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

New! FHA-C Series low-profile, hollow shaft, brushless servo actuators are now available in 4 new models with 3 reduction ratios that achieve high-precision rotary positioning. The new FHA-C-PR models round out the already successful brushless actuator line.
We improved the one way and bi-directional positioning repeatability of the FHA-C series to offer an optimal solution for those applications that require increased accurate positioning.

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

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Ordering Code

FHA - 17 C - 50 - US250 - PR - 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 : US250: Incremental encoder 2500p/r
6. Option symbols :PR
7. Customized Spec :SP

Item / Model FHA-17C-PR FHA-25C-PR FHA-32C-PR FHA-40C-PR
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 .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 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
One-way repeatability arc/sec ±5 ±5 ±4 ±4
Bi-directional repeatability arc/sec 75 30 30 60 25 25 50 20 20 50 20 20
Quad Endcoder 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 2.8 4.7 7.1 13.6
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 DXF DXF DXF DXF

*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®)

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