Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


HMA Motors

HMA Hollow shaft servo motors are available in 5 frame sizes. Large Hollow Shaft design allows cables, shafts or lasers to pass through the axis of rotation.


Models:

HMAC08*200 | HMAB09*200 | HMAB09*100 | HMAB12*200 | HMAB15*200 | HMAA21A*200


Key Features:

  • AC Servomotor
  • Large Hollow Shaft
  • Absolute Encoder (17 bit single-turn, 16 bit multi-turn)
  • Available in 5 frame sizes
  • Rated output from 163 to 1320 W
  • Available with or without brake




Ordering Code

HMA B 09 A 200 - 10 S17b A - C SP
1 2 3 4 5 6 7 8 9 10 11



1.

Model

AC servo motor HMA series

2. Motor Version Symbol

A: Size 21A
B: Size 09, 12, 15
C: Size 08

3. Size

08, 09, 12, 15, 21A

4. Brake

A: Without brake
B: With brake

5. Applied
Servo Driver
Input Voltage

100: 100 VAC
(Only size 09 is compatible with 100 VAC)
200: 200 VAC

6. Encoder Format

10: A-format 2.5 Mbps, 1:1 connection

7. Encoder Resolution

S17b: 17-bit absolute encoder

8. Encoder Phase Angle

Phase difference between the motor U
phase and the encoder origin
A: 0 degrees

9. Connector
Specification

C : With standard connectors
N : Without connectors

10.
Option Symbols

Y : Side exiting cable

11. Special specification

: Blank - Standard product
: SP____ - Special specification code

Specifications:

Item HMAC08

HMAB09A200

HMAB09A100

HMAB12

HMAB15

HMAA21

Rated torque *1,*2 Nm 0.52

0.80

0.80 1.55 3.6 12.6
Rated rotational speed *1,*2 rpm 3000 3000 3000 2500 2000 1000
Rated power *1,*2 W 163 251 251 406 754 1320
Torque constant *1 Nm/A(rms) 0.35 0.41 0.24 0.44 0.54 0.72
Rated current *1,*2 A(rms) 2.1 2.5 4.3 4.2 7.8 20.0
Rated stall current *2 A 2.4 3.6 6.2 8.5 13 33
Max. torque *1 Nm 1.8 3 3 6.6 13 33
Max. rotational speed *1 rpm 6000 5600 4800 4800 4000 3000
Max. current *1 A(rms) 6.5 8.9 15.4 19 29 75
EMF constant *3 V/(rpm) 0.037 0.043 0.025 0.046 0.057 0.075
Phase resistance (at 20℃) Ω 1.43 1.2 0.4 0.33 0.19 0.028
Phase inductance mH 2.5 3 1 1.4 1.2 0.29
Moment of Inertia (without brake) x10-4 kg・m2 .734 1.78 1.78 6.45 15.8 125
Moment of Inertia (with brake) x10-4 kg・m2 .828 2.16 2.16 6.83 19.8 141
Mass (without brake) kg 1.4 2.0 2.0 3.4 5.5 17.5
Mass (with brake) kg 1.5 2.1 2.1 3.8 6.2 19.7
Power Supply Voltage V AC200 AC200 AC100 AC200 AC200 AC200
Encoder type Absolute encoder
Single turn motor revolution encoder resolution

217 (131072)

Multi-turn revolution counter *4

(battery buffered)

216 ( 65536)
Motor insulation Insulation resistance: 100 MΩ (500 VDC) or higher

Dielectric strength : AC1500V/1min Insulation class : A

* B indicates with brake
* 1 The table show typical output values of actuators
* 2 Value after temperature rise and saturation when it is used with aluminum radiation plate shown below:
HMAC08: 320 x 320 x 16 [mm], HMAB09: 350 x 350 x 18 [mm], HMAB12: 400 x 400 x 20 [mm], HMAB15: 500 x 500 x 25 [mm], HMAA21A: 650 x 650 x 30 [mm]
* 3 This is the value of the phase EMF constant multiplied by 3.
* 4 The range of the multi revolution counter is from -32,768 to 32,767.


Spec Sheet

PDF Drawings

3D CAD Files

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