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-Mini Rotary Actuator

The FHA-C Mini Series is a family of extremely compact Hollow Shaft Actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive® gear component with a pancake brushless servo motor. An incremental or multi-turn absolute encoder is integrated to provide high resolution velocity and position feedback. The large cross roller output bearing allows heavy loads to be mounted directly to the actuator without the need for additional support.

Key Features:

• Compact Form Factor
• Hollow-shaft design (for incremental encoder only)
• Available with an Incremental or Multi-turn Absolute Encoder
• Robust Cross Roller Output Bearing Supports High Loads
• High torque/weight and torque/volume ratio

Catalog

DXF CAD Files

PDF CAD Files

Request a Solid Model

Don't see what you need or not sure where to start?

Our team can help you find the right actuator for your application!



Ordering Code (with Incremental Encoder)

FHA - 8 C - 50 E200 C - E K - SP
1 2 3 4 5 6 7 8 9

1. Model

: FHA-C Mini Series

2. Size

: 8, 11, 14

3. Design Version

: C

4. Gear Ratio

: 30, 50, 100

5. Encoder Type and Resolution

: US200 - Incremental Encoder with 14 wire 2000p/rev
: E200 - Incremental Encoder with 4 wire serial 2000p/rev

6. Connector

: Blank - No Connector (Standard)
: C - With connector (Option)

7. Power Supply

: Blank - 100V or 200V AC (Standard)
: E - 24V DC (Option)

8. Cable orientation

: Blank - Side exit (Standard)
: K - Back exit (Option )

9. Special specification

: Blank - Standard product
: SP____ - Special specification code

Ordering Code (with Absolute Encoder)

FHA - 8 C - 50 - 12S17b A - C - SP
1 2 3 4 5 6 7 8

1. Model

: FHA-C Mini Series

2. Size

: 8, 11, 14

3. Design Version

: C

4. Gear Ratio

: 30, 50, 100

5. Encoder Type and Resolution

: 12S17b - Absolute Encoder
* Single turn - 131,072 cpr (17 bit) & Multi-turn - 65,536 cpr (16 bit)

6. Power Supply


: A - 100V AC
: G - 200V AC
: E - 24V DC

7. Connector

: Blank - No Connector (Standard)
: C - With connector (Option)

8. Special specification

: Blank - Standard product
: SP____ - Special specification code

Specifications

Specification / Model FHA-8C FHA-11C FHA-14C
Gear Ratio 30 50 100 30 50 100 30 50 100
Maximum 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
Maximum Speed rpm 200 120 60 200 120 60 200 120 60
Torque Constant
(100V-200V AC)
Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
Torque Constant
(24V DC)
Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
Maximum Moment Load Nm 15 40 75
in-lb 133 354 664
Moment Stiffness Nm/rad 2 x 104 4 x 104 8 x 104
in-lb/rad 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
Encoder Type Incremental 2000 pulse/revolution
Absolute Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
Encoder Resolution* Incremental p/rev 240,000 400,000 800,000 240,000 400,000 800,000 240,000 400,000 800,000
Absolute cpr 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
Servo Drive**

Incremental

(14 wire)

24V DC 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
100V/200V AC RTL-230-18, REL-230-18
HA-800-1

Incremental

(4 wire serial)

24V DC DEP-090-09 DEP-090-18 DEP-090-36
100V/200V AC REL-230-18
Absolute 24V DC DEP-090-09 DEP-090-18 DEP-090-36
100V/200V AC REL-230-18
CAD Downloads Incremental PDF DXF PDF DXF PDF DXF
Absolute PDF DXF PDF DXF PDF DXF

*Incremental encoder resolution at the output of the actuator = (encoder resolution) x 4 x (gear ratio)
Absolute encoder resolution at the output of the actuator = (encoder bit count) x (gear ratio)
** Driver Communication - DCJ (Step & Direction / Analog), DDP (CanOpen®), DEP & REL (EtherCat®), HA-680 & HA-800 available for MechatroLink™ and CC-Link®

Outline Drawing (Incremental encoder)

Product Drawing

Dimensions (Incremental encoder)

mm

Actuator Model 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

Outline Drawing (Absolute encoder)

Product Drawing

Dimensions (Absolute encoder)

Actuator Model 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

Contact

Contact Us

Email us a Question

or
Call 800-921-3332

Hours 8:00am - 5:00pm EST
Monday through Friday