Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


FHA-C Rotary Actuator

These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor and incremental encoder. The FHA has a low profile form factor and features a hollow shaft through the center of the output. This hollow shaft feature may be used to pass cables, tubing or lasers through the axis of rotation.

The FHA series is designed to operate with a wide range of third-party drivers, as well as Harmonic Drive LLC’s DDP Series, DEP Series, and RTL Series.

Key Features:

  • High torque
  • Large center through hole
  • Compact cylindrical design
  • Availability of a series of multifunctional control units
  • Driver Communication - DDP & RTL (CanOpen®), DEP & REL (EtherCat®) & HA-800 ( available for MechatroLink™ and CC-Link®)

Catalog FHA 17 24V Spec Sheet

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Ordering Code

FHA - 17 C - 50 - US250 - B - SP
1 2 3 4 5 6 7

1. Model

: FHA-C Series

2. Size

: 17, 25, 32, 40

3. Design Version

: C

4. Gear Ratio

: 50, 100, 160

5. Encoder Specification

: US250 - Incremental encoder 2500p/r

6. Option symbols

: Please refer to the table below for available options

7. Special specification

: Blank - Standard product
: SP____ - Special specification code

Available Options

Symbol Detail
A AC100V power supply (Available for size 17,25, and 32)
B With Brake
L Position sensors
C With connectors
K Rear exiting cable
F5 5 meter cables for each motor cable and encoder cable
E DC24V power supply (Size 17 only)

Specifications

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
Quad encoder 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
CAD Downloads 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:Quad encoder 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

45
*60.5

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 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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