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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 conductors 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 conductors 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

Panel Mount Connectors
FHA-C Mini actuators with an integrated servo drive include standard Lemo® connectors with four exit orientation options. Along with providing the equipment builder the flexibility to choose optimum cables for their specific application, panel mount connectors permit easy replacement of cables. In the event of cable damage, the cables can be replaced without disassembling or replacing the entire actuator. 

HDL-IDE 3.0 Software
HDL-IDE 3.0 software provides the ability to setup or commission the FHA-C Mini Integrated actuator without connecting to a CANopen master controller. A single actuator can connect to a personal computer or laptop with a CAN communication converter and a power supply. All 256 parameters, including the tuning parameters and 256 general user variables can be set and stored to be recognized by the CANopen master controller operating the specific application. The following are some of the features included in HDL-IDE 3.0 software:

  • Torque Mode and Graph
  • Velocity Mode and Graph
  • Position Mode and Graph
  • Homing Mode
  • Limit Switch
  • Current Position
  • Hardstop Homing
  • Step Response
  • Bode Plot
  • Parameter List

About Harmonic Drive LLC
Harmonic Drive, LLC engineers and manufactures precision servo actuators, gearheads and gear component sets. We work closely with both Fortune 500 and companies of all sizes to understand their application requirements and provide a standard or, in most cases, a custom-engineered solution to enable the success of their design project. The majority of the products sold by Harmonic Drive, LLC are proudly made at our manufacturing facility in Massachusetts, AS9100 and ISO 9001 registered. The Harmonic Drive Group Companies are comprised of Harmonic Drive, LLC (United States), Harmonic Drive Systems, Inc. (Japan) and Harmonic Drive SE (Germany). We have shared core values, product designs and quality standards. State of the art manufacturing facilities in the US, Japan and Germany enables us to locally serve the needs of our global customers providing both custom-engineered solutions and standard products.

With over 50 years of experience, our expert engineering and production teams develop enabling technologies and products to meet the needs of an evolving motion control market. We are very proud of our outstanding company history. Our high-precision, zero-backlash Harmonic Drive® gears and Harmonic Planetary® gears have, and continue to play critical roles in robotics, spaceflight applications, semiconductor manufacturing equipment, factory automation equipment, medical diagnostics and surgical robotics. 
Harmonic Drive is a registered trademark of Harmonic Drive Systems.

Model: FHA-C Mini IDT



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