Harmonic Drive LLC Product
New! FHA-C Series servo actuators are now available with IP65 protection. Four sizes are available: 17, 25, 32 and 40. The IP65 rated FHA-C actuator is ideal for harsh environments. With IP65 and 480V, the FHA actuator is well suited for machine tool, packaging, and wash-down applications.
These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor. Encoder options now include EnDat® & HIPERFACE®. The FHA has a low-profile form factor and features a hollow-output shaft. This hollow shaft feature may be used to pass cables, tubing or lasers through the axis of rotation.
The FHA series is designed to operate with a wide range of third-party servo drives including Bosch, Mitsubishi, Siemens, and Kollmorgen.
Specifications
Item / Model | FHA-17C-H | FHA-25C-H | FHA-32C-H | FHA-40C-H | |||||||||
Gear Ratio | 50 | 100 | 160 | 50 | 100 | 160 | 50 | 100 | 160 | 50 | 100 | 160 | |
Max torque | Nm | 39 | 57 | 64 | 151 | 233 | 261 | 281 | 398 | 453 | 500 | 686 | 823 |
Max Current | Arms | 1.4 | 1.1 | .8 | 3.9 | 3 | 2.2 | 6.5 | 4.7 | 3.5 | 9.3 | 6.4 | 5 |
Continuous Torque | Nm | 15 | 23 | 23.2 | 40 | 72 | 90 | 60 | 153.5 | 240 | 90 | 234 | 400 |
Continuous Current | Arms | .65 | .55 | .45 | 1.3 | 1.3 | 1.25 | 2 | 2 | 1.9 | 2.4 | 2.4 | 2.4 |
Max Speed of Rotation | rpm | 96 | 48 | 30 | 90 | 45 | 28 | 80 | 40 | 25 | 70 | 35 | 22 |
Motor EMF Constant (Line-Line) |
Vrms/(krpm) | 50 | 57 | 67 | 80 | ||||||||
Vrms/(rad/s) | 0.48 | .55 | .64 | 0.77 | |||||||||
Phase Resistance (20°C, Line-Line) |
Ω | 64 | 22.4 | 7.8 | 5.6 | ||||||||
Phase Inductance (Line-Line) |
mH | 42 | 20 | 9.8 | 11.2 | ||||||||
Torque Constant 680VDC | Nm/Arms | 37 | 75 | 120 | 42 | 86 | 138 | 49 | 100 | 160 | 59 | 120 | 193 |
Moment of Inertia(GD2/4) | kg.m2 | .21 | 0.83 | 2.1 | .90 | 3.5 | 9.2 | 2.1 | 8.2 | 21 | 5.5 | 22 | 56 |
Allowable radial load | kN | 2.9 | 4.9 | 9.5 | 14.7 | ||||||||
Allowable axial load | kN | 9.8 | 14.7 | 24.5 | 39.2 | ||||||||
Allowable moment load | Nm | 188 | 370 | 530 | 690 | ||||||||
Moment stiffness | Nm/rad | 220 x 103 | 490 x 103 | 790 x 103 | 1,400 x 103 | ||||||||
One-way positioning accuracy | arc/sec | 60 | 40 | 40 | 40 | 30 | 30 | 40 | 30 | 30 | 40 | 30 | 30 |
Feedback Type | Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) |
Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) |
Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) |
Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) |
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Quad Encoder resolution * 1 | p/rev | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 |
No. of Pole Pairs | 6 | 6 | 6 | 6 | |||||||||
Motor Inertia (without brake)*2 |
EnDat | 1.37 | 3.95 | 7.63 | 19.3 | ||||||||
HIPERFACE | 1.44 | 3.65 | 7.33 | 19.3 | |||||||||
Motor Inertia (with brake)*2 |
EnDat | 1.66 | 4.84 | 9.00 | 21.9 | ||||||||
HIPERFACE | 1.73 | 4.54 | 8.69 | 21.9 | |||||||||
Mass | kg | 3.3 | 4.6 | 6.8 | 10.8 | ||||||||
Mass w/brake | 3.7 | 5.4 | 7.7 | 12.8 | |||||||||
Recommended Drivers | AC 100V | RTL-230-18 REL-230-18 |
RTL-230-36 REL-230-36 |
RTL-230-18 | RTL-230-36 REL-230-36 |
RTL-230-18 | − | ||||||
AC 200V | RTL-230-18 REL-230-18 |
RTL-230-36 REL-230-36 |
RTL-230-18 REL-230-18 |
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DC 24V | DDP-090-36, DEP-090-36 | − | − | − | |||||||||
AC 100V | HA-800A-3B-100 | HA-800A-6B-100 | |||||||||||
AC 200V | HA-800A-3B-200 | HA-800A-6B-200 |
*1:Quad Encoder resolution is calculated by (Motor shaft resolution) x4x (Reduction ratio)
**** Driver Communication - DDP & RTL (CanOpen®), DEP & REL (EtherCat®) & HA-800 ( available for MechatroLink™ and CC-Link®)