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-C Rotary Actuator

These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor and incremental encoder. The FHA has a low profile form factor and features a hollow shaft through the center of the output. 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 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
  • Driver Communication - DDP & RTL (CanOpen®), DEP & REL (EtherCat®) & HA-800 ( available for MechatroLink™ and CC-Link®)

Manual FHA 17 24V Spec Sheet

DXF CAD Files

PDF Drawings

3D CAD Files

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Ordering Code

FHA - 17 C - 50 - US250 - B - SP
1 2 3 4 5 6 7

1. Model

FHA-C Series

2. Size

17, 25, 32, 40

3. Design Version

C

4. Gear Ratio

50, 80, 100, 120, 160

5. Encoder Specification

US250 - Incremental encoder with 14 wire 2500p/rev
E250 - Incremental encoder with 4 wire 2500p/rev

6. Option symbols

Please refer to the table below for available options

7. Special specification

Blank - Standard product
SP____ - Special specification code

Available Options

Symbol Detail
A 100VAC power supply (Available for size 17,25, and 32)
B With Brake
L Position sensors
C With connectors
K Rear exiting cable
F5 5 meter cables for each motor cable and encoder cable
E 24VDC power supply (Size 17 only)

Specifications

Item / Model FHA-17C FHA-25C FHA-32C FHA-40C
Gear Ratio 50 80 100 120 160 50 80 100 120 160 50 80 100 120 160 50 80 100 120 160
Max torque Nm 39 51 57 60 64 150 213 230 247 260 281 364 398 432 453 500 659 690 756 820
Max Speed of Rotation rpm 96 60 48 40 30 90 56 45 37 28 80 50 40 33 25 70 43 35 29 22
Torque Constant 200VAC Nm/Arms 21 33 42 50 67 22 36 45 54 72 27 43 54 64 86 31 51 64 76 102
Torque Constant 100VAC Nm/Arms 11 17 21 25 33 11 17 22 26 36 16 26 33 39 52 - - - - -
Moment of Inertia(GD2/4) kg.m2 0.17 0.43 0.67 0.97 1.7 0.81 2.1 3.2 4.7 8.3 1.8 4.5 7.1 10.2 18.1 4.9 12.5 19.5 28.1 50
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 40 40 30 30 30 30 40 30 30 30 30 40 30 30 30 30
Quad encoder resolution * 1 p/rev 500.0K 800.0K 1.0M 1.2M 1.6M 500.0K 800.0K 1.0M 1.2M 1.6M 500.0K 800.0K 1.0M 1.2M 1.6M 500.0K 800.0K 1.0M 1.2M 1.6M
No. of Poles 12 12 12 12
Mass kg 2.5 4.0 6.5 12
Recommended Drivers 100VAC RTL-230-18
REL-230-18
RTL-230-36
REL-230-36
RTL-230-18
REL-230-18
RTL-230-36
REL-230-36
RTL-230-18
REL-230-18
200VAC RTL-230-18
REL-230-18
RTL-230-36
REL-230-36
RTL-230-18
REL-230-18
24VDC DDP-090-36, DEP-090-36
100VAC HA-800A-3B-100 HA-800A-6B-100
200VAC HA-800A-3B-200 HA-800A-6B-200
CAD Downloads PDF DXF PDF DXF PDF DXF PDF DXF

Refer to the FHA-C User Manual and FHA-17C 24V spec sheet for more details
*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®)

Outline Drawing

Dimensions

Unit: mm

Model A øB øC D øE øF h7 øG h7 øH H7 øJ K øL

FHA-17C

6-ø5.5 118 60 6-M5
Depth 8
128 105 70 25 18 3.5 106

FHA-25C

8-ø6.6 142 74 8-M6
Depth 10
155 125 85 42 32 5.7 123

FHA-32C

12-ø6.6 162 95 16-M6
Depth 10
175 140 105 60 35 5 129

FHA-40C

8-ø11 208 112 8-M10
Depth 15
230 185 130 60 45 7.6 164

Model øM h7 N P Q R S T U W Y Z

FHA-17C

108 6.6 4 5 16 12

45
*60.5

78
*93.5
8.5 12 under-68

FHA-25C

128 10.7 4 5 20 15 65.5
*85
90.5
*110
9 10 under-77

FHA-32C

148 7.7 4 5 17 18 89.5
*110
111.5
*132
9 9 under-80

FHA-40C

185 11.1 8 7 23 22 97
*118
127
*148
9 10 under-100

*1: Actuators are available with brake or without brake.
The value with * is for specification with a brake.

Please confirm dimensions and specifications with the drawing issued by Harmonic Drive LLC

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