Flat Hollow Shaft AC Servo Motors

HMA series manual

ISO14001

ISO9001
Introduction

Introduction
Thank you for purchasing our HMA series AC servo motor.
Incorrect handling or improper use of this product may result in unexpected accidents or a shorter
product life. Read this manual carefully and use the product correctly so that the product can be used
safely for many years.
The information contained in this manual is subject to change without notice.
Keep this manual in a convenient location and refer to it whenever necessary in operating or
maintaining the product.
The end user of the product should have a copy of this manual.
 SAFETY GUIDE

SAFETY GUIDE
To use this product safely and correctly, be sure to read the SAFETY GUIDE and other parts of this
document carefully and fully understand the information provided herein before using the product.

NOTATION
Important safety information you must note is provided herein. Be sure to observe these instructions.

Indicates a potentially hazardous situation, which, if not avoided, could result

in death or serious personal injury.

WARNING
Indicates a potentially hazardous situation, which, if not avoided, may result in
minor or moderate personal injury and/or damage to the equipment.

CAUTION
Indicates what should be performed or avoided to prevent non-operation or
malfunction of the product or negative effects on its performance or function.

LIMITATION OF APPLICATIONS
The equipment listed in this document may not be used for the applications listed below:

･ Space equipment
･ Aircraft, aeronautic equipment
･ Nuclear equipment
･ Household apparatus
･ Vacuum equipment
･ Automobile, automotive parts
･ Amusement equipment, sport equipment, game machines
･ Machines or devices acting directly on the human body
･ Instruments or devices to transport or carry people
･ Apparatus or devices used in special environments

If the above list includes your intended application for our products, please consult us.

If this product is utilized in any facility in which human life is

at stake or that may incur material losses, install safety
CAUTION devices so that accidents do not occur even when the output
control is disabled due to damage.

1
SAFETY GUIDE

SAFETY NOTE

ITEMS YOU SHOULD NOTE WHEN USING THE MOTOR

 CAUTIONS RELATED TO THE DESIGN

Always use the motor under the specified conditions:

The motor is designed to be used indoors. Observe the following conditions:
･ Ambient temperature: 0 to 40℃
CAUTION ･ Ambient humidity: 20 to 80% RH (no condensation)
･ Vibration: Max. 25 m/s2
･ No contamination by water or oil
･ No corrosive or explosive gas

Always follow the instructions in the related manuals to

install the motor in the equipment.
･ Follow the instructions in the manual to ensure that the center of the motor
is aligned with the center of the paired unit.
･ Improper alignment may cause vibration or damage to the output shaft.

 OPERATIONAL PRECAUTIONS

Do not exceed the allowable torque.

･ Do not apply a torque exceeding the maximum torque.
･ Be aware that, if arms directly attached to the output shaft are hit, the output
WARNING shaft may become uncontrollable.

Never connect cables directly to a power supply socket.

･ Motors must be connected to the proper driver to operate.
･ Do not connect a commercial power supply directly to the motor. Failure to
observe this caution may damage the motor, possibly resulting in a fire.

Do not apply impacts and shocks to the motor.

･ Do not tap the motor with a hammer or other tool because an encoder is
connected directly to the motor.
･ If the encoder is damaged, the motor may become uncontrollable.

Do not pull the cables.

･ Pulling the cables can damage connectors, causing the motor to become
uncontrollable.

2
 SAFETY GUIDE

ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER

 CAUTIONS RELATED TO THE DESIGN

Always use the motor under the specified conditions:

The driver generates heat. Take extra caution for radiation and use it under the
following conditions.
CAUTION
･ Mount in a vertical position keeping sufficient distance from other devices to
let heat generated by the driver radiate freely.
･ 0 to 50℃, 95% RH or below (No condensation)
･ No vibration or physical shock
･ No dust, dirt, corrosive, or explosive gas

Use sufficient noise suppressing means and safe grounding.

Any noise generated on a signal wire causes vibration or improper motion. Be
sure to observe the following precautions.
･ Keep signal and power leads separated.
･ Keep leads as short as possible.
･ Ground the motor and driver at one single point, minimum ground
resistance class: D (less than 100 ohms)
･ Do not use a power line filter in the motor circuit.

Pay attention to negative torque caused by inverse load.

･ An inverse load may cause damage to the driver.
･ Please consult our sales office if you intent to use the motor in such
applications.

Use a fast-response type ground-fault detector designed for

PWM inverters.
When using a fast-response type ground-fault detector, use one that is
designed for PWM inverters. Do not use a time-delay-type ground-fault
detector.

If this product is utilized in any facility in which human life is

at stake or that may incur material losses, install safety
devices so that accidents do not occur even when the output
control is disabled due to damage.

 OPERATIONAL PRECAUTIONS

Never change any wiring while the power is active.

Make sure that the power is not active before servicing the products. Failure to
observe this caution may result in an electric shock or uncontrollable operation.
WARNING
Do not touch the terminals for at least 5 minutes after turning
OFF the power supply.
･ Even after the power supply is turned OFF, electric charge remains in the
driver. In order to prevent electric shock, perform inspections 5 minutes or
more after the power supply is turned OFF.
･ When installing, make sure that the inner electronic components are hard to
reach.

3
SAFETY GUIDE

Do not perform a voltage resistance test.

･ Do not perform a Megger test or voltage resistance test. Failure to observe
this caution may result in damage to the control circuit of the driver.
CAUTION ･ Please consult our sales office if you intent to perform such tests.

Do not operate the driver by switching the power ON/OFF.

･ Frequent power ON/OFF operations may cause deterioration of circuit
elements inside the driver.
･ Use command signals to start or stop the motor.

DISPOSAL

The motor and driver must be disposed of as industrial

waste.
When disposing of the motor or driver, disassemble it as much as possible,
CAUTION separate parts according to the material description (if indicated), and dispose
of them as industrial waste.

4
 Contents
SAFETY GUIDE .................................................................................................. 1
NOTATION ............................................................................................................. 1
LIMITATION OF APPLICATIONS............................................................................ 1
SAFETY NOTE ...................................................................................................... 2
Contents .......................................................................................................... 5
Related manual .................................................................................................. 7
Conformance to overseas standards ......................................................................... 7

Chapter 1 Outlines
1-1 Outlines ...................................................................................................... 1-1
1-2 Model ....................................................................................................... 1-2
1-3 Combinations with drivers and extension cables.......................................... 1-3
1-4 Specifications ............................................................................................... 1-4
1-5 Holding brake ............................................................................................... 1-6
1-6 External dimensions ..................................................................................... 1-7
1-7 Mechanical accuracy.................................................................................. 1-12
1-8 Detector specifications (Absolute encoder) ................................................ 1-13
1-9 Rotation direction ....................................................................................... 1-14
1-10 Shock resistance ...................................................................................... 1-15
1-11 Resistance to vibration ............................................................................. 1-16
1-12 Operable range ........................................................................................ 1-17
1-13 Cable specifications ................................................................................. 1-20
Motor cable specifications ................................................................................. 1-20
Encoder cable specifications ............................................................................. 1-21

Chapter 2 Selection guidelines

2-1 HMA series selection.................................................................................... 2-1
Allowable load inertia moment ............................................................................. 2-1
2-2 Verifying and examining load weights .......................................................... 2-2
2-3 Examining the operating status .................................................................... 2-3
Examining motor rotational speed ....................................................................... 2-3
Calculating and examining load inertia moment................................................... 2-3
Load torque calculation ....................................................................................... 2-4
Acceleration time and deceleration time .............................................................. 2-5
Evaluating effective torque and average rotational speed .................................... 2-6

5
Contents

Chapter 3 Installing the HMA motor

3-1 Receiving inspection .................................................................................... 3-1
Inspection procedure ........................................................................................... 3-1
3-2 Notices on handling...................................................................................... 3-2
Installation and transmission torque .................................................................... 3-2
Precautions on installation ................................................................................... 3-3
Use of positioning pins ........................................................................................ 3-4
Motor shaft material ............................................................................................. 3-4
3-3 Location and installation............................................................................... 3-5
Environment of location ....................................................................................... 3-5
Installation ........................................................................................................... 3-6

Chapter 4 Options
4-1 Options ...................................................................................................... 4-1
Cable taken out from side face (option code: Y) .................................................. 4-1
Extension cables ................................................................................................. 4-2

Appendix
A-1 Unit conversion ............................................................................................ 5-1
A-2 Calculating inertia moment .......................................................................... 5-3
Formulas of mass and inertia moment ................................................................. 5-3
Inertia moment of cylinder ................................................................................... 5-5

6
 Related manual

Related manual
The related manual is listed below. Use it as a reference as necessary.

Title Description
AC Servo Driver
HA-800 series manual The specifications and characteristics of HA-800 series drivers are explained.

Conformance to overseas standards

The HMA series motors are compliant with the following overseas standards.

UL standards UL1004-1, UL1004-6 (File No. E243316)

CSA standards C22.2 No.100
European Low Voltage EC Directives EN60034-1, EN60034-5

UL nameplate sticker
According to the UL1004-1, UL1004-6 (File No. E243316) standards, the following specifications are
indicated on the HMA series motors.

Nameplate Description
field
(1) Output [W] at point A on the graph below (1) (2) (3)
(2) Voltage [V] between motor wires at point A on the
graph below (4)
(3) Allowable continuous current [A] (5) (6) (7)
(4) Rotational speed at point A on the graph below [r/min]
(5) Current fundamental frequency [Hz] at point A on the
graph below
(6) Allowable ambient temperature [℃] UL nameplate sticker
(7) Number of phases

Aluminum radiation plate: 320*320*16

Motion range during

acceleration and deceleration
Torque [Nm]

A
Rated torque
Continuous motion
range

Rotation speed [r/min]

7
Conformance to overseas standards

The values displayed on the name plate for each model are shown below.

Model
HMAC08
Item
(1) Output at point A W 163
(2) Voltage at point A V 130
(3) Allowable continuous current A 2.1
(4) Speed at point A rpm 3,000
(5) Frequency at point A Hz 250
(6) Allowable ambient temperature ℃ 40
(7) Number of phases - 3

Model HMAB09 HMAB09

Item (Motor input voltage 200 V) (Motor input voltage 100 V)
(1) Output at point A W 251 251
(2) Voltage at point A V 136 71
(3) Allowable continuous current A 2.5 4.3
(4) Speed at point A rpm 3,000 3,000
(5) Frequency at point A Hz 250 250
(6) Allowable ambient temperature ℃ 40
(7) Number of phases - 3

Model
HMAB12
Item
(1) Output at point A W 406
(2) Voltage at point A V 129
(3) Allowable continuous current A 4.2
(4) Speed at point A rpm 2,500
(5) Frequency at point A Hz 208
(6) Allowable ambient temperature ℃ 40
(7) Number of phases - 3

Model
HMAB15
Item
(1) Output at point A W 754
(2) Voltage at point A V 125
(3) Allowable continuous current A 7.8
(4) Speed at point A rpm 2,000
(5) Frequency at point A Hz 167
(6) Allowable ambient temperature ℃ 40
(7) Number of phases - 3

Model
Item HMAA21A
(1) Output at point A W 1,320
(2) Voltage at point A V 100
(3) Allowable continuous current A 20.0
(4) Speed at point A rpm 1,000
(5) Frequency at point A Hz 133
(6) Allowable ambient temperature ℃ 40
(7) Number of phases - 3

8
Chapter 1

Outlines
This chapter explains the features, functions and specifications of the motor.

1-1 Outlines ············································································· 1-1

1-2 Model ················································································ 1-2
1-3 Combinations with drives and extension cables ·························· 1-3
1-4 Specifications ······································································ 1-4
1-5 Holding brake ······································································ 1-6
1-6 External dimensions ····························································· 1-7
1-7 Mechanical accuracy ·························································· 1-12
1-8 Detector specifications (Absolute encoder) ······························ 1-13
1-9 Rotation direction ······························································· 1-14
1-10 Shock resistance ····························································· 1-15
1-11 Resistance to vibration ····················································· 1-16
1-12 Operable range ······························································· 1-17
1-13 Cable specifications ························································· 1-20
 1-1 Outlines

1 1-1 Outlines
Outlines

All HMA series AC servo motor models feature a hollow bore structure and compact design. Wires,
pipes, ball screws, or laser beams go through the hollow bore depending on the mechanism design
required for your applications.
HMA series AC servo motors play an important role in driving various factory automation (FA)
equipment, such as robot joints, alignment mechanisms for semi-conductors and LCD devices, ATC of
metal-cutting machines, printing machine roller drives, etc.

 Comes standard with a 17-bit magnetic absolute encoder

The HMA series AC servo motors are equipped with a highly reliable 17-bit magnetic absolute encoder*
with safety function. The serial communication requires fewer cables and provides not only a multi
revolution counting function which is a must-have feature of motors, but it also has an internal backup
battery to retain absolute positions even when the encoder cable is disconnected briefly.
The encoder also constantly compares two sets of detected angles. If any abnormality is found, the
encoder's built-in failsafe function outputs a signal to the host system. This helps you build a safe
system.
* Size 08 is equipped with an optical encoder.

 Supporting a more compact control board and open network control with a
dedicated drive
The dedicated HA-800 series drives feature a thin design, contributing to the reduction in the control
board size. It also allows you to control your motor on a MECHATROLINK-II or CC-Link network.

Appe

1-1
 1-2 Model

1-2 Model 1

Outlines
The order code for the HMA series motors and how to read the symbols are explained below.
Model example:
HMA B 09 A 200 - 10 S17b A - C Y - SP
(1) (2) (3) (4) (5) - (6) (7) (8) - (9) (10) - (11)

(1) Model: HMA series AC servo motor

(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) Applicable servo driver input voltage

100 100 V
200 200 V
(100 V is compatible with size 09 only.)

(6) Encoder format

10 Compliant with format A, transmission rate: 2.5 Mbps, 1-on-1 connection

(7) Encoder type, resolution

S17b 17-bit multi-turn absolute encoder, 131,072 pulses/revolution

(8) Encoder phase angle: Phase difference between the voltage induced in motor phase U and
absolute origin
A 0 degree

(9) Connector specification Appe

C With standard connector
N Without connector

(10) Option symbol

Y Cable taken out from the side
(Please contact us for size 08. This option is not available for size 21A.)

(11) Special specification

No description Standard product
SP Special specification product

1-2
 1-3 Combinations with drives and extension cables

1 1-3 Combinations with drives and extension cables

Outlines

The combinations of HMA motors, HA-800 drivers and extension cables are as follows:

HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A

HA-800A
HA-800A -3D/E-200 HA-800A HA-800A HA-800A
I/O command -3D/E-200 (HA-800A -6D/E-200 -24D/E-200 -24D/E -200
-6D/E -100)

HA-800B
HA-800B -3D/E -200 HA-800B HA-800B HA-800B
MECHATROLINK-II -3D/E-200 (HA-800B -6D/E-200 -24D/E-200 -24D/E -200
-6D/E -100)

HA-800C
HA-800C -3D/E -200 HA-800C HA-800C HA-800C
CC-Link -3D/E-200 (HA-800C -6D/E-200 -24D/E-200 -24D/E -200
-6D/E -100)

EWD-MB** EWD-MB**
Extension For motors EWD-MB**-A06-TN3
-A06-TMC -D09-TMC
cables
(option) For EWD-S**
EWD-S**-A08-3M14
encoders -D10-3M14
*1: ** in the extension cable model indicates the cable length: 03 = 3m, 05 = 5m, 10 = 10m
*2: The driver models shown in parentheses are used when combined with motors whose applicable servo drive
input voltage is 100 V.

Appe

1-3
 1-4 Specifications

1-4 Specifications 1

Outlines
The specifications of the HMA series motors are shown below.

Model
HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A
Item
HA-800□-3 HA-800□-3 HA-800□-6 HA-800□-6 HA-800□-2 HA-800□-2
Compatible drivers
D/E-200 D/E-200 D/E-100 D/E-200 4D/E-200 4D/E-200
Input power supply V 200 200 100 200 200 200
Rated output W 163 251 406 754 1,320
Maximum momentary Nm 1.8 3.0 6.6 13 33
torque*1 kgf･m 0.18 0.31 0.67 1.33 3.37
Nm 0.52 0.80 1.55 3.60 12.6
Rated torque*1*2
kgf･m 0.053 0.082 0.158 0.367 1.29
*1
Max. rotational speed r/min 6,000 5,600 4,800 4,800 4,000 3,000
Rated rotational speed r/min 3,000 3,000 2,500 2,000 1,000
*1
Instantaneous max. current Arms 6.5 8.9 15.4 18 29 55
Rated current *1*2
Arms 2.1 2.5 4.3 4.2 7.8 20.0
Nm/A 0.35 0.41 0.24 0.44 0.54 0.72
Torque constant*1
kgf･m/A 0.036 0.042 0.024 0.045 0.055 0.073
*3
MEF constant V/(r/min) 0.037 0.043 0.025 0.046 0.057 0.075
Phase resistance (20℃) Ω 1.43 1.2 0.4 0.33 0.19 0.028
Phase inductance mH 2.5 3.0 1.0 1.4 1.2 0.29

Inertia moment 0.734 1.78 6.45 15.8 125

GD2/4 ×10-4 kg･m2
Values in (0.828) (2.16) (6.83) (19.8) (141)
parentheses are for
models with a ×10-4kgf･ 7.49 18.2 65.8 161 1,280
brake. J
cm･s2 (8.45) (22.1) (69.7) (202) (1,444)
Allowable radial load N 800 800 1,200 2,400 4,500
(when stationary) kgf 81.6 81.6 122 245 459
Allowable axial load N 1,900 2,400 3,600 5,000 14,000
(when stationary) kgf 194 245 367 510 1,429
Rated radial load N 175 185 233 530 1,040
(at rated rotational speed) kgf 17.9 18.9 23.8 54.1 106.1
Rated axial load
(at rated rotational speed)
N 100 105 130 180 880 Appe
kgf 10.2 10.7 13.3 18.4 89.8
Encoder type Absolute encoder
Single-turn
detector
217 (131,072)
Encoder resolution
Multi-turn
detector*4
216 (65,536)
Mass 1.4 2.0 3.4 5.5 17.5
Values in parentheses are for kg
models with a brake. (1.5) (2.1) (3.8) (6.2) (19.7)

1-4
 1-4 Specifications

Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃

1 Service/storage humidity: 20 to 80% RH (no condensation)
Resistance to vibration: 25m/s2 (frequency: 10 to 400Hz)
Environmental conditions Resistance to impact: 300 m/s2 *5
Outlines

No dust, metal powder, corrosive gas, inflammable gas, or oil mist.

To be used indoors, no direct sunlight.
Altitude: less than1,000 m above sea level
Insulation resistance: 100 MΩ or more (500 VDC insulation tester)
Motor insulation Dielectric strength: 1,500 VAC/1 min
Insulation class: A
Mounting direction Can be installed in any direction.
Protection structure Totally enclosed self-cooled type (IP54)
The table above shows the typical values.
*1: Indicates typical characteristics when combined with our driver (driven using an ideal sine wave).
*2: Values after the temperature has risen and saturated when installed on the following aluminum radiation plates.
HMAC08: 320×320×16 [mm]
HMAB09: 350×350×18 [mm]
HMAB12: 400×400×20 [mm]
HMAB15: 500×500×25 [mm]
HMAA21A: 650×650×30 [mm]
*3: Value of the phase-induced voltage constant multiplied by 3.
*4: The multi-turn detector range is -32,768 to 32,767.
*5: For testing conditions, refer to [1-10 Shock resistance] (P1-15) and [1-11 Resistance to vibration] (P1-16).
Motor operation is not guaranteed in applications where vibrations and impacts are continuously applied for a
long period of time.

Appe

1-5
 1-5 Holding brake

1
1-5 Holding brake

Outlines
The brakes equipped on HMA series motors are used to hold the motor shaft in place when the power
is cut off. With some models (HMAB09, 12), the motor's built-in circuit controls the voltage supplied to
the brake in order to reduce the power consumption while the brake is actuated.
Always use a DC power supply that has a proper brake excitation voltage and is capable of outputting
enough current during suction.

Specifications
Model
HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A
Item
Type Dry non-excitation actuation type
Power-saving control No Yes No
*1
Brake excitation voltage V 24 VDC ± 10% (no polarity)
Current consumption
A 0.37 0.8*2 0.8*2 0.7 0.9
during suction
Current consumption
A 0.37 0.3 0.3 0.7 0.9
during holding
Nm 0.6 1.0 2.0 4.0 15
Holding torque
kgf·m 0.06 0.102 0.204 0.408 1.53
Allowable number of
100,000 times
normal brakings*3
Allowable number of
200 times
emergency stops *4
*1: The power supply for the brake is not included in the product. Use a power supply that is capable of outputting
enough current during brake suction.
*2: The duration the current is supplied during suction is 0.5 second or less for the power supply of 24VDC ± 10%.
*3: When the brake is activated at the rotational speed of 150 r/min or less.
*4: When the brake is activated at the rotational speed of 3,000 r/min, provided that the inertia moment of load is 3
times or less than that of the motor.

The holding brake cannot be used for deceleration.

Do not use the holding brake more than the allowable number of normal
brakings (100,000 times at the rotational speed of 150 rpm or less) or allowable
WARNING number of emergency stops (200 times at the rotational speed of 3,000 rpm,
provided that the inertia moment load is 3 times or less than that of the motor).

Exceeding the allowable number of normal brakings and allowable number of Appe
emergency stops may cause the holding torque to decrease and consequently
become unusable as a brake.

1-6
 Outlines

Appe

1-7
Encoder connector
Housing :
Tab contact:

Motor connector
Housing
1-6 External dimensions

Pin contact
Pin contact

15 or less
 HMAC08 (with/without brake)

Motor cable Encoder cable

R0.4 or less
(Cable outer diameter: (Cable outer diameter:
R0.4 or less
1-6 External dimensions
The external dimensions of the HMA series motors are shown below.

Note: For details on external dimensions, see our illustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, machine-finished good).
Contact us for the differential range of the size that is not described.
Unit: mm (third angle projection)
 

Encoder connector
Housing :
Tab contact:

Motor connector
Housing
Pin contact
Pin contact

15 or less
HMAB09 (with/without brake)

Motor cable Encoder cable

R0.4 or less (Cable outer diameter: (Cable outer diameter:
R0.4 or less

Note: For details on external dimensions, see our illustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, machine-finished good).
Contact us for the differential range of the size that is not described.
1-6 External dimensions

Unit: mm (third angle projection)

1-8
Outlines
1

Appe
 Outlines

Appe

1-9
Encoder connector
Housing :
Tab contact:

Motor connector
Housing
1-6 External dimensions

Pin contact
Pin contact

15 or less
 HMAB12 (with/without brake)

Motor cable Encoder cable

R0.4 or less
(Cable outer diameter: (Cable outer diameter:
R0.4 or less

Note: For details on external dimensions, see our illustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, machine-finished good).
Contact us for the differential range of the size that is not described.
Unit: mm (third angle projection)
 Encoder connector
Housing :
Tab contact:

Motor connector
Housing
Pin contact
Pin contact

15 or less
 HMAB15 (with/without brake)

Motor cable Encoder cable

R0.4 or less (Cable outer diameter: (Cable outer diameter:

R0.4 or less

Note: For details on external dimensions, see our illustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, machine-finished good).
Contact us for the differential range of the size that is not described.
1-6 External dimensions

Unit: mm (third angle projection)

1-10
Outlines
1

Appe
 Outlines

Appe

1-11
Motor connector Encoder connector
R0.4 or less
R0.4 or less
1-6 External dimensions

 HMAA21A (with/without brake)

Fix the angle

Eye bolt
(Supplied parts)

Install the relay cable connector

Note: For details on external dimensions, see our illustrated specifications.

Tolerances may vary with the product manufacturing method (foundry piece, machine-finished good).
Contact us for the differential range of the size that is not described.
Unit: mm (third angle projection)
 1-7 Mechanical accuracy

1-7 Mechanical accuracy 1

Outlines
The mechanical accuracies of the output shaft and mounting flange for HMA series motors are shown
below:
Unit: mm

Accuracy items HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A

1. Output shaft surface runout 0.020 0.020 0.020 0.040 0.040
2. Deflection of output shaft 0.020 0.020 0.020 0.040 0.040
3. Squareness of the mounting surface
0.080 0.080 0.080 0.090 0.100
to the output shaft
4. Squareness of the mounting surface
0.060 0.065 0.065 0.085 0.090
to the output shaft
5. Concentricity of the mounting surface
0.050 0.050 0.050 0.050 0.060
to the output shaft
6. Concentricity of the mounting surface
0.045 0.045 0.045 0.055 0.065
to the output shaft
Note: All values are T.I.R. (Total Indicator Reading).

◎ 5 A

A ◎ 6 A

3 A 4 A

The methods for measurement are as follows:

1 Output shaft surface runout
The indicator on the fixed part measures the
axial runout (maximum runout width) of the
end surface of the output shaft per
revolution.
2 Deflection of output shaft
The indicator on the fixed part measures the
radial runout (maximum runout width) of the
output shaft of the output shaft unit per Appe
revolution.
3,4 Squareness of the mounting surface to
the output shaft
The indicator on the output shaft reference
position measures the axial runout
(maximum runout width) of the outermost
circumference of the mounting surface (both
on the output shaft side and opposite side)
per revolution.
5,6 Concentricity of the mounting surface to
the output shaft
The indicator on the output shaft reference
position measures the radial runout
(maximum runout width) of the fitting part
(both on the output shaft side and opposite
side) per revolution.

1-12
 1-8 Detector specifications (Absolute encoder)

1 1-8 Detector specifications (Absolute encoder)

Outlines

Absolute encoders installed in the HMA series are multi-turn absolute encoders. The encoder consists
of a single-turn detector for detecting the motor shaft position, and a multi-turn detector for detecting
the number of revolutions.
The encoder constantly detects the absolute position of the machine and stores it by means of the
battery backup, regardless of whether the driver or external controller power is turned ON or OFF.
Accordingly, once the origin is detected when the machine is installed, originating is not required for
subsequent power ON operations. This facilitates the recovery operation after a power failure or
breakdown.
The single-turn absolute position detector and the accumulation counter that detects the number of
revolutions are both made dual-redundant, where data is constantly checked between two identical
devices while the power is ON to ensure a highly reliable design that allows self-detection of encoder
errors should they occur.
In addition, a backup capacitor is installed in the encoder to retain absolute positions even when the
driver-encoder extension cable is disconnected for initial startup of the device, etc. (internal backup).
However, the backup capacitor has a limited life and its performance deteriorates. Therefore, it is
recommended that you replace the battery in the battery backup built in the HA-800 driver while the
driver is receiving power.

Specifications
Magnetic sensor/electronic battery backup type
Type*1 (Single-turn optical sensor, multi-turn magnetic sensor/electronic battery backup
type)
Single-turn
217: 131,072 pulses
detector
Resolution
Multi-turn
216: 65,536 (-32,768 to 32,767)
detector
Maximum allowable motor
7,000 r/min*2
shaft rotational speed
･ Check method in which two identical single-turn detectors are compared
Safety/redundancy ･ Check method in which two identical cumulative revolution counters that detect
the number of revolutions are compared
Backup time by external
1 year (when power is not supplied)
battery
Backup time by internal 30 minutes (after 3 hours of charge, ambient temperature of 25℃, axis stopped)
battery (For backup while the driver and encoder are disconnected briefly)
*1: HMAC08 is equipped with an optical encoder; other models are equipped with a magnetic encoder.
*2: This is the rotational speed limit of the encoder and is different from the rotational speed that the motor can
drive.
Appe

1-13
 1-9 Rotation direction

1-9 Rotation direction 1

Outlines
As a default, the rotation direction is defined as counterclockwise (CCW) rotation as viewed from the
output shaft when a FWD command pulse is given from an HA-800 driver.
This rotation direction can be changed on the HA-800 driver by selecting [SP50: Command polarity
setting] under [System parameter mode 3].

Counterclockwise rotation direction

"SP50: Command polarity" setting

Set value FWD command pulse REV command pulse Setting
0 CCW (counterclockwise) direction CW (clockwise) direction Default
1 CW (clockwise) direction CCW (counterclockwise) direction

Appe

1-14
 1-10 Shock resistance

1 1-10 Shock resistance

Outlines

The shock resistance of the motor is as follows, and this value is the same in up/down, left/right and
front/rear directions:
Shock acceleration: 300 m/s2
In our shock resistance test, the motor is tested three times in each direction. Motor operation is not
guaranteed in applications where impacts exceeding the above value are constantly applied.

Appe

1-15
 1-11 Resistance to vibration

1-11 Resistance to vibration 1

Outlines
The resistance to vibration of the motor is as follows, and this value is the same in up/down, left/right
and front/rear directions:
Vibration acceleration: 25 m/s2 (frequency: 10 to 400 Hz)
In our test, the motor is tested for 2 hours in each direction at a vibration frequency sweep period of 10
minutes.

Appe

1-16
 1-12 Operable range

1 1-12 Operable range

Outlines

The graphs on the following pages indicate the operable ranges of HMA series motors when combined
with an HA-800 driver. For details, refer to [2-1 HMA series selection].

1. Continuous motion range

This indicates a range in which the motor can be operated continuously as shown by the relationship
between the torque and rotational speed. Note that values are measured with the radiation plate listed
on the graphs installed.

2. Motion range during acceleration and deceleration

This indicates a range in which the motor can be operated instantaneously as shown by the
relationship between the torque and rotational speed. This range is normally used for acceleration or
deceleration.

Appe

1-17
 1-12 Operable range

■HMAC08

2
Aluminum radiation plate: 320*320*16
アルミ放熱板：320x320x16 mm
1

Outlines
1.8

1.6

1.4

1.2 Motion range during

[Nm]

加減速運転領域
トルク[Nm]

acceleration and deceleration

1
Torque

0.8

0.6

0.4
Continuous
0.2 連続使用領域
motion range
0
0 1000 2000 3000 4000 5000 6000
Rotation speed [r/min]
回転速度 [r/min]

■HMAB09 *200 VAC type

Aluminum radiation plate: 350*350*18
アルミ放熱板：350×350×18 mm
3.5

2.5

2
[Nm]

Motion range during

トルク[Nm]

加減速運転領域
acceleration and deceleration
Torque

1.5

0.5 Continuous
連続使用領域
motion range
0
0 1000 2000 3000 4000 5000 6000
回転速度
Rotation speed[r/min]
[r/min]

■HMAB09 *100 VAC type

Aluminum radiation plate: 350*350*18
アルミ放熱板：350×350×18 mm
3.5

3
Appe
2.5

Motion range during

トルク [Nm]

2
[Nm]

加減速運転領域
acceleration and deceleration
Torque

1.5

0.5 Continuous
連続使用領域
motion range
0
0 1000 2000 3000 4000 5000
回転速度
Rotation [r/min]
speed [r/min]

1-18
 1-12 Operable range

1 ■HMAB12
Aluminum radiation plate: 400*400*20
アルミ放熱板：400×400×20 mm
7
Outlines

4
[Nm]

Motion range during

[Nm]

加減速運転領域
acceleration and deceleration
トルク

3
Torque

1 Continuous
連続使用領域
motion range
0
0 1000 2000 3000 4000 5000
回転速度
Rotation [r/min]
speed [r/min]

■HMAB15
Aluminum radiation plate: 500*500*25
アルミ放熱板：500×500×25 mm
14

12

10

8 Motion range during

[Nm]
トルク [Nm]

加減速運転領域
acceleration and deceleration
Torque

2 Continuous
連続使用領域
motion range
0
0 500 1000 1500 2000 2500 3000 3500 4000
回転速度
Rotation [r/min]
speed [r/min]

■HMAA21A
Aluminum radiation plate: 650*650*30
アルミ放熱板：650×650×30 mm
35
Appe
30

25
Motion range during
加減速運転領域
acceleration and deceleration
トルク [Nm]

20
Torque [Nm]

15

10

Continuous
5 連続使用領域
motion range

0
0 500 1000 1500 2000 2500 3000
回転速度
Rotation [r/min]
speed [r/min]

1-19
 1-13 Cable specifications

1-13 Cable specifications 1

Outlines
The following tables show the specifications of the motor and encoder cables for the HMA series
motors.

Motor cable specifications

 Size 08, 09, 12, 15
Name
Pin No. Color
Without brake With brake
1 Red Motor phase-U Motor phase-U
2 White Motor phase-V Motor phase-V
3 Black Motor phase-W Motor phase-W
4 Green/Yellow PE PE
5 Blue No connection Brake
6 Yellow No connection Brake

 Connector pin layout

Connector model: 350715-1
Pin model:
Size 08, 09 Size 12, 15
Motor UVW 350690-1 350547-1
Brake 350690-1 350690-1
Motor PE 350669-1 350669-1
by AMP

 Size 21A
Color Name
Pin No.
(extension cable) Without brake With brake
A Blue No connection Brake
B Yellow No connection Brake
C - No connection No connection
D Red Motor phase-U Motor phase-U
E White Motor phase-V Motor phase-V
F Black Motor phase-W Motor phase-W
G Green/Yellow PE PE
H - PE PE
I - No connection No connection

 Connector pin layout Appe

Connector model: CE05-2A24-11PGHS-D (by DDK)

1-20
 1-13 Cable specifications

1 Encoder cable specifications

 Size 08, 09, 12, 15
Outlines

Pin No. Color Signal name Remarks

1A Red Vcc Power supply input +5V
1B Black GND (Vcc) Power supply input 0V (GND)
2A Yellow SD+ Serial signal differential output (+)
2B Blue SD- Serial signal differential output (-)
3A - No connection -
3B Shielded FG
4A Orange Vbat Battery +
4B Gray GND (bat) Battery - (GND)

 Connector pin layout

4A 1A Connector model: 1-1903130-4

Pin model: 1903111-2, 1903116-2, or 1903117-2
by AMP

4B 1B

 Size 21A

Pin No. Color Signal name Remarks

1 Orange Vbat Battery +
2 Gray GND (bat) Battery - (GND)
3 NC No connection
4 Red Vcc Power supply input +5V
5 Black GND (Vcc) Power supply input 0V (GND)
6 NC No connection
7 NC No connection
8 Yellow SD+ Serial signal differential output (+)
9 Blue SD- Serial signal differential output (-)
10 - FG

 Connector pin layout

Appe

Connector model: CM10-R10P (D3)-01 (by DDK)

1-21
Chapter 2

Selection guidelines
This chapter explains how to select a proper HMA series motor.

2-1 HMA series selection ···························································· 2-1

2-2 Verifying and examining load weights ······································· 2-2
2-3 Examining the operating status ··············································· 2-3
 2-1 HMA series selection

2-1 HMA series selection

2 Allowable load inertia moment
Selection guidelines

To maximize the performance of the HMA series, make a tentative selection of a motor so that the max.
rotational speed and allowable load inertia moment ratio are equal to or lower than the values shown in
the table below.
The allowable load inertia moment ratios in the table below are reference values for the following
cases:
(1) Controllable range: where the motor is accelerated/decelerated gradually or high responsiveness
is not required.
(2) Stable control range: where higher responsiveness is required to shorten the transient vibration
period during positioning or stable operation at a constant speed is required.

Model No. HMAC08 HMAB09 HMAB12 HMAB15 HMAA21A

Allowable 5,600
(r/min) 6,000 4,800 4,000 3,000
rotational speed (4,800)*
Inertia moment ×10-4 kg･m2 0.734 1.78 6.45 15.8 125
(without brake) ×10-4 kgf･cm･s2 7.49 18.2 65.8 161 1,280
Inertia moment ×10-4 kg･m2 0.828 2.16 6.83 19.8 141
(with brake) ×10-4 kgf･cm･s2 8.45 22.1 69.7 202 1,444

(1) Controllable
10 times or less than inertia moment
Allowable load range
inertia moment
ratio (2) Stable
3 times or less than inertia moment
control range

*: The values in parentheses are values for motors with 100 V input voltage.

Refer to [A-2 Calculating inertia moment] (P5-3) for the calculation of inertia moment.

When a load with a large inertia moment is operated frequently, a greater regenerative energy is
produced during braking. If the produced regenerative energy exceeds the absorption capacity of the
built-in regenerative resistor of the servo driver, an additional regenerative resistor must be connected
externally to the driver. For details, refer to the manual of your driver.

Appe

2-1
 2-2 Verifying and examining load weights

2-2 Verifying and examining load weights

Ensure that the load applied to the output shaft of the HMA series motor does not exceed the max.
radial load and max. axial load when stationary and also that the load does not exceed the rated radial
load and rated axial load at the rated rotational speed.
2

Selection guidelines
Refer to the following formulas (1) and (2) to calculate the radial load and axial load.

◆ Formula (1): Max. radial load, max. axial load Motor

F r max ≧ F r ×
（ Lr＋R）(Fa＝0)
F a max ≧ F a × La (Fr＝0)
Symbols in calculation formula
Frmax Max. radial load N Refer to Fig.1.
Famax Max. axial load N Refer to Fig.1.
Fr Radial load N Refer to Fig.1.
Fa Axial load N Refer to Fig.1.
Lr, La ―――― mm Refer to Fig.1.
R Offset amount mm Refer to Fig.1 and Table 1.
Fig. 1: External load action diagram

◆ Formula (2): Rated radial load, rated axial load

F r ave ≧ F r （
× Lr＋R）(Fa＝0)
F a ave ≧ F a × La (Fr＝0)
Symbols in calculation formula
Frave Rated radial load N Refer to Fig.1.
Faave Rated axial load N Refer to Fig.1.
Fr Radial load N Refer to Fig.1.
Fa Axial load N Refer to Fig.1.
Lr, La ―――― mm Refer to Fig.1.
R Offset amount mm Refer to Fig.1 and Table 1.

Verify the static safety coefficient (fs).

Specifications of the support bearings

The following table shows the specifications of the support bearings.
Table 1: Specifications of the main roller bearings Appe
Item Offset amount Rated radial Rated axial Allowable radialload Allowable axial load
(R) load load (when stationary) (when stationary)
Model mm N N N N
HMAC08 17.8 175 100 800 1,900
HMAB09 21.7 185 105 800 2,400
HMAB12 25.0 233 130 1,200 3,600
HMAB15 27.3 530 180 2,400 5,000
HMAA21A 39.5 1,040 880 4,500 14,000

2-2
 2-3 Examining the operating status

2-3 Examining the operating status

The motor generates heat if started/stopped repeatedly or operated continuously at high speed.
2 Accordingly, evaluate whether or not the generated heat can be accommodated.
Evaluate as follows:
Selection guidelines

Examining motor rotational speed

Calculate the required rotational speed (r/min) of the load driven by an HMA series motor.
For linear operation, use the rotational speed conversion formula below:

Screw pitch [mm]

Linear travel speed (mm/min)
Rotation speed (r/min)＝
Screw feed pitch (mm)

Linear travel speed [mm/min]

Check that this rotational speed is less than the max. rotational speed of the HMA series motor.

Calculating and examining load inertia moment

Calculate the inertia moment of the load driven by an HMA series motor.
Refer to [A-2 Calculating inertia moment] (P5-3) for the calculation.
Based on the calculation result, make a tentative selection of an HMA series motor referring to
[Allowable load inertia moment] (P2-1).

Appe

2-3
 2-3 Examining the operating status

Load torque calculation

Calculate the load torque as follows:

 Rotary motion 2
The rotary torque for rotating mass W on the ring of Mass: W

Selection guidelines
radius r from the center of rotation is shown in the
figure to the right. Radius: r
T = 9.8 × µ × W × r
T: Rotary torque (Nm)
μ: Friction coefficient Friction: μ
W: Mass (kg)
r: Average radius of friction side (m)
Example of rotary torque calculation (friction coefficient = 0.1)
HMA: torque of maximum torque is shown.

The right graph gives a calculation example

where the friction coefficient μ is assumed to be
0.1 and the horizontal axis and vertical axis
represent the mass and rotational radius of
Radius r of friction side (mm)

friction side, respectively. The motor toque

shown in the graph indicates 20% of the
maximum torque.

Mass W (kg)

 Linear operation (horizontal operation)

The rotary torque for when mass W moves horizontally due to the screw of pitch P is shown below.
P
T = 9.8 × µ × W × Mass: W
2×π Pitch: P
T: Rotary torque (Nm)
μ: Friction coefficient Friction: μ Appe
W: Mass (kg)
P: Screw feed pitch (m)

 Linear operation (vertical operation)

The rotary torque for when mass W moves vertically due to the screw of pitch P is shown below.
P
T = 9.8 × W ×
2×π

Mass: W

Pitch: P

2-4
 2-3 Examining the operating status

Acceleration time and deceleration time

Calculate the acceleration and deceleration times for the motor tentatively selected using the following
formula.
2 2 ×π N
Acceleration time: ta = k × (JM + JL ) × ×
60 TM − TL
Selection guidelines

2 ×π N
Deceleration time: td = k × (JM + JL ) × ×
60 TM + 2 × TF + TL Rotational speed

ta: Acceleration time (s)

td: Deceleration time (s)
k: Acceleration reduction coefficient 1 to 1.5
The total positioning time may become N
shorter if the acceleration is lowered for
the purpose of reducing the settling time
after positioning. Time
JM: Inertia moment of motor (kg･m2) ta td
JL: Inertia moment of load (kg･m2)
N: Rotational speed of motor (r/min)
TM: Maximum momentary torque (Nm)
TF: Motor friction torque (Nm)
TF = KT × IR -TR
KT: Torque constant (Nm/A)
TR: Rated torque (Nm)
IR: Rated current (A)
TL: Load torque (Nm): The polarity is positive (+) when the torque is applied in the rotation direction, or
negative (-) when it is applied in the opposite direction.

 Calculation example 1
Select a motor that best suits the following operating conditions:
･ Rotational speed: 4800 r/min
･ Inertia moment of load: 2.0×10-4 kg･m2
･ Since the load mechanism is mainly inertia, the load torque is negligibly small.

(1) According to the conditions above, tentatively select an HMAC08 from the table in section 2-1.
(2) From the rating table, the following values are obtained: JM = 0.734 × 10-4 kg･m2, TM = 1.8 Nm,
TR = 0.52 Nm, KT =0.35 Nm/A, IR = 2.1 A
(3) Based on the above formula, the motor's friction torque TF is calculated as 0.35 × 2.1 - 0.52 =
0.215 Nm.
(4) If k = 1.3, the acceleration time and deceleration time can be obtained as follows from the
above formulas:
Appe ta = 1.3 × (0.734 + 2.0) × 10-4 × 2 ×π/ 60 × 4,800 / 1.8 ≒ 0.099 s
td = 1.3 × (0.734 + 2.0) × 10-4 × 2 ×π/ 60 × 4,800 / (1.8 + 2 × 0.215) ≒ 0.080 s
(5) If the calculated acceleration/deceleration times are too long, correct the situation by:
･ Reducing the inertia moment of load
･ Selecting a motor with a larger frame size

2-5
 2-3 Examining the operating status

Evaluating effective torque and average rotational speed

One way to check if the heat generated from the motor during operation would present a problem is to
determine if the point of operation, determined by the effective torque and average rotational speed, is
inside the continuous motion range explained in [1-12Operable range].
Using the following formula, calculate the effective torque Tm and average rotational speed Nav when
2
the motor is operated repeatedly in the drive pattern shown to the right.

Selection guidelines
Rotational speed
ts: Stoppedtime
Ta 2 × t a + Tr 2 × t r + Td 2 × t d
Tm =
t
N

N 2 × ta + N × tr + N 2 × td
Nav = Time
t ta tr td ts
Ta: Acceleration time from speed 0 to N (s) t: Cycle time
td: Deceleration time from speed N to 0 (s)

Torque
tr: Operation time at constant speed N (s)
t: Cycle time (s) Ta, Tr, Td: Output torques
Tm: Effective torque (Nm) Ta
Ta: Torque during acceleration (Nm) Tr
Tr: Torque at constant speed (Nm)
Td: Torque during deceleration (Nm) Td Time
Nav: Average rotational speed (r/min)
N: Rotational speed at constant speed (r/min)

 Calculation example 2
The calculation method is explained below using HMAC08 as an example.
Operating conditions: Accelerate an inertia load and then let it move at a constant speed,
followed by deceleration, based on conditions similar to those used in calculation example 1. The
travel angle per cycle is 3,600° and the cycle time is 0.8 seconds.
(1) The travel angle is calculated from the area of the rotational speed vs. time diagram shown
above. In other words, the travel angle is calculated as follows:
θ = (N / 60) x {tr+ (ta + td) / 2} x 360
Accordingly, tr = θ/ (6 x N) – (ta + td) / 2
When θ = 3,600° and ta = 0.099 (s), td = 0.080 (s), N = 4,800 (r/min) in calculation example 1,
are applied to this formula, tr is calculated as 0.035 (s).
(2) Next, calculate the torque during acceleration and torque during deceleration. Based on the
acceleration/deceleration time formulas in the preceding section, the relational expressions for
torque during acceleration and torque during deceleration if k = 1 are as follows:
Ta = (JM+ JL) x 2 xπ/ 60 x N / ta + TL
Td = (JM + JL) x 2 xπ/ 60 x N / td -2 x TF - TL Appe
When the values in calculation example 1 are applied to this formula, Ta = 1.38 (Nm) and Td =
1.29 (Nm) are obtained.
(3) Calculate the effective torque. Apply the values in (1) and (2), Tr = 0 (Nm), and t = 0.8 (s) to
the above formulas.

1. 382 × 0. 099+ 0 2 × 0. 035+ 1. 292 × 0. 080

Tm = = 0. 64Nm
0. 8

(4) Calculate the average rotational speed. Apply the values in (1), N = 4,800 (r/min), and t = 0.8
(s) to the above formulas.

4, 800 2 × 0. 099+ 4, 800× 0. 035+ 4, 800 2 × 0. 080

Nav = = 750 r/min
0. 8

2-6
 2-3 Examining the operating status

(5) The figure on the right shows the points of operation determined by the effective torque and
average rotational speed calculated above, plotted on the graph of operable range of HMAC08,
exceeding the continuous motion range. The conclusion is that this motor cannot be operated
2 continuously under these conditions. Accordingly,
Aluminum radiation plate: 320*320*16
◆the operation pattern
Selection guidelines

◆load (possible reduction)

◆motor model No.

etc., must be reevaluated.

Motion range during

Torque [Nm]
acceleration and deceleration
The following formula is a modified version
of the formula for effective torque. By
applying the value of allowable continuous
torque to Tm in this formula, the allowable Continuous motion
cycle time can be calculated. range

Rotation speed [r/min]

Ta × t a + Tr × t r + Td × t d
2 2 2
t= 2 Operable range of HMAC08
Tm

Apply the following: Ta = 1.38 Nm, Tr= 0 Nm, Td = 1.29 Nm, Tm = 0.52 Nm, ta = 0.099 s, tr= 0.035
s, td = 0.080 s. Then, the following equation is obtained:
t = (1.382 x 0.099 + 1.292 x 0.080)/ 0.522 = 1.19 s
Based on the result, setting the cycle time to 1.2 seconds or more to provide a longer stop time
gives Tm = 0.52 Nm or less, thereby permitting continuous operation within the rated torque.

 The aforementioned continuous motion range represents an allowable range where the
motor installed on a specified aluminum radiation plate is operated under natural air
cooling. If the radiation area of the mounting member is small or heat conduction of the
material is poor, adjust the operating conditions to keep the rise in the motor's ambient
temperature to 40 K or less as a guide.

Appe

2-7
Chapter 3

Installing the HMA motor

This chapter explains how to install the motor.

3-1 Receiving inspection ····························································· 3-1

3-2 Notices on handling ······························································ 3-2
3-3 Location and installation ························································ 3-5
 3-1 Receiving inspection

3-1 Receiving inspection

Check the following items after unpacking the box.

Inspection procedure
3
1 Check the items thoroughly for damage sustained during transportation.
Installing the HMA motor

If any item is damaged, immediately contact the dealer.

2 Check if the motor is what you ordered.

The nameplate is found on the end face or the side of the HMA series motor. Check the TYPE
field on the nameplate to confirm that it is the model you have ordered. If any item is different
from what you ordered, immediately contact the dealer.
Refer to section [1-2 Model] (P1-2) in this manual for details of the model codes.

3 Check if the driver combinations are correct.

The compatible HMA series motor models are shown in the ADJUSTED FOR USE WITH field of
the nameplate on the HA-800 driver.

4 Check if the driver input voltages being input are correct.

The driver's model code is shown in the TYPE field of the driver's nameplate. The last three
digits of this model code indicate the input voltage.
100: Single-phase 100 V power supply
200: 3-phase/single-phase 200 VAC power supply
If the input voltage to be supplied is different from the voltage listed on the nameplate,
immediately contact the dealer it was purchased from.

Do not combine the driver with a motor that is not specified on the
name plate.
The characteristics of the driver have been adjusted according to the motor.
WARNING Wrong combinations of drivers and motors may cause insufficient torque or
overcurrent that may cause motor burnout, injury or fire.

Appe Do not connect a power supply with a voltage that is not specified
on the driver's nameplate.
Connecting a power supply with an input voltage that is not specified on the
nameplate may result in damage to the driver, injury or fire.

3-1
 3-2 Notices on handling

3-2 Notices on handling

Practice caution and observe the following notices when handling HMA series motors.

(1) Do not apply any excessive force or impact, especially to the motor's
output shaft.

CAUTION
(2) Do not place HMA series motors on a table, shelf, etc., where the motor
could easily fall.
3
(3) Do not connect the motor terminals directly to the power supply. The motor

Installing the HMA motor

may burn out and cause a fire or electric shock.
(4) The allowable storage temperature is -20 to +60 ﾟ C. Do not expose the
motor to direct sunlight for long periods of time or store it in areas at low
or high temperatures.
(5) The allowable relative storage humidity is 80% or less. In particular, do not
store the motor in a very humid place or in areas where there are large
temperature changes between day and night.
(6) Do not use or store the motor in locations subject to flammable or
corrosive gases or dust particles.
(7) The large model (HMAA21A) is heavy. Handling these models may cause
lower back pain, or injury if the motor drops or topples and you are pinned
underneath. Handle your motor with due care by wearing safety shoes,
take other proper precautions, and also use supporting jigs.

Installation and transmission torque

Examples of motor assembly are shown below. Use high-tension bolts and tighten them with a torque
wrench to control the tightening torque. Use flat washers because the tightening torque is high and the
motor flange is made of aluminum.

Motor assembly example

Motor fixing parts Motor fixing parts

Fixing washer Fixing washer

Appe
Output shaft fixing parts Output shaft fixing parts

Assembly example 1 Assembly example 2

3-2
 3-2 Notices on handling

 Recommended tightening torque and transmission torque

HMAC08 HMAB09 HMAB12

Model
Item Output Output Output
motor motor motor
shaft shaft shaft
Number of bolts, size 4-M3 6-M3 4-M3 6-M4 4-M3 6-M5
Bolt
installation mm 22 84 28 102 36 132
3 P.C.D.
Tightening Nm 2.0 2.0 2.0 4.5 2.0 9.0
torque kgf･m 0.20 0.20 0.20 0.46 0.20 0.92
Installing the HMA motor

Transmission Nm 18 103 23 215 30 446

torque kgf･m 1.8 10.5 2.4 22.0 3.1 45.5

HMAB15 HMAA21A
Model
Item Output Output
Motor Motor
shaft shaft
Number of bolts, size 4-M4 6-M6 4-M5 8-M8
Bolt
installation mm 50 158 74 226
P.C.D.
Tightening Nm 4.5 15.3 9.0 37.0
torque kgf･m 0.46 1.56 0.92 3.8
Transmission Nm 70 755 167 2,630
torque kgf･m 7.2 77.1 17.0 268.2

Note 1: The female thread material is assumed to withstand the bolt tightening torque.
2: Recommended bolt: Hexagonal bolt per JIS B 1176 Strength category: JIS B 1051 12.9 or higher
3: Calculation conditions Torque efficiency: 0.2 Tightening efficiency: 1.4 Tightening friction coefficient:
0.15

Precautions on installation
When designing the assembly, note that application of any abnormal or excessive force that causes
deformation of the installation surface may result in performance drop. To deliver optimal performance
of the HMA series motors, pay attention to the following points:

 Warping and deformation on the mounting surface

 Blockage caused by foreign matter
 Burrs, rising and abnormal position accuracy around tapped mounting holes
 Insufficient chamfering of mounting faucet joint
Appe  Abnormal circularity of mounting faucet joint

3-3
 3-2 Notices on handling

Use of positioning pins

The HMA series motors have positioning pin holes in the output shaft. Use these pin holes as
necessary. For details, refer to [1-6 External dimensions] (P1-7) or the illustrated specifications.

Positioning pin*1 3

Installing the HMA motor

Output shaft fixing part

Example of use of positioning pins

*1. Do not drive in positioning pins, but keep proper fitting clearances to the motor shaft. Failure to
do so may result in damage to the motor, deformation of the motor shaft, or decreased pin
positional accuracy.

Motor shaft material

The HMA series motors use the following materials, however, they are not completely rust-proof.

Location Material
Housing No treatment (aluminum material is exposed)
Hollow shaft (output shaft) SUS
Bolt Chrome plating

Appe

3-4
 3-3 Location and installation

3-3 Location and installation

Environment of location
The environmental conditions of the installation location for HMA series motors are as follows. Always
3 observe these conditions to determine an appropriate installation location.
◆ Operating temperature: 0 to 40℃
The temperature in the cabinet may be higher than the atmosphere depending on
Installing the HMA motor

the power loss of housed devices and size of the cabinet. Plan the cabinet size,
cooling system, and device locations so the ambient temperature of the motor is
kept 40℃ or below.
◆ Operating humidity: Relative humidity of 20 to 80%. Make sure no condensation occurs.
Take note that condensation is likely to occur in a place where there is a large
temperature change between day and night or when the motor is started/stopped
frequently.
◆ Vibration: 25 m/s2 (10 to 400Hz) or less (Refer to [1-11 Resistance to vibration] (P1-16))
◆ Impact: 300 m/s2 or less (Refer to [1-10 Shock resistance] (P1-15))
◆ Use environment: Free from condensation, metal powder, corrosive gases, water, oil mist, flammable
gases, etc.
◆ Protection class: Standard products are structurally designed to meet the
IP-54 requirements.

The protection class against water entry is as follows:

4: Protected against water splashed from all directions.

The protection class against contact and entry of foreign

matter is as follows:
5: Protected against entry of dust/dirt. Entry of foreign matter
caused by incomplete protection must not affect the
operation of the system.

However, rotating and sliding areas (oil seal areas, all models) and connectors (HMAC08,
HMAB09, HMAB12, HMAB15) are not IP-54-compliant. Connectors of HMAA21A are warrantied
as installed.
◆ Use the motor indoors or within an enclosure. Do not expose it to direct sunlight.
◆ Altitude: less than1,000 m above sea level
Appe

3-5
 3-3 Location and installation

Installation
When installing an HMA series motor, ensure that it is installed accurately and do not tap with a
hammer, etc. The motor houses an encoder. Excessive impact may damage the encoder.

Installation procedure
1 Align the axis of rotation of the motor and the Output
load mechanism precisely. shaft 3
Note 1: Perform this alignment carefully, especially when a
rigid coupling is used. Even slight misalignment

Installing the HMA motor

may cause the allowable load of the motor to be
exceeded, resulting in damage to the output shaft.

Flange

2 Connect the driver and wiring.

An extension cable is provided. Use it when wiring the driver. For details on wiring, refer to [1-13
Cable specifications] (P1-20) and the manual of your HA-800 driver.

3 Wire the motor cable and encoder cable.

Do not pull the cables with a strong force. Doing so may damage the connectors. Install the cable
with slack and do not to apply any tension to the motor. Provide a sufficient bending radius (at
least six times the cable diameter), especially when the cable flexes.

 Do not bring strong magnetic bodies (magnet chucks, permanent magnets, etc.) near
the rear cover of the motor. Encoder abnormality may result.
 This encoder retains absolute positions when the power is turned OFF by means of the
driver's battery or its own built-in capacitor. If the encoder cable is disconnected for
maintenance, etc., turn ON the driver power and charge the backup capacitor first.
After 3 hours of charge, the encoder cable can be disconnected for 30 minutes,
provided that the axis is stopped and ambient temperature is 25℃. However, when the
backup capacitor is deteriorated, the absolute positions may not be retained.

Appe
Do not disassemble/reassemble the motor.
The motor uses many precision parts. If the motor is
disassembled/reassembled by the customer, it may cause motor burnout or
WARNING uncontrollable operation, resulting in a fire or injury.

3-6
 3-3 Location and installation

3
Installing the HMA motor

Appe

3-7
Chapter 4

Options
This chapter provides information on the options.

4-1 Options ·············································································· 4-1

 4-1 Options

1 4-1 Options
Cable taken out from side face (option code: Y)
The cables (motor and encoder wires) are taken out from the side face of the motor.
Use this option if the motor is housed in a system and there is not enough space at the rear of the
housing.
Please contact us for model No. 08. This option is not available for size 21A.
For details on the option where cables can be taken out from the side, contact our sales office.
4
Options

Appe

4-1
 4-1 Options

Extension cables
These extension cables are used to connect the HMA series motors and HA-800 drivers.
Two types of extension cables are available for motors (including brake wire) and absolute encoders.
You must use an extension cable to connect your HMA series motor and HA-800
driver.

For motors
 Motor model Nos. 08, 09, 12

EWD-MB**-A06-TN3 4

Options
Cable length (03 = 3m, 05 = 5m, 10 = 10m)

Cable length

[Driver side] [Motor side]

(Model Nos. 08, 09, 12)

Solder processing
Outer diameter φ7.8
Brake: blue

Brake: yellow

PE: green/yellow

Wiring display seal W: black

V: white
U: red
(Unit: mm)

 Motor model No. 15

EWD-MB**-A06-TMC

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

Cable length

[Driver side]
[Motor side]
[MotorNo.
(Model side]
15)
Appe
(Model No. 15)

Solder processing Brake: blue

Outer diameter φ7.8
Brake: yellow

PE: green/yellow

W: black

V: white

U: red
(Unit: mm)

4-2
 4-1 Options

 Motor model No. 21A

1 EWD-MB**-D09-TMC

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

[Motor side]
(Model No. 21A) [Driver side]

Cable length

Outer diameter φ13.4 U: red

V: white
W: Black

4
Brake: blue
Waterproof cable clamp
Brake: yellow
Options

PE: green/yellow

Angle plug

(Unit: mm)

Appe

4-3
 4-1 Options

For absolute encoder

 Motor model Nos. 08, 09, 12, 15
EWD-S**-A08-3M14

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

[Driver side]
[Motor side] Cable length

Outer diameter φ8.4

4

Options
(Unit: mm)

 Motor model No. 21A

EWD-S**-D10-3M14

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

[Motor side]
[Driver side]

Cable length

Outer diameter φ8.4

(Unit: mm)

Appe

4-4
 4-1 Options

4
Options

Appe

4-5
 Chapter 5

Appendix

A-1 Unit conversion ································································· 5-1

A-2 Calculating inertia moment ·················································· 5-3
 Unit conversion

1 13-1
A Unit conversion
This manual employs the SI system for units. Conversion factors between the SI system and other
systems are as follows:
(1) Length
SI system m Unit ft. in.
Factor 0.3048 0.0254
Unit ft. in.
Factor 3.281 39.37 SI system m
(2) Linear speed
SI system m/s Unit m/min ft./min ft./s in/s
Factor 0.0167 5.08x10-3 0.3048 0.0254
Appe Unit m/min ft./min ft./s in/s
Factor 60 196.9 3.281 39.37 SI system m/s
Appendix

(3) Linear acceleration

SI system m/s2 Unit m/min2 ft./min2 ft./s2 in/s2
Factor 2.78x10-4 8.47x10-5 0.3048 0.0254
Unit m/min2 ft./min2 ft./s2 in/s2
Factor 3,600 1.18x104 3.281 39.37 SI system m/s2
(4) Force
SI system N Unit kgf lb (force) oz (force)
Factor 9.81 4.45 0.278
Unit kgf lb (force) oz (force)
Factor 0.102 0.225 4.386 SI system N
(5) Mass
SI system kg Unit lb. oz.
Factor 0.4535 0.02835
Unit lb. oz.
Factor 2.205 35.27 SI system kg
(6) Angle
SI system rad Unit Degree Minute Sec.
Factor 0.01755 2.93 x 10-4 4.88 x 10-6
Unit Degree Minute Sec.
Factor 57.3 3.44 x 103 2.06 x 105 SI system rad

Appe (7) Angular speed

SI system rad/s Unit deg/s deg/min r/s r/min
Factor 0.01755 2.93 x 10-4 6.28 0.1047
Unit deg/s deg/min r/s r/min
Factor 57.3 3.44x103 0.1592 9.55 SI system rad/s

5-1
 Unit conversion

(8) Angular acceleration

SI system rad/s2 Unit deg/s2 deg/min2
Factor 0.01755 2.93 x 10-4
Unit deg/s2 deg/min2
Factor 57.3 3.44 x 103 SI system rad/s2
(9) Torque
SI system N･m Unit kgf･m lb･ft lb･in oz･in
Factor 9.81 1.356 0.1130 7.06 x 10-3
Unit kgf･m lb･ft lb･in oz･in
Factor 0.102 0.738 8.85 141.6 SI system N･m
(10) Inertia moment
SI system kg･m2

Unit kgf･m･s2 kgf･cm･s2 lb･ft2 lb･ft･s2 lb･in2 lb･in･s2 oz･in2 oz･in･s2 Appe
Factor 0.102 10.2 23.73 0.7376 3.42 x 103 8.85 5.47 x 104 141.6

Appendix
Unit kgf･m･s2 kgf･cm･s2 lb･ft2 lb･ft･s2 lb･in2 lb･in･s2 oz･in2 oz･in･s2
Factor 9.81 0.0981 0.0421 1.356 2.93 x 10-4 0.113 1.829 x 10-5 7.06 x 10-3

SI system kg･m2

Appe

5-2
 Calculating inertia moment

1 13-2
A Calculating inertia moment
Formulas of mass and inertia moment
(1) The center of rotation matches the centroidal line
The following table includes formulas to calculate mass and inertia moment.
m: Mass (kg), Ix, Iy, Iz: inertia moments which rotate around x-, y-, z-axes respectively (kg･m2)
G: Distance from the end face to the center of gravity (m)
ρ: Specific gravity (g/cm3)
Units Length: m, Mass: kg, Inertia moment: kg･m2

Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center
Appe cylinder
z m = π R 2 L ρ ×103
Circular pipe
z
(
m = π R1 − R 2
2 2
)L ρ ×103
1
Ix = m R 2 Ix =
1
(
m R12 + R 22 )
Appendix

R R1
2 2

( )
x x
1  2 L2  1  2 L2 
Iy = m R + Iy = m  R1 + R 22 + 
y 4  3  R2 y 4  3 
L L
1 
Iz = m  R 2 +
4 
L2 
3 
R1:Outer diameter Iz =
1  2
4 
(
m  R1 + R 22 +
L2 
3 
 )
R2: Inner diameter
Slanted cylinder Ball
m = π R2 L ρ ×103 m=
4
π R 3 ρ ×103
R 3
θ 1
Iθ = m 2
12 I= m R2
5
{ ( )
× 3R 2 1 + cos 2 θ + L2sin 2 θ }
L

Ellipsoidal cylinder Cone 1

m=
1
BC L ρ ×103 m= π R 2 L ρ ×103
4 3
z
z 3
B
Ix =
1
16
(
m B2 + C2 ) R
Ix =
10
m R2

x C x Iy =
3
80
m 4R 2 + L2 ( )
1  C2 L2 
Appe L
y Iy = m
4  4
+
3  G y
Iz =
3
(
m 4R 2 + L2 )
L 80
1  B2 L2  L
Iz = m + G=
4  4 3  4
Rectangular pillar Square pipe
m = A BC ρ ×103 m = 4AD(B - D )ρ ×103
B z
Ix =
1
12
(
m B2 + C2 ) D
B z
Ix =
1
{
m (B - D)2 + D2 }
3
Iy =
1
12
m (C 2
+ A2 ) 1 A2
Iy = m 
2 
+ (B - D) + D 2 
x C x
6  2 
y Iz =
1
12
(
m A 2 + B2 ) y 1 A2
Iz = m 
2 
+ (B - D) + D 2 
A A 6  2 

5-3
 Calculating inertia moment

Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center
Rhombus pillar 1 Hexagonal pillar
m= ABC ρ ×103 m=
3 3
AB2 ρ ×103
z 2 2
B
( )
z
1 B√3
5
Ix = m B2 + C2 Ix = m B2
24 12
x C
Iy =
1
24
(
m C2 + 2A 2 ) x Iy =
1  2 5 2
mA + B 
B 12  2 
y
A
Iz =
1
24
(
m B2 + 2A 2 ) A y
Iz =
1  2 5 2
mA + B 
12  2 
Isosceles triangle 1 Right triangle pillar 1
pillar m= ABC ρ ×103 m= ABCρ ×103
2 2
z
Ix =
1  B 2 2 2 
m + C
z
Ix =
1
36
(
m B2 + C2 )
G 12  2 3 
 G1
C 1  2 2 2 Iy =
1  2 2 2
m A + C  Appe
x Iy = m A + C  x C 12  3 
12  3 
1  2 2 2

Appendix
y 1  2 B2  G2 y Iz = m A + B 
A Iz = m A + 12  3 
B 12  2  A
C B
C B G1 = G2 =
G= 3 3
3

 Example of specific gravity

The following tables show reference values for specific gravity. Check the specific gravity for each
material.
Material Specific Material Specific Material Specific
gravity gravity gravity
SUS304 7.93 [g/cm3] Aluminum 2.70 [g/cm3] Epoxy resin 1.90 [g/cm3]
S45C 7.86 [g/cm3] Duralumin 2.80 [g/cm3] ABS 1.10 [g/cm3]
SS400 7.85 [g/cm3] Silicon 2.30 [g/cm3] Silicon resin 1.80 [g/cm3]
Cast iron 7.19 [g/cm3] Quartz glass 2.20 [g/cm3] Polyurethane rubber 1.25 [g/cm3]
Copper 8.92 [g/cm3] Teflon 2.20 [g/cm3]
Brass 8.50 [g/cm3] Fluorocarbon resin 2.20 [g/cm3]

(2) Both centerlines of rotation and gravity are not the same:
The following formula calculates the inertia moment when the rotary center is different from the gravity center.
I = Ig + mF 2 F
I: Inertia moment when the gravity center axis does not
match the rotational axis (kg･m2)
Appe
Ig: Inertia moment when the gravity center axis matches
the rotational axis (kg･m2)
Rotary Gravity
Calculate according to the shape by using formula (1). center center
m: mass (kg) axis axis
F: Distance between rotary center and gravity center (m)

(3) Inertia moment of linear operation objects

The inertia moment, converted to output shaft, of a linear motion object driven by a screw, etc., is
calculated using the formula below.
2
 P
I = m 
 2π 
I: Inertia moment of a linear operation object converted to motor axis (kg･m2)
m: mass (kg)
P: Linear travel per motor one revolution (m/rev)

5-4
 Calculating inertia moment

1 Inertia moment of cylinder

The inertia moment of a cylinder can Inertia moment (kgm2) Length (mm)
be obtained from the graphs to the 1,000
Inertia moment (specific gravity: 2.7)
right. 1,000

100
100
Radius

Length 10
10

1
1

Apply the top graph to aluminum 0.1

Appe materials (specific gravity: 2.7) and

bottom graph to steel materials
0.01
(specific gravity: 7.85):
Appendix

0.001
(Example)
Material: Aluminum
Outer diameter: 100 mm 10-4
Length: 7 mm
Shape: Column
Since the outer diameter is 100 mm, 10-5
the radius is 50 mm. Therefore, the
above graph gives the inertia 10-6
moment as follows: 10 20 30 50 70 100 200 300 500 700 1,000
Approximately 1.9 x 10-4 kg･m2. Radius R (mm)
(Calculated value: 0.000186 m2) Inertia moment (kgm2) Length (mm)
1,000
Inertia moment (specific gravity: 7.85) 1,000

100 100

10
10

1 1

Appe 0.1

0.01

0.001

10-4

10-5

10-6
10 20 30 50 70 100 200 300 500 700 1,000
Radius R (mm)

5-5
Index
Load weights ....................................................... 2-2
Ａ
m
Absolute encoder............................................... 1-13
Acceleration time ................................................. 2-5 Mechanical accuracy ......................................... 1-12
Allowable load inertia moment ............................. 2-1 Model................................................................... 1-2
Average rotational speed ..................................... 2-6 Motor cable specifications ................................. 1-20
Motor rotational speed ......................................... 2-3
C Motor shaft material ............................................. 3-4
Cable specifications........................................... 1-20 N
Combinations with drivers and extension cables . 1-3
Conformance to overseas standards .......................... 7 Notices on handling ............................................. 3-2
D O
Deceleration time................................................. 2-5 Operable range ................................................. 1-17
Detector specifications ...................................... 1-13 Options ................................................................ 4-1
Outlines ............................................................... 1-1
E
P
Effective torque.................................................... 2-6
Encoder cable specifications ............................. 1-21 Positioning pins ................................................... 3-4
Environmental conditions .................................... 3-5 Precautions on installation................................... 3-3
Examining operating status ................................. 2-3
R
Extension cables ................................................. 4-2
External dimensions ............................................ 1-7 Receiving inspection............................................ 3-1
Related manual ...................................................... 7
H
Resistance to vibration ...................................... 1-16
HMA series selection ........................................... 2-1 Rotation direction .............................................. 1-14
Holding brake ...................................................... 1-6
S
I
Shock resistance ............................................... 1-15
Inertia moment..................................................... 5-3 Specifications ...................................................... 1-4
Inertia moment of cylinder ................................... 5-5
T
Installation ...................................... 3-0, 3-2, 3-5, 3-6
Installation Location ............................................. 3-5 Transmission torque ............................................ 3-2
L U
Load inertia moment ............................................ 2-3 Unit ...................................................................... 5-1
Load torque ......................................................... 2-4
 Warranty Period and Terms

The equipment listed in this document is warranted as follows:

■Warranty period
Under the condition that the motor is handled, used and maintained properly followed each item
of the documents and the manuals, all the applicable 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 terms
All the applicable 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 a non-applicable product.
(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.
 Certified to ISO14001／ISO9001 (TÜV SÜD Management Service GmbH)
All specifications and dimensions in this manual subject to change without notice.
This manual is correct as of October 2018. http://www.hds.co.jp/english/

Head Office／Ichigo Omori Building, 7F 6-25-3 Minami-Ohi, Shinagawa-ku,

Tokyo, Japan
〒140-0013 TEL+81(0)3-5471-7800 FAX+81(0)3-5471-7811

Overseas Division／1856-1 Hotakamaki, Azumino-shi Nagano, Japan

〒399-8305 TEL+81(0)263-83-6935 FAX+81(0)263-83-6901

HOTAKA Plant／1856-1 Hotakamaki, Azumino-shi Nagano, Japan

〒399-8305 TEL+81(0)263-83-6800 FAX+81(0)263-83-6901

Harmonic Drive AG／Hoenbergstraβe 14, 65555 Limburg, Germany

TEL06431-5008-0 FAX06431-5008-18

Harmonic Drive L.L.C／42 Dunham Ridge, Beverly, MA 01915, U.S.A.

TEL+1- 978-532-1800 FAX+1- 978-532-9406

"HarmonicDrive®" is a registered trademark of Harmonic Drive Systems, Inc.

102121-0R-THMA-E