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PAGE: "Products | Actuators | FHA-C Mini Series AC servo actuators :: Harmonic Drive LLC"
URL: http://www.harmonicdrive.net/products/actuators/fha-c-mini/index.php

Actuators

 

AC servo actuators FHA-C Mini series

FHA-C mini series

List of Features

FHA-C Mini Series AC servo actuators provide high torque, high accurate rotary motion.
The actuator is composed of Harmonic Drive™ precision strain wave gearing component for precise motion control and a super-flat AC servo motors.

Product's features

  • Thin and compact configuration
  • Hollow-shaft construction (Incremental encoder only)
  • High torque, high rigidity, high accuracy
  • Built-in high-rigidity support mechanism
  • Availability of a series of multifunctional control units

    Used for

  • Semiconductor manufacturing equipment: for transport robots, inspection tables.
  • Liquid crystal manufacturing equipment: for transport robots, inspection tables.
  • Optical machines
  • Medical equipment
     

    • Incremental Encoder Model Ordering Code

    FHA -

    8 -

    C -

    50 -

    US 200 -

    C

    E

    K -

    SP

    1

    2

    3

    4

    5

    6

    7

    8

    9

    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 Specification and Resolution
    US200


    : Incremental encoder 2000p/rev

    6.

    With Connector ( Option )

    7.

    		 Power Supply
    None
    E


    : AC100V or AC200V specification
    : 24V specification

    8.

    Outlet position of cable
    No Code
    K


    : side face ( Standard)
    : back face ( Option )

    9.

    SP

    		 : Customized Specification (not available for Standard Product)

     

    Absolute Model Ordering Code

    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 Specification and Resolution

    		 : Absolute encoder- 131,072p/rev (17bit)
    6. Power Supply
    A
    G
    E


    : AC100V specification
    : AC200V specification
    : DC24V specification
    7. With Connector (Standard)  
    8. SP : Customized Specification (no available for Standard Product)

    List of Ratings

    Item / Model of actuator FHA-8C FHA-11C FHA-14C
    Gear Ratio 30 50 100 30 50 100 30 50 100
    Max 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
    Max.Speed of rotation r/min 200 120 60 200 120 60 200 120 60
    Torque Constant (AC 100V-200V) N.m/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 N.m/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
    One-way Positioning accuracy arc / sec 150 120 120 120 90 90 120 90 90
    Maximum moment load N.m 15 40 75
    In.lb 133 354 664
    Rigidity of moment N.m/rad 2 x 104 4 x 104 8 x 104
    In.lb/rd 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
    Motor encoder Incremental 2000 pulse/revolution
    Absolute Multi-turn 16bit (65536 revolution), Single(motor) turn 17bit (131072 pulse/revolution)
    Quad encoler-resolution Incremental ** p/rev 240,000 400,000 800,000 240,000 400,000 800,000 240,000 400,000 800,000
    Absolute p/rev 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
    Combinations with drivers Incremental 24V 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
    AC100/200 RTL-230-18, REL-230-18
    HA-655-1 or HA-675-1
    Absolute 24V DEP-090-09 DEP-090-18 DEP-090-36
    AC100/200 REL-230-18
    CAD Downloads
    PDF DXF
    PDF DXF
    PDF DXF

    **Quad encoder resolutions are obtained by (motor encoder resolution) x 4 x (reduction ratio)

    Product Drawing (Incremental encoder)

    Product Drawing

    List of Dimensions (Incremental encoder)

    Unit: mm
    Model of actuator
    A ±1
    øB
    øC h7
    øD h7
    øE
    F
    G ±30
    Mass (Kg)
    FHA-8C
    50
    66
    49
    33.5
    6.2
    48.5
    300
    0.4
    FHA-11C
    60
    80
    59
    41
    8
    56
    300
    0.62
    FHA-14C
    75
    100
    74
    52.5
    13.5
    66
    300
    1.2

    Product Drawing (Absolute encoder)

    Product Drawing

    List of Dimensions (Absolute encoder)

    Unit: mm
    Model of actuator
    A ±1
    øB
    øC h7
    øD h7
    øE
    F
    G ±30
    Mass (Kg)
    FHA-8C
    50
    66
    49
    48
    33.5
    61.8
    300
    0.50
    FHA-11C
    60
    80
    59
    58
    41
    68.5
    300
    0.75
    FHA-14C
    75
    100
    74
    73
    52.5
    78
    300
    1.3



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