Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
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FHA-C H Rotary Actuator

New! FHA-C Series servo actuators are now available with IP65 protection. Four sizes are available: 17, 25, 32 and 40. The IP65 rated FHA-C actuator is ideal for harsh environments. With IP65 and 480V, the FHA actuator is well suited for machine tool, packaging, and wash-down applications.

These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor. Encoder options now include EnDat® & HIPERFACE®. The FHA has a low-profile form factor and features a hollow-output shaft. 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 servo drives including Bosch, Mitsubishi, Siemens, and Kollmorgen.

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Ordering Code

FHA - 17 C - 50 - H - B - SE032SC - KP - SP
1 2 3 4 5 6 7 8 9

1. Model

: FHA-C Series

2. Size

: 17, 25, 32, 40

3. Design Version

: C

4. Gear Ratio

: 50, 100, 160

5. Winding Voltage

: H - 680VDC

6. Brake

: Blank - without brake
: B - with brake

7. Motor Feedback

: SE032SC - EnDat2.1 with Sin-Cos; Single turn absolute
: SE19b22 - EnDat2.2 (Full digital); Single turn absolute
: ME19b22 - EnDat2.2 (Full digital);Battery buffered multi turn absolute
: SH064SC - HIPERFACE; Single turn absolute

8. Options

: S - Side exiting cable (standard)
: K - Rear exiting cable
: P - IP65 (Blank = IP44 standard)
: QF - Front pilot surface coating
: QB - Back pilot surface coating
: T - Temperature sensing over EnDat 2.2

9. Special specification

: Blank - Standard product
: SP____ - Special specification code

Specifications

Item / Model FHA-17C-H FHA-25C-H FHA-32C-H FHA-40C-H
Gear Ratio 50 100 160 50 100 160 50 100 160 50 100 160
Max torque Nm 39 57 64 151 233 261 281 398 453 500 686 823
Max Current A(rms) 1.4 1.1 .8 3.9 3 2.2 6.5 4.7 3.5 9.3 6.4 5
Continuous Torque Nm 15 23 23.2 40 72 90 60 153.5 240 90 234 400
Continuous Current A(rms) .65 .55 .45 1.3 1.3 1.25 2 2 1.9 2.4 2.4 2.4
Max Speed of Rotation rpm 96 48 30 90 45 28 80 40 25 70 35 22
Motor EMF Constant
(Line-Line)
Vrms/(krpm) 50 57 67 80
Vrms/(rad/s) 0.48 .55 .64 0.77
Phase Resistance
(20°C, Line-Line)
Ω 64 22.4 7.8 5.6
Phase Inductance
(Line-Line)
mH 42 20 9.8 11.2
Torque Constant 680VDC Nm/A(rms) 37 75 120 42 86 138 49 100 160 59 120 193
Moment of Inertia(GD2/4) kg.m2 .21 0.83 2.1 .90 3.5 9.2 2.1 8.2 21 5.5 22 56
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 load Nm 188 370 530 690
Moment stiffness Nm/rad 220 x 103 490 x 103 790 x 103 1,400 x 103
One-way positioning accuracy arc/sec 60 40 40 40 30 30 40 30 30 40 30 30
Feedback Type Single-turn absolute (EnDat
and HIPERFACE) Multi-turn
absolute (EnDat)
Single-turn absolute (EnDat
and HIPERFACE) Multi-turn
absolute (EnDat)
Single-turn absolute (EnDat
and HIPERFACE) Multi-turn
absolute (EnDat)
Single-turn absolute (EnDat
and HIPERFACE) Multi-turn
absolute (EnDat)
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 Pole Pairs 6 6 6 6
Motor
Inertia
(without brake)*2
EnDat 1.37 3.95 7.63 19.3
HIPERFACE 1.44 3.65 7.33 19.3
Motor
Inertia
(with
brake)*2
EnDat 1.66 4.84 9.00 21.9
HIPERFACE 1.73 4.54 8.69 21.9
Mass kg
3.3 4.6 6.8 10.8
Mass w/brake 3.7 5.4 7.7 12.8
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

*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®)


Dimensions

ITEM / MODEL FHA-17C-H FHA-25C-H FHA-32C-H FHA-40C-H
A 6-ø5.5-5.7 8-ø6.6-7.0 12-ø6.6-7.0 8-ø11-11.4
ØB 118 142 162 208
ØC 60 74 95 112
D

6-M5
Depth 8

8-M6
Depth 10
16-M6
Depth 12
8-M10
Depth 15
ØE 128 155 175 230
ØF h7 105 125 140 185
ØG h7 *1 70 85 105 130
ØH H7 25 42 60 60
ØJ +/-1 18 32 35 43
ØL 106 (108*8) 123 140 163
ØM +/-.5 108 128 148 185
N 6.6 10.7 7.7 11.1
P 4 4 4 8
Q 21 25 22 30
R 15.5
16.7*3
20
20.5*3
17
17.6*3
23
21.1*3
S 12 15 18 22
T 84.5
100*4
81.5
107.5*4
107
133*4
113.8
134.8*4
U 105.5
121*4
106.5
132.5*4
129
155*4
143.8
164.8*4
W1 *5 49
64*4
52
77*4
71
97*4
71.7
92.7*4
W2*6 31 31 31 31

1) For option “Q” Tolerance is +/- .5

2) For option “Q” tolerance is h7

3) With option “P” IP65 output seal

4) With brake

5) Option “S” side connectors only

6) Option “K” rear connectors only

7) Connector positions are swapped for SH064SC encoder option

8) Dimension for SH064SC option only

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