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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 |
: US250: Incremental encoder 2500p/r
: S248: 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 |
FHA-32C |
FHA-40C |
| Gear Ratio |
50 |
100 |
160 |
50 |
100 |
160 |
50 |
100 |
160 |
50 |
100 |
160 |
| Max torque |
N.m |
39 |
57 |
64 |
150 |
230 |
260 |
281 |
398 |
453 |
500 |
690 |
820 |
| In.lb |
345 |
504 |
566 |
1328 |
2036 |
2301 |
2487 |
3522 |
4009 |
4425 |
6107 |
7257 |
| Max Speed of Rotaition |
r/min |
96 |
48 |
27 |
90 |
45 |
28 |
80 |
40 |
25 |
70 |
35 |
22 |
| Torque Constant |
N.m/A |
21 |
42 |
67 |
22 |
45 |
72 |
27 |
54 |
86 |
31 |
64 |
102 |
AC 100V.200V,DC24
(option for 17C ) |
In.lb/A |
186 |
372 |
593 |
195 |
398 |
637 |
239 |
478 |
761 |
274 |
566 |
903 |
| 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) |
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 |
2.9 |
4.9 |
9.5 |
14.7 |
| Allowable axial load |
kN |
9.8 |
14.7 |
24.5 |
39.2 |
| Allowable moment of load |
N.m |
188 |
370 |
530 |
690 |
| In.lb |
1664 |
3275 |
4691 |
6107 |
| Moment stiffness |
N.m/rad |
220 x 103 |
490 x 103 |
790 x 103 |
1400 x 103 |
| In.lb/rd |
1947 x 103 |
4337 x 103 |
6992 x 103 |
12390 x 103 |
| One-way Positioning accuracy |
arc/sec |
60 |
40 |
40 |
40 |
30 |
30 |
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 |
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) |
(409.600) |
(819,200) |
(1,310,720) |
(409,600) |
(819,200) |
(1,310,720) |
| No. of Poles |
|
12 |
12 |
12 |
12 |
| Mass |
kg |
2.5 (2.9) |
4.0 (4.5) |
6.5 (7.1) |
12 (13) |
| Servo Drive Combinations |
DC24V |
DDP-090-36, DEP-090-36 |
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|
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| AC100 |
RTL-230-18, REL-230-18 |
RTL-230-36, REL-230-36 |
RTL-230-18, REL-230-18 |
RTL-230-36, REL-230-36 |
RTL-230-18, REL-230-18 |
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| AC200 |
RTL-230-18, REL-230-18 |
RTL-230-36, REL-230-36 |
RTL-230-18, REL-230-18 |
| |
HA-655-2-200 or HA-675-2-200 |
HA-655-4-200 or HA-675-4-200 |
| (HA-655-2A-200 or HA-675-2A-200) |
(HA-655-4A-200 or HA-675-4A-200) |
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CAD Downloads
|
PDF DXF |
PDF DXF |
PDF DXF |
PDF DXF |
*1:Detector resolution is calculated by (Motor shaft resolution) x4x (Reduction ratio)
*2: Values for absolute encoders are in parentheses
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: Values for absolute encoders are in parentheses
Please confirm dimensions and specification with the drawing issued by Harmonic Drive LLC |
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