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PRODUCT CATALOG

Hollow Shaft Brushless Actuators

Harmonic Drive LLC

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®

Model: FHA-C Mini actuators


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