. Disposal When disposing of this product, disassemble it as much as possible, separate the parts with indicated materials according to the indication, and dispose of them as industrial waste. Precautions on use When this product is used in any facility that may affect human life or facility where there is the possibility of a severe loss, the safety device must be installed to prevent accidents in case the output becomes uncontrollable due to destruction. All specifications and dimensions in this manual are subject to change without notice. The academic and general nomenclature for HarmonicDrive is wave motion gearing and HarmonicDrive is registered trademark only usable on products manufactured and sold by Harmonic Drive Systems. Trademark right is also obtained in Korea, Taiwan R.O.C., and China. This catalog contains information as of February Warranty Harmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope. Warranty Period Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time. Warranty Scope All the products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to: (1) User's misapplication, improper installation, inadequate maintenance, or misuse. (2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc. (3) Imperfection caused by the other than the products. (4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment Head Office: Believe Omori 7F, Minami-Oi, Shinagawa-ku,Tokyo, Japan TEL +81-(0) FAX +81-(0) Sales Management Office: Hotakamaki, Azumino-shi, Nagano, Japan TEL +81-(0) FAX: +81-(0) st Sales Division: Believe Omori 7F, Minami-Oi, Shinagawa-ku,Tokyo, Japan TEL +81-(0) FAX +81-(0) nd Sales Division: Y.S.T. Building 3F, Sakuragi-cho, Omiya-ku, Saitama-shi, Saitama, Japan TEL +81-(0) FAX: +81-(0) rd Sales Division: Nagoya Inter Building 6F, Hongo, Meito-ku, Nagoya-shi, Aichi, Japan TEL +81-(0) FAX +81-(0) th Sales Division: Shin-Osaka Ueno Toyo Building 3F, Nishi-nakajima, Yodogawa-ku, Osaka-shi, Osaka, Japan TEL +81-(0) FAX +81-(0) th Sales Division: NOF Hakata Ekimae Building 7F, Hakata Ekimae, Hakata-ku, Fukuoka-shi, Fukuoka, Japan TEL +81-(0) FAX +81-(0) Overseas Division: Hotakamaki, Azumino-shi, Nagano, Japan TEL +81-(0) FAX +81-(0) Hotaka Plant: Hotakamaki, Azumino-shi, Nagano, Japan TEL +81-(0) FAX +81-(0) Harmonic AD, Inc.: 4034 Toyoshina, Azumino-shi, Nagano, Japan TEL +81-(0) FAX +81-(0) Harmonic Drive AG: Hoenbergstrasse 14 D Limburg a.d. Lahn Germany TEL FAX Harmonic Drive L.L.C: 247 Lynnfield Street, Peabody, MA, 01960, U.S.A. TEL FAX No R-KDU2 This catalog is printed with soy ink on recycled paper containing waste paper.

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