Compelling Reasons to Design using Actuators with Integrated Servo Drives Harmonic Drive® Actuators with Integrated Servo Drive Technology (IDT) simplifies cable management, control hardware and commissioning while achieving outstanding performance in a compact size. These actuators enable engineers to choose a proven solution to create slim designs while mitigating concerns of cable failures, large control boxes and selection of servo drives that require installation and commissioning. Harmonic Drive® IDT actuators are available in eight different sizes and configurations from size 5 with 1.4 Nm to size 32 with 477 Nm of torque. EtherCAT® will also be available soon! Simplified Cable Management • Conventional systems with connections to external servo drives consist of a motor power cable and a feedback cable from each actuator, typically with large diameters, causing difficulty in routing to the servo drive in the control box • A six-axis robot would require 6 power cables and 6 feed- back cables to connect to 6 servo drives with up to 90 connections • Multiple Harmonic Drive® IDT actuators connect to a com- mon bus with only a single cable of 4 conductors (+VDC, 0VDC, CANH, and CANL) Simple Control Hardware • External servo drives require a large control box with proper spacing between each servo drive • Harmonic Drive® IDT actuators do not require external servo drives, enabling small control boxes • IDT actuators also enable simple scalability when adding an actuator to the system – no need to increase the size of the control box Ideal Solution for Mobile Robots • Harmonic Drive® IDT are especially beneficial for auto- nomous systems like AGVs that operate with batteries • Battery life is improved with an overall system weight reduction • Space is conserved as no external servo drives are required Compact Actuator Design • Typical integrated actuators or motors include large housings added radially or axially to include the servo drive • Harmonic Drive® IDT actuators have maintained the overall size and shape of the same actuators without servo drives for most with a maximum axial length increase of only 3mm • SHA IDT actuators have a large hollow shaft to pass cables through Easy Commissioning • Typical servo drives require motor parameters and feedback settings to be entered before enabling and tuning the servo • Harmonic Drive® IDT actuators are factory configured with the appropriate settings • Plug and play operation – once connected to the CAN bus, the actuator is recognized and ready to operate • Little to no servo tuning is typically required • HDL-IDE software allows for additional tuning and frequen- cy response analysis with Bode Plots and Step Response features Exceptional Functionality and Performance • Zero Backlash Harmonic Drive® gearing provides exceptional accuracy and torque density • Robust output bearing can support large loads • CANopen® communication certified to CiA DS402 and DS301 with up to 127 nodes on a single bus • Dual absolute encoders for FHA-Mini and SHA provides position data within one revolution of the output without the need for a battery • I/O option for 2 Digital Inputs and 2 programmable Analog/ Digital Inputs or Outputs for CANopen addressable remote I/O • Modes of operation – Position, Velocity, Torque (CST), CSP, CSV Very Economical • Conventional systems include costs for motor power and feedback cables as well as external servo drives • It is time consuming to evaluate a path to pass cables through the system and make up to 15 connections per actuator • Harmonic Drive® IDT actuators simplify cable routing and only requires connecting 4 conductors to the control box for the entire system, saving substantial installation time • There is a considerable cost savings compared to a conventional system with only a single cable necessary and servo drives already included in the actuator 77 1 2 3 4 5 6 7 Call to learn more 800.921.3332 or visit us at HarmonicDrive.net