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Harmonic Drive, LLC engineers and manufactures precision servo actuators, gearheads and gear component sets. We work closely with Fortune 500, start-ups and companies of all sizes to understand their application requirements and provide a standard or, in most cases, a

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Dual Absolute Encoder Actuator

POSTED 07/29/2019

Introducing Dual Absolute encoder versions of the FHA-C mini actuator. Featuring BiSS-C bi-directional communication for both encoders, the dual encoders are incorporated in essentially the same package size as the long-standing FHA-C mini single incremental encoder version. Without increasing the size, the dual absolute encoder offers single turn absolute position at the output, without the need for battery back-up.

Panel mount connectors come standard, and customers can choose between 4 exit options. Together, these new features offer the design engineer more flexibility and reliability.

The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive(R) gear component with a pancake brushless servo motor.A single turn 14bit (16384 cpr) gear output encoder has been integrated along with a single turn 14bit (16384 cpr) motor input encoder providing a true absolute encoder that does not require a battery within 360° of rotation of the output. Typical multi-turn encoders monitoring the motor input shaft require a battery to store the current position when power is lost to the system; however, the dual absolute encoder overcomes this need. In other words, No Battery Required. When power is restored the actuator knows its position.

Key Features:

A pair of Single Turn Absolute Encoders on both Input and Output Sides
Compact - significantly shorter than our multi-turn absolute encoder version
Minimal length difference compared to our incremental encoder version
Output Encoder 14bit (16384 cpr) resolution
Input Encoder 14bit (16384 cpr) resolution
BiSS-C bi-directional communication for both encoders
Compatible Drive: Copley Controls BEL or BPL
Wide encoder voltage range (4.75-30)
Robust Cross Roller Output Bearing Supports High Loads
High torque/weight and torque/volume ratio
Panel mount connectors
Harmonic Drive(R) CSF zero backlash gear

Panel Mount exit options:

Specifications

Specification / Model			FHA-8C			FHA-11C			FHA-14C
Gear Ratio			30	50	100	30	50	100	30	50	100
Maximum Torque		N.m	1.8	3.3	4.8	4.5	8.3	11	9.0	18	28
Maximum Speed		rpm	200	120	60	200	120	60	200	120	60
Torque Constant (24VDC)		Nm/A(rms)	0.8	1.3	2.7	0.8	1.3	2.6	0.8	1.4	2.9
Maximum Current		A(rms)	3.0	3.3	2.4	7.8	8.2	5.6	14.8	16.4	12.3
Allowable continuous current		A(rms)	1.6	1.7	1.3	3.7	3.5	2.8	6	5.4	4.4
One-way Positioning Accuracy		arc-sec	150	120	120	120	90	90	120	90	90
Allowable Moment Load		Nm	15			40			75
Moment Stiffness		Nm/rad	2 x 10⁴			4 x 10⁴			8 x 10⁴
Moment of Inertia (GD²/4)	Incremental	kg-m²	0.0026	0.0074	0.029	0.0060	0.017	0.067	0.018	0.050	0.20
	ABS	kg-m²	0.0026	0.0073	0.029	0.0062	0.017	0.069	0.019	0.054	0.215
	Dual ABS	kg-m²	0.0036	0.0100	0.0399	0.007	0.019	0.077	0.019	0.052	0.206
Encoder Type	Incremental		2000 pulse/revolution
	ABS		Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
	Dual ABS		Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
Output Shaft Resolution*	Incremental	p/rev	240,000	400,000	800,000	240,000	400,000	800,000	240,000	400,000	800,000
	Single ABS	p/rev	3,932,160	6,553,600	13,107,200	3,932,160	6,553,600	13,107,200	3,932,160	6,553,600	13,107,200
	Dual ABS Motor	p/rev	491,520	819,200	1,638,400	491,520	819,200	1,638,400	491,520	819,200	1,638,400
	Dual ABS Output	p/rev	16,384	16,384	16,384	16,384	16,384	16,384	16,384	16,384	16,384
Mass	Incremental	kg	0.40			0.62			1.2
	Single ABS	kg	0.50			0.75			1.3
	Dual ABS	kg	0.50			0.62			1.2
Servo Drive	Dual ABS	24VDC	BEL or BPL-06			BEL or BPL-14			BEL or BPL-30

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*Incremental encoder resolution at the output of the actuator = (encoder resolution) x 4 x (gear ratio)
Absolute encoder resolution at the output of the actuator = (encoder bit count) x (gear ratio)