Description
3HNM09400-1: Product Overview
The module serves as a joint actuator within ABB industrial robotic systems, positioned between the robot controller (e.g., ABB IRC5 or OmniCore) and the mechanical arm structure. Its role is to convert electrical energy into precise rotational motion, driving individual robot joints (e.g., shoulder, elbow, wrist) to execute programmed trajectories. In a typical robotic architecture, it receives motion commands (position, velocity, torque setpoints) from the controller, actuates the joint via a geared output shaft, and returns real-time feedback for closed-loop regulation.
Core functionality includes generating controlled torque (up to 12 N·m continuous) for smooth acceleration/deceleration, processing signals from an integrated absolute encoder (17-bit resolution) to report joint position, and implementing protective functions (overcurrent, overtemperature) to safeguard the motor and gearbox. The module handles sinusoidal commutation for quiet operation and supports field-oriented control (FOC) algorithms embedded in the robot controller.
It belongs to the ABB IRB Series Robot Actuators platform, designed for high-performance material handling, welding, and assembly applications. This platform emphasizes modularity (interchangeable motors for different payload classes), compatibility with ABB’s RobotStudio simulation software, and compliance with ISO 10218 safety standards. Benefits include reduced integration time via pre-calibrated actuators and extended service life through robust thermal management.
ABB CSA463AE
3HNM09400-1: Technical Specifications
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Model Number: 3HNM09400-1
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Manufacturer: ABB Ltd.
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Product Type: Robot Servo Motor Module
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Power Output: 400W continuous (600W peak, 10s)
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Control Interface: 24V DC (±10%), differential analog/digital signals
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Encoder Type: Absolute multiturn (17-bit resolution, EnDat 2.2 protocol)
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Torque Rating: 12 N·m continuous, 18 N·m peak
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Speed Range: 0–3000 rpm (no load)
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Operating Temperature: 0°C to +50°C (motor); -20°C to +60°C (controller)
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Protection Rating: IP54 (motor housing)
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Gear Ratio: 100:1 (precision planetary gearbox)
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Dimensions: 150mm (L) x 100mm (W) x 100mm (H)
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Weight: ~3.5kg
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Certifications: CE, UL (cULus Listed), RoHS, ISO 10218-1
Core Features & Customer Value
The integrated absolute encoder eliminates the need for homing routines at startup, reducing robot cycle time in high-throughput applications like automotive part assembly. For engineers, this ensures consistent initial positioning, critical for tasks requiring micron-level accuracy. The 17-bit resolution provides 131,072 counts per revolution, enabling smooth path following in applications such as laser cutting or sealant dispensing.
The 400W continuous power output with 600W peak capacity supports dynamic load changes, such as lifting a 5kg payload and quickly reorienting the end-effector. This versatility makes the module suitable for mixed-payload cells, where a single robot might handle both small electronic components and larger automotive subassemblies. The IP54 protection rating allows deployment in environments with moderate dust or water spray, such as foundries or food processing lines, without additional enclosures.
Field-oriented control (FOC) algorithms, executed by the robot controller, optimize torque production for energy efficiency. This reduces power consumption during idle periods, lowering operational costs in 24/7 facilities. The modular design permits quick replacement of the motor/gearbox assembly, minimizing downtime during maintenance—an important consideration for plants with limited backup robots.
ABB CSA463AE
Typical Applications
In automotive manufacturing, the module drives the shoulder joint of an ABB IRB 6700 welding robot, providing the torque needed to position the torch accurately along car body seams. The encoder feedback ensures consistent weld bead placement, even when the robot moves between different vehicle models.
For electronics assembly, it actuates the wrist joint of an IRB 120 pick-and-place robot, enabling rapid (2 m/s) and precise (±0.02 mm) placement of surface-mount components on printed circuit boards. The low-inertia design supports high acceleration without overshoot.
In logistics, the module powers the vertical axis of an IRB 4600 palletizing robot, lifting 50kg cases to heights of 2.5 meters. The thermal management system prevents overheating during continuous stacking operations, ensuring reliable performance in distribution centers.
