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Actuator with Integrated Servo Drive

Harmonic Drive LLC

The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability. As part of the FHA-C mini family, an integrated servo drive version utilizing CANopen® communication is now available. This evolutionary product eliminates the need for an external drive and greatly improves wiring while retaining high-positional accuracy and torsional stiffness in a compact housing.

Since it communicates via CANopen, only 4 wires are needed: CANH, CANL, +24VDC, 0VDC. A single-turn 14bit (16384 cpr) gear output sensing encoder has been integrated along with a single-turn 15bit (32768 cpr) motor input sensing 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 encoders overcome this need. In other words, No Battery Required. When power is restored, the actuator knows its position.

Key Features:

  • Actuator + Integrated Servo Drive utilizing CANopen communication
  • 24VDC Nominal +7-28VDC Supply Voltage Range
  • Single Cable with only 4 wires needed: CANH, CANL, +24VDC, 0VDC
  • Zero Backlash
  • Dual Absolute Encoders
  • Panel Mount Connectors with 4 exit options
  • Output Sensing Encoder 14bit (16384 cpr) resolution
  • Input Sensing Encoder 15bit (32768 cpr) resolution
  • Control Modes Including Torque, Velocity, and Position Control, CSP, CSV, CST
  • Harmonic Drive HDL Software


Model: FHA-C Mini IDT



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