PMA Servo Products Servo Actuators Optimised for your applications: Mini servo actuator with DC motor • Reduced material use • Consistent quality • Greater energy efficiency • High availability • Lower production costs • Reduced Total Cost of Ownership • Small machine footprint • Reduced maintenance costs • Flexible control configuration Customer Benefits CHA | FHA-C | FHA-C Mini | LynxDrive® | FPA | RSF Mini | PMA | CHM | TorkDrive® | YukonDrive® | HA-680 PMA Series Servo Actuators combine a highly dynamic DC motor with encoder and PMG Gearbox to create a dynamic compact servo actuator. Features Harmonic Drive® Servo Actuators are the perfect combination of highly dynamic compact servo motors, precision Harmonic Drive® Component Sets and integral high load capacity, tilt resistant output bearings. Available in four sizes with gear ratios of 50 and 100:1, the actuators can provide a maximum torque from 0.39 to 20 Nm. The accurate positioning of the actuator ensures stable machine characteristics and short cycle times. Compatible with many common servo controllers on the market, PMA Mini Servo Actuators enable easy setup of compact servo axes – especially for small quantities. • Compact, lightweight design • Third party controller compatibility • Excellent lifetime precision QUICKLINK www.harmonicdrive.co.uk/1070 82 PMA PMA Ordering code Combinations Table 84.1 Table 85.1 Series Size PMA Ratio Motor winding 5A 50 100 8A 50 100 11A 50 100 14A 50 100 Motor feedback Special design Servo Products Servo Actuators Size E256ML 01 PMA 8A - 100 - 01 According to customer requirements E500ML - E500ML Ratio 84 Ordering code Maximum DC bus voltage Ordering code 5A 18 VDC E256ML 48 VDC E500ML 11A – – – – 50 ● ● ● ● 80 – – – 100 ● ● ● ● 120 – – – – – – – – - SP Motor winding 01 ● ● ● ● Motor feedback E256ML ● – – – E500ML – ● ● ● on request – not available Motor feedback 8A 14A 14A Table 84.3 Motor winding Size 11A 160 ● available Table 84.2 8A 30 Ordering code - 5A 01 Type Protocol Incremental – 36 VDC 42 VDC Clarification of the technical data can be found in the Glossary 85 PMA Servo Products Servo Actuators Technical data Unit Ratio PMA-5A 50 100 50 100 Maximum output torque Tmax [Nm] 0.39 0.69 2.7 3.5 Maximum output speed nmax [rpm] 180 90 120 60 Continuous stall torque TO [Nm] 0.20 0.45 0.96 2.06 Moment of inertia without brake Jout [x 10-4 kgm2] 3.68 14.7 32.8 Moment of inertia with brake Jout [x 10-4 kgm2] - TH [Nm] - - m [kg] 0.07 0.25 Torsional stiffness Ambient operating temperature m [kg] - - [arcmin] < 4.5 < 2.5 [arcmin] K3 [Nm/rad] <4 551) [°C] <3 100 3891) 0 ... 40 690 0 ... 40 Table 87.3 Output bearing Dynamic radial load FR dyn (max) [N] 59 196 Dynamic axial load FA dyn (max) [N] 29 98 Mdyn (max) [Nm] 0.3 1.96 Dynamic tilting moment 1) Unit Motor feedback Length (without brake) K2 Unit i[] PMA-11A 50 100 50 Tmax [Nm] 5.0 7.9 14 20 nmax [rpm] 100 50 100 50 TO [Nm] 2.8 5.9 4.3 9.3 Moment of inertia without brake Jout [x 10-4 kgm2] 109 437 257 1026 Moment of inertia with brake Jout [x 10-4 kgm2] - - Brake holding torque TH [Nm] - - Weight without brake m [kg] 0.50 0.76 Transmission accuracy Lost Motion Torsional stiffness Ambient operating temperature m [kg] - - [arcmin] <2 <2 [arcmin] K3 [Nm/rad] [°C] <3 11601) 22501) 1) 84 127 PMA-14A Illustration 87.5 [mm] 0 ... 40 Table 87.6 Dynamic radial load FR dyn (max) [N] 245 392 Dynamic axial load FA dyn (max) [N] 196 392 Mdyn (max) [Nm] 2.7 4.9 Unit Motor feedback Length (without brake) K2 86 E500ML 4270 Output bearing Dynamic tilting moment E256ML <3 1400 0 ... 40 [mm] PMA-8A 100 Maximum output speed Weight with brake PMA-11A PMA-5A PMA-14A Maximum output torque Continuous stall torque L [mm] Illustration 87.4 Table 86.2 Ratio [mm] 131 Brake holding torque Lost Motion PMA-8A Illustration 87.2 - Weight without brake Transmission accuracy [mm] PMA-8A i[] Weight with brake PMA-5A Illustration 87.1 Table 86.1 QUICKLINK www.harmonicdrive.co.uk/1070 Clarification of the technical data can be found in the Glossary L [mm] QUICKLINK www.harmonicdrive.co.uk/CAD1070 PMA-11A PMA-14A E500ML E500ML 157 173 87 PMA Motor feedback Servo Products Servo Actuators Compatibility Encoder Table 88.1 Table 89.1 Incremental 5 VDC ± 5% Output circuit Line driver Signal form Resolution Manufacturer Type 48VDC Power supply 42 VDC E500ML 36 VDC E256ML Controller output voltage 18 VDC Ordering code Product PMA Type maxon motor ESCON EPOS3 ● ● ● ● ● ● ● ● ● ● Dr. Fritz FAULHABER SC5004 SC5008 MATTKE MMC 24/3 MMC 24/6 ESR Pollmeier BN 6508 BN 6509 Square wave A,B Z 256 500 1 ● in service compatible according to datasheet Compatibility with other manufacturers controllers are available on request. ESR Pollmeier GmbH www.esr-pollmeier.de 88 89
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