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FHA-C series
Key Features
The FHA-C series AC servo actuators' compact shape and hollow-shaft construction enables possible downsizing of machinery/equipment and simplifies design.
Product's features
Thin and compact configuration
Hollow-shaft construction
High torque, high rigidity, high accuracy
Built-in high-rigidity support mechanism
Availability of a series of multifunctional control units
Used for
Machine tools: Tool changers, index tables, loaders
Industrial robots: for robot axis and turntables
Semiconductor manufacturing equipment: for transport robots, inspection tables
Liquid crystal manufacturing equipment: for transport robots, inspection tables, roll driving mechanisms
Printing machines: roll driving mechanisms
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Ordering Code
| FHA - |
17 |
C - |
50 - |
US250 - |
B - |
SP |
| 1 |
2 |
3 |
4 |
5 |
6 |
7 |
| 1. |
Type |
: FHA-C Series |
| 2. |
Size |
: 17, 25, 32, 40 |
| 3. |
Design Version 1 |
: C |
| 4. |
Gear Ratio |
: 50, 100, 160 |
| 5. |
Encoder Specification |
: US250: Incremental encoder 2500p/r |
| 6. |
Option symbols (Please refer to Harmonic Drive LLC for details) |
| 7. |
SP: Customized Specification (not available for Standard Product) |
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Rating Table
| Item / Model of actuator |
FHA-17C |
FHA-25C |
FHA-32C |
FHA-40C |
| Gear Ratio |
50 |
100 |
160 |
50 |
100 |
160 |
50 |
100 |
160 |
50 |
100 |
160 |
| Max torque |
Nm |
39 |
57 |
64 |
150 |
230 |
260 |
281 |
398 |
453 |
500 |
690 |
820 |
| lb-in |
345 |
504 |
566 |
1,328 |
2,036 |
2,301 |
2,487 |
3,523 |
4,009 |
4,425 |
6,107 |
7,258 |
| Max Speed of Rotation |
rpm |
96 |
48 |
27 |
90 |
45 |
28 |
80 |
40 |
25 |
70 |
35 |
22 |
| Torque Constant AC 200V |
Nm/A(rms) |
21 |
42 |
67 |
22 |
45 |
72 |
27 |
54 |
86 |
31 |
64 |
102 |
| lb-in/A(rms) |
186 |
372 |
593 |
195 |
398 |
637 |
239 |
478 |
761 |
274 |
566 |
903 |
| Torque Constant AC 100V |
Nm/A(rms) |
11 |
21 |
33 |
11 |
22 |
36 |
13 |
27 |
43 |
- |
- |
- |
| lb-in/A(rms) |
97 |
186 |
292 |
97 |
195 |
319 |
115 |
239 |
381 |
- |
- |
- |
| Moment of Inertia(GD2/4) |
kg.m2 |
0.17 |
0.67 |
1.7 |
0.84 |
3.2 |
8.3 |
1.8 |
7.1 |
18.1 |
4.9 |
19.5 |
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 of load |
Nm |
188 |
370 |
530 |
690 |
| lb-in |
1,664 |
3,275 |
4,691 |
6,107 |
| Moment stiffness |
Nm/rad |
220 x 103 |
490 x 103 |
790 x 103 |
1,400 x 103 |
| lb-in/rad |
1,947 x 103 |
4,337 x 103 |
6,992 x 103 |
12,391 x 103 |
| One-way Positioning accuracy |
arc/sec |
60 |
40 |
40 |
40 |
30 |
30 |
40 |
30 |
30 |
40 |
30 |
30 |
| Detector 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 Poles |
|
12 |
12 |
12 |
12 |
| Mass |
kg |
2.5 |
4.0 |
6.5 |
12 |
| 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 |
| 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 |
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CAD Downloads
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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:Detector 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®)
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 |
57
*72.5 |
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 for both, with brake or without brake.
The value with * is for specification with a brake.
Please confirm dimensions and specifications with the drawing issued by Harmonic Drive LLC |
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