The Hollow Shaft Actuator With PowerHub TM Harmonic Drive Servo Actuator Concentrated Power.
POWERHUB HOLLOW SHAFT SERVO ACTUATOR Introducing the PowerHub hollow shaft servo actuator, one of the industry s most compact axis drives for wafer handling. Despite its small size, the PowerHub actuator handles large loads and offers high torque, controllability and repeatability. With its hollow shaft for passing through everything from vacuum lines to lasers, the PowerHub actuator is an ideal, cost-effective solution for robotics and automation machinery. Benefits of the PowerHub include: High torque Positional accuracy Fast response Smooth, repeatable performance More compact than competitive products Handles large thrust and moment loads HIGH LOAD CAPACITY ANGULAR CONTACT BEARINGS The PowerHub actuator is the kind of innovation customers have come to expect from Harmonic Drive Technologies, one of the world s leading manufacturers of harmonic drive gearheads, component gear sets, and complete harmonic drive actuators. The PowerHub exemplifies Harmonic Drive Technologies dedication to developing and manufacturing lighter, smaller and stronger precision positioning products which provide maximum reliability, power and utility in the least amount of space. OPTICAL INCREMENTAL ENCODER INTEGRATED PRECISION BRUSHLESS SERVO MOTOR SIMPLICITY IN DESIGN Low parts count ONE-PIECE FLEXSPLINE AND OUTPUT HUB INTEGRATED HOUSING AND CIRCULAR SPLINE
POWERHUB DIMENSIONS 6X M5 X 8 The PowerHub hollow shaft actuator is cur- HKM-20 ø93 129 10 31 3 8X M6 X 9 rently available in two ø13 THRU ø82.0 sizes. Be on the look- 45 ø40 h7 ø72 ø32.0 out for three new PowerHub sizes to be introduced in the WEIGHT 2.3 KG DIMENSIONS IN MILLIMETERS near future. HKM-25 ø107 155 10 39 3 8X M5 X 8 ø96 ø27 THRU ø53 ø86 58 ø42 WEIGHT 4.3 KG DIMENSIONS IN MILLIMETERS 8X M8 X 12 POWERHUB APPLICATION EXAMPLE ROBOT ARM The PowerHub is one of the industry s most compact axis drives. Yet despite its small size, the PowerHub handles large loads and offers high torque and repeatability. It is ideally suited for industrial robotics applications. CABLES/ VACUUM LINES HKM-20 HKM-25
POWERHUB PERFORMANCE AND SPECIFICATIONS TORQUE/SPEED HKM-20-60 HKM-20-30 RANGE CHARTS 500 52 800 39 600 75 300 26 50 13 25 0 20 40 60 80 0 10 20 30 40 HKM-25-60 HKM-25-30 0 0 800 1600 600 75 50 1 800 150 Maximum Continuous Torque 25 50 Intermittent Duty Zone 0 20 40 60 80 0 10 20 30 40 ACTUATOR SPECIFICATIONS Units HKM-20-60 HKM-20-30 HKM-25-60 HKM-25-30 Rated Power Watts Rated Torque in-lb 115 233 233 440 N-m 13 26 26 50 Maximum Torque in-lb 345 700 830 1330 N-m 39 79 94 150 Rated Speed r/min 60 30 60 30 Maximum Speed r/min 80 40 80 40 Current, rated A 1.8 1.4 4.8 3.0 Current, max. A 5 4 14 9 Thermal Time Constant min. ~25 ~30 Gear Reduction Ratio R:1 50 50 Output Resolution P/rev. 50,000,000 75,000 150,000 arc sec 26 13 17 9 Absolute accuracy +/- arc sec 75 40 60 40 Motor Type: 3 Phase Brushless Number of poles 8 Torque Constant in-lb/a 2.8 1.7 Back EMF V/kRPM 33.3 20.2 Motor Resistance Ohms 15.7 1.5 Motor Inductance mh 10.3 1.8 Inertia -cm^2 0.35 1.91 Encoder Type: Optical Incremental Output Circuit Type: Line Driver Resolution (Encoder Only) P/rev. 0 1500 Output Signal 3 Channels A -A B -B I -I Power +5VDC +/-10% &250 ma Max. Drive Consult factory for options
POWERHUB COMBINED AXIAL AND MOMENT LOADS The output flange of FIGURE 1 FIGURE 2 all PowerHub actua- 2.0 700 tors is supported by precision bearings which allow combinations of axial and moment loads. The Deflection [arc-min] 1.5 1.0 0.5 0 20 25 0 2 4 6 8 10 12 14 16 18 20 22 24 Moment x 0 [-] Allowable Axial Force [] 600 500 300 0-20 -25 0 2 4 6 8 10 12 14 16 Allowable Moment x 0 [-] maximum allowable combination of these external loads is shown in Example 2. EXAMPLE 1 EXAMPLE 2 L1 L2 W3 W2 W1 W1 A moment load applied to the output flange L2 W2 will create a deflection as shown in Example 1. It is not recoended to exceed 1.5 arc minutes. Axial impact loads on the end of the shaft should be avoided. Axial Force Fa = W 1 + W 2 + W 3 +... Moment Load = W 1 (L 1 ) + W 2 (L 2 ) +... Axial Force Fa = W 2 A L1 Size A 20 13.0 25 13.5 Moment Load = W 1 (L 1 + A ) + W 2 (L 2 ) +...
HARMONIC DRIVE TECHNOLOGIES COUNT ON US FOR PRECISION MOTION CONTROL SOLUTIONS. Harmonic Drive Technologies is a world leader in the design and manufacture of harmonic drive gearheads, component gear sets, and complete Harmonic Drive Technologies 247 Lynnfield Street Peabody, MA 01960 Tel: 800-921-3332 Fax: 978-532-9406 Email: info@harmonic-drive.com Internet: www.harmonic-drive.com Teijin Seiki Company Ltd. Nishishimbashi TS Bldg. 3-3-1, Nishishimbashi Minato-Ku Tokyo 105-8628 Japan Tel: 81-3-3578-7461 Fax: 81-3-3578-7471 Teijin Seiki Europe GmbH Klosterstraße 49 40211 Düsseldorf Germany Tel: 49-211-17379-0 Fax: 49-211-364-677 ISO 9001 certified CUP, PANCAKE AND HOLLOW SHAFT COMPONENT GEAR SETS POWERHUB HOLLOW SHAFT SERVO ACTUATORS CHAMBERLINK VACUUM FEEDTHROUGH ACTUATORS PRECISION HARMONIC DRIVE GEARHEADS AND SERVO ACTUATORS RV GEAR REDUCERS AND SERVO ACTUATORS harmonic drive actuators. But to our customers, we are much more than that we are a partner. Our customers, who span industries ranging from semiconductor and factory automation to medical and aerospace, count on us to help them meet their unique needs. They count on our engineering innovation, our project support, and the many other resources that we provide. They count on us for solutions. Harmonic Drive Technologies complete line of products includes gear systems, gearheads, servo actuators, vacuum actuators, electronics, and specialty items. We ve been supplying motion control products to industry for over 40 years. All of our design and manufacturing is done at our Peabody, Massachusetts plant. We have a complete engineering and technical sales staff on hand to assist you with any motion control problem with which you may be confronted. PH 10M 2-00