Dual Encoder FHA-Mini Rotary Actuator
Introducing Dual Absolute encoder versions of the FHA-C mini actuator. Featuring BiSS-C bi-directional communication for both encoders. The dual encoders are incorporated in essentially the same package size as the long-standing FHA-C mini single incremental encoder version. Without increasing the size, the dual absolute encoder offers single turn absolute position at the output, without the need for battery back-up.
Panel mount connectors come standard, and customers can choose between 4 exit options. Together, these new features offer the design engineer more flexibility and reliability.
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.A single turn 14 bit (16384 cpr) gear output encoder has been integrated along with a single turn 14 bit (16384 cpr) motor input encoder providing a true absolute encoder that does not require a battery within 360° of rotation of the output. Typical multi-turn encoders monitoring the motor input shaft require a battery to store the current position when power is lost to the system; however, the dual absolute encoder overcomes this need. In other words, No Battery Required. When power is restored the actuator knows its position within 0.35° accuracy.
Key Features:
- Single Turn Absolute Encoders on both Input and Output Sides
- Compact - significantly shorter than our multi-turn absolute encoder version
- Minimal length difference compared to our incremental encoder version
- Output Encoder 14 bit (16384 cpr) resolution, 0.35° accuracy
- Input Encoder 14 bit (16384 cpr) resolution, 0.1° accuracy
- BiSS-C bi-directional communication for both encoders
- Compatible Drive: Copley Controls BEL or BPL
- Compact Form Factor
- Robust Cross Roller Output Bearing Supports High Loads
- High torque/weight and torque/volume ratio
- Panel mount connectors
Catalog 
Ordering Code Dual Absolute Encoder
| FHA | - | 8 | C | - | 50 | - | SB14bSB14b | E | - | PM1 | - | 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 & Resolution |
SB14bSB14b - Dual Absolute Encoder, BiSS-C, bi-directional |
|
| 6. | Power Supply |
E - 24VDC |
|
| 7. | Options (24VDC only) | Panel Mount |
PM1 - Panel Mount Connectors, rear exit |
| 8. | Special specification |
Blank - Standard product |
Panel Mount exit options:
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 | |
| Maximum Speed | rpm | 200 | 120 | 60 | 200 | 120 | 60 | 200 | 120 | 60 | |
| Torque Constant (24VDC) |
Nm/A(rms) | 0.8 | 1.3 | 2.7 | 0.8 | 1.3 | 2.6 | 0.8 | 1.4 | 2.9 | |
| Maximum Current | A(rms) | 3.0 | 3.3 | 2.4 | 7.8 | 8.2 | 5.6 | 14.8 | 16.4 | 12.3 | |
| Allowable continuous current | A(rms) | 1.6 | 1.7 | 1.3 | 3.7 | 3.5 | 2.8 | 6 | 5.4 | 4.4 | |
| One-way Positioning Accuracy | arc-sec | 150 | 120 | 120 | 120 | 90 | 90 | 120 | 90 | 90 | |
| Allowable Moment Load | Nm | 15 | 40 | 75 | |||||||
| Moment Stiffness | Nm/rad | 2 x 104 | 4 x 104 | 8 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 | |||||||||
| ABS | Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) | ||||||||||
| Dual ABS | Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) |
||||||||||
| Output Shaft Resolution* | Incremental | p/rev | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 |
| Single ABS | p/rev | 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 | p/rev | 491,520 | 819,200 | 1,638,400 | 491,520 | 819,200 | 1,638,400 | 491,520 | 819,200 | 1,638,400 | |
| Dual ABS Output | p/rev | 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 | ||||||
| Single ABS | kg | 0.50 | 0.75 | 1.3 | |||||||
| Dual ABS | kg | 0.40 | 0.62 | 1.2 | |||||||
| Servo Drive | Dual ABS | 24VDC | BEL or BPL-090-06 | BEL or BPL-090-14 | BEL or BPL-090-30 | ||||||
*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)
Outline Dimensions
|
FHA-8 |
FHA-11 |
FHA-14 |
||
|
A |
50 |
60 |
75 |
|
|
øB |
3.4 |
4.5 |
5.5 |
|
|
øC |
58 |
70 |
88 |
|
|
øD |
25.5 |
33 |
44 |
|
|
øE |
66 |
80 |
100 |
|
|
F |
6-M3X5 |
6-M4X5 |
6-M5X7 |
|
|
G |
10 |
18.5 |
24(PM1), 25.8(PM2, 3), 25.3(PM4) |
|
|
øJ |
49 |
59 |
74 |
|
|
øK |
33.5 |
41 |
52.5 |
|
|
M |
3 |
3.5 |
3.5 |
|
|
N |
10 |
10 |
15 |
|
|
P |
5 |
5 |
8 |
|
|
Q |
10 |
12 |
15 |
|
|
R |
13 |
13.5 |
18.5 |
|
|
S |
49 |
55.5 |
65.5 |
|
|
T |
2.1 |
12 |
14.8(PM1), 13(PM2), 14(PM3), 14.3(PM4) |
|
|
V |
15 |
15 |
17.5(PM1,2,3), 15(PM4) |
|
|
W |
30 |
30 |
32.5(PM1,2,3), 30(PM4) |
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 | √ | √ | √ |
