FHA-C Rotary Actuator
These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor and incremental encoder. The FHA has a low profile form factor and features a hollow shaft through the center of the output. 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 drivers, as well as Harmonic Drive LLC’s DDP Series and RTL Series.
Key Features:
- Zero backlash
- New ratios added: 80:1 & 120:1
- High torque
- Large center through hole
- Compact cylindrical design
- Availability of a series of multifunctional control units
- Driver Communication - DDP & RTL (CANopen®), REL (EtherCat®) & HA-800 (available for MechatroLink™ and CC-Link®)
- Safety Standard: EN60034-1:2010
Manual
DXF CAD Files
3D CAD Files
|
Don't see what you need or not sure where to start? Our team can help you find the right actuator for your application!
|
Ordering Code
| FHA | - | 17 | C | - | 50 | - | US250 | - | B | - | SP |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| 1. | Model |
FHA-C Series
|
| 2. | Size |
17, 25, 32, 40
|
| 3. | Design Version |
C
|
| 4. | Gear Ratio |
50, 80, 100, 120, 160
|
| 5. | Encoder Specification |
US250 - Incremental encoder with 14 wire 2500p/rev
|
| 6. | Option symbols |
Please refer to the table below for available options
|
| 7. | Special specification |
Blank - Standard product |
Available Options
| Symbol | Detail |
| A | 100VAC power supply (Available for size 17,25, and 32) |
| B | With Brake |
| L | Position sensors |
| C | With connectors |
| K | Rear exiting cable |
| F5 | 5 meter cables for each motor cable and encoder cable |
| E | 24VDC power supply (Size 17 only) |
Specifications
| Item / Model | FHA-17C | FHA-25C | FHA-32C | FHA-40C | |||||||||||||||||
| Gear Ratio | 50 | 80 | 100 | 120 | 160 | 50 | 80 | 100 | 120 | 160 | 50 | 80 | 100 | 120 | 160 | 50 | 80 | 100 | 120 | 160 | |
| Max torque | Nm | 39 | 51 | 57 | 60 | 64 | 150 | 213 | 230 | 247 | 260 | 281 | 364 | 398 | 432 | 453 | 500 | 659 | 690 | 756 | 820 |
| Max Speed of Rotation | rpm | 96 | 60 | 48 | 40 | 30 | 90 | 56 | 45 | 37 | 28 | 80 | 50 | 40 | 33 | 25 | 70 | 43 | 35 | 29 | 22 |
| Torque Constant 200VAC | Nm/Arms | 21 | 33 | 42 | 50 | 67 | 22 | 36 | 45 | 54 | 72 | 27 | 43 | 54 | 64 | 86 | 31 | 51 | 64 | 76 | 102 |
| Torque Constant 100VAC | Nm/Arms | 11 | 17 | 21 | 25 | 33 | 11 | 17 | 22 | 26 | 36 | 16 | 26 | 33 | 39 | 52 | - | - | - | - | - |
| Moment of Inertia(GD2/4) | kg.m2 | 0.17 | 0.43 | 0.67 | 0.97 | 1.7 | 0.81 | 2.1 | 3.2 | 4.7 | 8.3 | 1.8 | 4.5 | 7.1 | 10.2 | 18.1 | 4.9 | 12.5 | 19.5 | 28.1 | 50 |
| 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 | 40 | 40 | 30 | 30 | 30 | 30 | 40 | 30 | 30 | 30 | 30 | 40 | 30 | 30 | 30 | 30 |
| Quad encoder resolution * 1 | counts/rev | 500.0K | 800.0K | 1.0M | 1.2M | 1.6M | 500.0K | 800.0K | 1.0M | 1.2M | 1.6M | 500.0K | 800.0K | 1.0M | 1.2M | 1.6M | 500.0K | 800.0K | 1.0M | 1.2M | 1.6M |
| No. of Poles | 12 | 12 | 12 | 12 | |||||||||||||||||
| Mass | kg | 2.5 | 4.0 | 6.5 | 12 | ||||||||||||||||
| Recommended Drives | 100VAC | RTL-230-18 REL-230-18 |
RTL-230-36 REL-230-36 |
RTL-230-18 REL-230-18 |
RTL-230-36 REL-230-36 |
RTL-230-18 REL-230-18 |
− | ||||||||||||||
| 200VAC | RTL-230-18 REL-230-18 |
RTL-230-36 REL-230-36 |
RTL-230-18 REL-230-18 |
||||||||||||||||||
| 24VDC | DDP-090-36 | − | − | − | |||||||||||||||||
| 100VAC | HA-800A-3B-100 | HA-800A-6B-100 | |||||||||||||||||||
| 200VAC | HA-800A-3B-200 | HA-800A-6B-200 | |||||||||||||||||||
| CAD Downloads | PDF DXF | PDF DXF | PDF DXF | PDF DXF | |||||||||||||||||
Refer to the FHA-C User Manual and FHA-17C 24V spec sheet for more details
*1:Quad encoder resolution is calculated by (Motor shaft resolution) x4x (Reduction ratio)
**** Driver Communication - DDP & RTL (CanOpen®), REL (EtherCat®) & HA-800 ( available for MechatroLink™ and CC-Link®)
Outline Drawing
Dimensions
Unit: mm
| Model | A | øB | øC | D | øE | øF h7 | øG h7 | øH H7 | øJ | K | øL |
|
FHA-17C |
6-ø5.5 | 118 | 60 | 6-M5 Depth 8 |
128 | 105 | 70 | 25 | 18 | 3.5 | 106 |
|
FHA-25C |
8-ø6.6 | 142 | 74 | 8-M6 Depth 10 |
155 | 125 | 85 | 42 | 32 | 5.7 | 123 |
|
FHA-32C |
12-ø6.6 | 162 | 95 | 16-M6 Depth 10 |
175 | 140 | 105 | 60 | 35 | 5 | 129 |
|
FHA-40C |
8-ø11 | 208 | 112 | 8-M10 Depth 15 |
230 | 185 | 130 | 60 | 45 | 7.6 | 164 |
| Model | øM h7 | N | P | Q | R | S | T | U | W | Y | Z |
|
FHA-17C |
108 | 6.6 | 4 | 5 | 16 | 12 |
45 |
78 *93.5 |
8.5 | 12 | under-68 |
|
FHA-25C |
128 | 10.7 | 4 | 5 | 20 | 15 | 65.5 *85 |
90.5 *110 |
9 | 10 | under-77 |
|
FHA-32C |
148 | 7.7 | 4 | 5 | 17 | 18 | 89.5 *110 |
111.5 *132 |
9 | 9 | under-80 |
|
FHA-40C |
185 | 11.1 | 8 | 7 | 23 | 22 | 97 *118 |
127 *148 |
9 | 10 | under-100 |
|
*1: Actuators are available with brake or without brake. Please confirm dimensions and specifications with the drawing issued by Harmonic Drive LLC |
|||||||||||
