Harmonic Drive LLC Product
Member Since 2014
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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Motors & Drives Motors & Drives
The FHA-C Mini Series is a family of extremely compact Hollow Shaft Actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive® gear component with a pancake brushless servo motor. An incremental or multi-turn absolute encoder is integrated to provide high resolution velocity and position feedback. The large cross roller output bearing allows heavy loads to be mounted directly to the actuator without the need for additional support.
Key Features:
• Compact Form Factor
• Hollow-shaft design (for incremental encoder only)
• Available with an Incremental or Multi-turn Absolute Encoder
• Robust Cross Roller Output Bearing Supports High Loads
• High torque/weight and torque/volume ratio
The FHA-mini series is designed to operate with a wide range of third-party drivers, as well as Harmonic Drive LLC’s DDP Series, DCJ Series, and DEP Series.
- Large center through hole
- Compact design
- Body width from 50 mm to 75 mm
- Body length from 48.5 mm to 66 mm
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 | |
| in-lb | 15.9 | 29.2 | 42.5 | 39.8 | 73.5 | 97.4 | 79.7 | 159.3 | 247.8 | ||
| Maximum Speed | rpm | 200 | 120 | 60 | 200 | 120 | 60 | 200 | 120 | 60 | |
| Torque Constant (100V-200V AC) |
Nm/Arms | 3.9 | 6.7 | 14 | 3.8 | 6.6 | 13 | 4.2 | 7.2 | 15 | |
| in-lb/Arms | 34.5 | 59.3 | 123.9 | 33.6 | 58.4 | 115.1 | 37.2 | 63.7 | 132.8 | ||
| Torque Constant (24V DC) |
Nm/Arms | 0.8 | 1.3 | 2.7 | 0.8 | 1.3 | 2.6 | 0.8 | 1.4 | 2.9 | |
| in-lb/Arms | 7.1 | 11.5 | 23.9 | 7.1 | 11.5 | 23.0 | 7.1 | 12.4 | 25.7 | ||
| Positioning Accuracy | arc-sec | 150 | 120 | 120 | 120 | 90 | 90 | 120 | 90 | 90 | |
| Maximum Moment Load | Nm | 15 | 40 | 75 | |||||||
| in-lb | 133 | 354 | 664 | ||||||||
| Moment Stiffness | Nm/rad | 2 x 104 | 4 x 104 | 8 x 104 | |||||||
| in-lb/rad | 18 x 104 | 35 x 104 | 71 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 |
| Absolute | kg-m2 | 0.0026 | 0.0073 | 0.029 | 0.0062 | 0.017 | 0.069 | 0.019 | 0.054 | 0.215 | |
| Encoder Type | Incremental | 2000 pulse/revolution | |||||||||
| Absolute | Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) | ||||||||||
| Encoder Resolution* | Incremental | p/rev | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 |
| Absolute | cpr | 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 | |
| Mass | Incremental | kg | 0.40 | 0.62 | 1.2 | ||||||
| Absolute | kg | 0.50 | 0.75 | 1.3 | |||||||
| Servo Drive** |
Incremental (14 wire) |
24V DC | DCJ-055-09,DDP-090-09,DEP-090-09 | DCJ-055-18,DDP-090-18,DEP-090-18 | DDP-090-36, DEP-090-36 | ||||||
| HA-680-4-24 | HA-680-6-24 | ||||||||||
| 100V/200V AC | RTL-230-18, REL-230-18 | ||||||||||
| HA-800-1 | |||||||||||
|
Incremental (4 wire serial) |
24V DC | DEP-090-09 | DEP-090-18 | DEP-090-36 | |||||||
| 100V/200V AC | REL-230-18 | ||||||||||
| Absolute | 24V DC | DEP-090-09 | DEP-090-18 | DEP-090-36 | |||||||
| 100V/200V AC | REL-230-18 | ||||||||||
*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)
** Driver Communication - DCJ (Step & Direction / Analog), DDP (CanOpen®), DEP & REL (EtherCat®), HA-680 & HA-800 available for MechatroLink™ and CC-Link®
