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FHA-C series
List of 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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Model 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
and resolution |
: 250: Incremental encoder 2500p/r
: 248: Absolute 8192p/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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List of Ratings
|
Item / Model of Actuator
|
FHA-17C
|
FHA-25C
|
|
Gear Ratio
|
50
|
100
|
160
|
50
|
100
|
160
|
|
Max torque
|
N.m
|
39
|
57
|
64
|
150
|
230
|
260
|
|
In.lb
|
345
|
504
|
566
|
1328
|
2036
|
2301
|
|
Max.Rotaitional Speed
|
r/min
|
96
|
48
|
27
|
90
|
45
|
28
|
|
Torque Constant
|
N.m/A
|
21
|
42
|
67
|
22
|
45
|
72
|
|
AC 100V.200V,DC24(option for 17C )
|
In.lb/A
|
186
|
372
|
593
|
195
|
398
|
637
|
|
Moment of Inertia(GD2/4) *2
|
kg.m2
|
0.17(0.2)
|
0.67(0.7)
|
1.7(1.9)
|
0.84(0.8)
|
3.2(3.4)
|
8.3(8.6)
|
|
Allowable radial load
|
kN
|
2.9
|
4.9
|
|
Allowable axial load
|
kN
|
9.8
|
14.7
|
|
Allowable moment of load
|
N.m
|
188
|
370
|
|
In.lb
|
1664
|
3275
|
|
Moment stiffness
|
N.m/rad
|
220 x 103
|
490 x 103
|
|
In.lb/rd
|
1947 x 103
|
4337 x 103
|
|
Uni-direction Positional accuracy
|
Arc sec
|
60
|
40
|
40
|
40
|
30
|
30
|
|
Detector resolution * 1, *2
|
p/rev
|
500.000
|
1.000.000
|
1.600.000
|
500.000
|
1.000.000
|
1.600.000
|
|
(409.600)
|
(819,200)
|
(1,310,720)
|
(409,600)
|
(819,200)
|
(1,310,720)
|
|
Mass
|
kg
|
2.5 (2.9)
|
4.0 (4.5)
|
|
Combinations with drivers
|
_
|
HA-655-2-200 or HA-675-2-200
|
|
(HA-655-2A-200 or HA-675-2A-200)
|
|
CAD Downloads
|
PDF DXF |
PDF DXF |
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Item / Model of Actuator
|
FHA-32C
|
FHA-40C
|
|
Gear Ratio
|
50
|
100
|
160
|
50
|
100
|
160
|
|
Max torque
|
N.m
|
281
|
398
|
453
|
500
|
690
|
820
|
|
In.lb
|
2487
|
3522
|
4009
|
4425
|
6107
|
7257
|
|
Max.Rotaitional Speed
|
r/min
|
80
|
40
|
25
|
70
|
35
|
22
|
|
Torque Constant
|
N.m/A
|
27
|
54
|
86
|
31
|
64
|
102
|
|
AC 100V.200V,DC24(option for 17C )
|
In.lb/A
|
239
|
478
|
761
|
274
|
566
|
903
|
|
Moment of Inertia(GD2/4) *2
|
kg.m2
|
1.8(1.8)
|
7.1(7.3)
|
18.1(18.6)
|
4.9(5.0)
|
19.5(19.8)
|
50(50.7)
|
|
Allowable radial load
|
kN
|
9.5
|
14.7
|
|
Allowable axial load
|
kN
|
24.5
|
39.2
|
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Allowable moment of load
|
N.m
|
530
|
690
|
|
In.lb
|
4691
|
6107
|
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Moment stiffness
|
N.m/rad
|
790 x 103
|
1400 x 103
|
|
In.lb/rd
|
6992 x 103
|
12390 x 103
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|
Uni-direction Positional accuracy
|
Arc sec
|
40
|
30
|
30
|
40
|
30
|
30
|
|
Detector resolution * 1, *2
|
p/rev
|
500.000
|
1.000.000
|
1.600.000
|
500.000
|
1.000.000
|
1.600.000
|
|
(409.600)
|
(819,200)
|
(1,310,720)
|
(409,600)
|
(819,200)
|
(1,310,720)
|
|
Mass
|
kg
|
6.5 (7.1)
|
12 (13)
|
|
Combinations with drivers
|
_
|
HA-655-4-200 or HA-675-4-200
|
|
(HA-655-4A-200 or HA-675-4A-200)
|
|
CAD Downloads
|
PDF DXF |
PDF DXF |
*1:Detector resolution is calculated by (Motor shaft resolution) x4x (Reduction ratio)
*2:Values for absolute encoders are in parantheses
Product Drawing
List of 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
(115) |
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
(86)
*72.5
(*101.5) |
78
(107)
*93.5
(*122.5) |
8.5
(15) |
12 |
under-68
(under-73) |
FHA-25C |
128 |
10.7 |
4 |
5 |
20 |
15 |
65.5
(88)
*85
(*107.5) |
90.5
(113)
*110
(*132.5) |
9
(15) |
10 |
under-77 |
FHA-32C |
148 |
7.7 |
4 |
5 |
17 |
18 |
89.5
(110)
*110
(*130.5) |
111.5
(132)
*132
(*152.5) |
9
(15) |
9 |
under-80 |
FHA-40C |
185 |
11.1 |
8 |
7 |
23 |
22 |
97
(118)
*118
(*139) |
127
(148)
*148
(*169) |
9
(15) |
10 |
under-100 |
*1: Actuators are available for both, with brake or without brake.
The value with * is for specification with a brake.
*2: The value with () is for absolute encoder specification.
Please confirm dimensions and specification with the drawing issued by Harmonic Drive LLC |
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