FHA-Mini Rotary Actuator
The FHA-C Mini Series is a family of extremely compact 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. New options now available: Dual Absolute Encoder and panel mount connectors!
FHA mini actuators are designed to work with a number of servo drives, including REL, RTL, DDP and HA-680 from Harmonic Drive, and MELSERVO-J4 (SSCNET III/H) from Mitsubishi. FHA mini is also available with a servo drive directly integrated into the actuator.
Key Features:
- Zero backlash
- Compact Form Factor
- Hollow-shaft design (for incremental encoder only)
- Available with an Incremental, Multi-turn Absolute or Dual Absolute Encoder [new!]
- Robust Cross Roller Output Bearing Supports High Loads
- High torque/weight and torque/volume ratio
- New Panel Mount Connectors option
- Connects directly with Mitsubishi MELSERVO-J4 (SSCNET III/H)
- FHA mini is also available with an integrated servo drive [new!]
- Safety Standard: EN60034-1:2010
DXF CAD Files
PDF Drawings
3D CAD Files
|
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 | US200 | 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 |
|
| 6. | Connector (Leads only) |
: Blank - Leads without connector (Standard) |
|
| 7. | Power Supply |
: Blank - 100V or 200VAC (Standard) |
|
| 8. | Options | Leads |
: Blank - Side exit leads, right of output (Standard) |
| Cable |
: M1 - 1M length cable (motor & encoder) |
||
| Panel Mount Connectors2 |
: -PM1 - Panel Mount Connectors, rear exit |
||
| 9. | Special specification |
: Blank - Standard product |
Ordering Code (with or Single or Dual Absolute Encoder)
| FHA | - | 8 | C | - | 50 | - | 12S17b | A | - | C | - | SP | |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||
1. only available with single absolute encoder
2. 24VDC only, contact us for other voltages
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-200VAC) |
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 (24VDC) |
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 |
| ABS | kg-m2 | 0.0026 | 0.0073 | 0.029 | 0.0062 | 0.017 | 0.069 | 0.019 | 0.054 | 0.215 | |
| Dual ABS | kg-m2 | 0.0036 | 0.0100 | 0.0399 | 0.007 | 0.019 | 0.077 | 0.019 | 0.052 | 0.206 | |
| Encoder Type | Incremental | 2000 pulse/revolution | |||||||||
| Absolute | Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) | ||||||||||
| Output shaft resolution* | Incremental | counts/rev | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 |
| Single ABS | 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 | ||
| Dual ABS Motor | 491,520 | 819,200 | 1,638,400 | 491,520 | 819,200 | 1,638,400 | 491,520 | 819,200 | 1,638,400 | ||
| Dual ABS Output | 16,384 | 16,384 | 16,384 | 16,384 | 16,384 | 16,384 | 16,384 | 16,384 | 16,384 | ||
| Mass | Incremental | kg | 0.40 | 0.62 | 1.2 | ||||||
| ABS | kg | 0.50 | 0.75 | 1.3 | |||||||
| Dual ABS | kg | 0.40 | 0.62 | 1.2 | |||||||
| Servo Drive** |
Incremental (14 wire) |
24VDC | DCJ-055-09, DDP-090-09 | DCJ-055-18, DDP-090-18 | DDP-090-36 | ||||||
| HA-680-4-24 | HA-680-6-24 | ||||||||||
| 100V/200VAC | RTL-230-18, REL-230-18 | ||||||||||
| HA-800-1 | |||||||||||
|
Incremental (4 wire serial) |
24VDC | BEL or BPL-090-06 | BEL or BPL-090-14 | BEL or BPL-090-30 | |||||||
| 100V/200VAC | REL-230-18 | ||||||||||
| Single ABS | 24VDC | BEL or BPL-090-06 | BEL or BPL-090-14 | BEL or BPL-090-30 | |||||||
| 100V/200VAC | REL-230-18 |
||||||||||
| Dual ABS | 24VDC | BEL or BPL-090-06 | BEL or BPL-090-14 | BEL or BPL-090-30 | |||||||
| Drawings | 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®), REL (EtherCat®), HA-680 & HA-800 available for MechatroLink™ and CC-Link®
Options for Panel Mount Connectors [Available for 24VDC version only]
Outline Drawing (Incremental encoder)
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)
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 |
Optional Extension Cables
| Encoder Cable | Lengths (ZZ) | |||
| Encoder | Description | 03 | 05 | 10 |
| Inc | CBL-EZZ-L012-N | √ | √ | √ |
| ABS | CBL-EZZ-L006-N | √ | √ | √ |
| Dual | CBL-EZZ-L012-N | √ | √ | √ |
| Encoder Voltage | Voltage (minimum) requirement for Cable Length (ZZ) |
|||
| Encoder | Encoder Voltage Operational Range |
03 | 05 | 10 |
| Inc | 4.75 - 5.25 | 5 | 5.2 | 5.65 |
| ABS | 4.75 - 6 | 5 | 5 | 5.4 |
| Dual | 4.75 - 30 | 5 | 5 | 5.25 |
| Motor Cable | Lengths (ZZ) | |||
| Actuator | Description | 03 | 05 | 10 |
| FHA-8, 11 | CBL-MZZ-L004-N | √ | √ | √ |
| FHA-14 | CBL-MZZ-L104-N | √ | √ | √ |
