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FHA-C mini series
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
Applications
• Semiconductor Manufacturing Equipment: Transfer Robot, CMP, Implanter
• Liquid Crystal Manufacturing Equipment: Transfer Robot, Inspection Equipment
• Small Machine Tools: 4th and 5th Axis, Rotary Table, Tool Changer
• Medical and Lab Automation: Diagnostic and Therapeutic Equipment, Lab Automation
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Ordering Code (with Incremental Encoder)
| FHA - |
8 - |
C - |
50 - |
US 200 - |
C |
E |
K - |
SP |
| 1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
| 1. |
Model Name |
: FHA-C Mini Series |
| 2. |
Size |
: 8, 11, 14 |
| 3. |
Design Version |
: C |
| 4. |
Gear Ratio |
: 30, 50, 100 |
| 5. |
Encoder Type and Resolution |
: Incremental encoder 2000p/rev |
| 6. |
With Connector ( Option ) |
| 7. |
Power Supply
None
E
|
: 100V or 200V AC
: 24V DC |
| 8. |
Cable orientation
No Code
K |
: Side exit ( Standard)
: Back exit ( Option ) |
| 9. |
SP |
: Custom Specification (No Code for Standard Product) |
Ordering Code (with Absolute Encoder)
| FHA - |
8 - |
C - |
50 - |
12S17b |
A- |
C - |
SP |
| 1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
| 1. |
Name of Model |
: FHA-C Mini Series |
| 2. |
Size |
: 8, 11, 14 |
| 3. |
Design Version |
: C |
| 4. |
Gear Ratio |
: 30, 50, 100 |
| 5. |
Encoder Type and Resolution |
: Absolute Encoder
: Single turn - 131,072 cpr (17 bit)
: Multi-turn - 65,536 cpr (16 bit) |
| 6. |
Power Supply
A
G
E
|
:
100V AC
: 200V AC
: 24V DC |
| 7. |
With Connector (Standard) |
|
| 8. |
SP |
: Custom Specification (No Code for Standard Product) |
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Rating Table
| Specification / Actuator 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 |
r/min | 200 | 120 | 60 | 200 | 120 | 60 | 200 | 120 | 60 |
Torque Constant
(100V-200V AC) |
Nm/A | 3.9 | 6.7 | 14 | 3.8 | 6.6 | 13 | 4.2 | 7.2 | 15 |
| in-lb/A | 34.5 | 59.3 | 123.9 | 33.6 | 58.4 | 115.1 | 37.2 | 63.7 | 132.8 |
Torque Constant
(24V DC) |
Nm/A | 0.8 | 1.3 | 2.7 | 0.8 | 1.3 | 2.6 | 0.8 | 1.4 | 2.9 |
| in-lb/A | 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 | 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 |
| Absolute | 24V DC | DEP-090-09 | DEP-090-18 | DEP-090-36 |
| 100V/200V AC | REL-230-18 |
| CAD Downloads |
Incl. |
PDF DXF
|
PDF DXF
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PDF DXF
|
| Abs. |
PDF DXF |
PDF DXF |
PDF DXF |
*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®
Outline Drawing (Incremental encoder)
Dimensions (Incremental encoder)
Unit: mm
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Actuator Model
|
A ±1
|
øB
|
øC h7
|
øD h7
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øE
|
F
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G ±30
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Mass (kg)
|
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FHA-8C
|
50
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66
|
49
|
33.5
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6.2
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48.5
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300
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0.4
|
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FHA-11C
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60
|
80
|
59
|
41
|
8
|
56
|
300
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0.62
|
|
FHA-14C
|
75
|
100
|
74
|
52.5
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13.5
|
66
|
300
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1.2
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Outline Drawing (Absolute encoder)
Dimensions (Absolute encoder)
Unit: mm
|
Actuator Model
|
A ±1
|
øB
|
øC h7
|
øD h7
|
øE
|
F
|
G ±30
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Mass (kg)
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FHA-8C
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50
|
66
|
49
|
48
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33.5
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61.8
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300
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0.50
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FHA-11C
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60
|
80
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59
|
58
|
41
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68.5
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300
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0.75
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FHA-14C
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75
|
100
|
74
|
73
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52.5
|
78
|
300
|
1.3
|
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PAGE: "Products | Actuators | FHA-C Mini Series AC servo actuators :: Harmonic Drive LLC"
