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

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.

Model

FHA-C Series

2.

Size

17, 25, 32, 40

3.

Design Version

C

4.

Gear Ratio

50, 100, 160

5.

Encoder Specification

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

6.

Option symbols

PR - High positioning accuracy

7.

Special specification

Blank - Standard product
SP____ - Special specification code

Specifications

Item / Model FHA-17C-PR FHA-25C-PR FHA-32C-PR FHA-40C-PR
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
lb-in 345 451 504 531 566 1,328 1,885 2,036 2,186 2,301 2,487 3,221 3,523

3,823

4,009 4,425 5,832 6,107 6,690 7,258
Max Speed of Rotation rpm 96 60 48 40 27 90 56 45 37 28 80 50 40 33 25 70 43 35 29 22
Torque Constant AC 200V Nm/Arms 21 33 42 50 67 22 36 45 54 72 27 43 54 64 86 31 51 64 76 102
lb-in/Arms 186 292 372 442 593 195 319 398 478 637 239 381 478 566 761 274

451

566 673 903
Torque Constant AC 100V Nm/Arms 11 17 21 25 33 11 17 22 26 36 16 26 33 39 52 - - - - -
lb-in/Arms 97 150 186 221 292 97 150 195 230 319 115 230 239 345 381 - - - - -
Moment of Inertia(GD2/4) kg.m2 .21 .53 .83 1.2 2.1 .90 2.3 3.5 5.2 9.2 2.1 5.3 8.2 12 21 5.5 14 22 32 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 40 40 30 30 30 30 40 30 30 30 30 40 30 30 30 30
One-way repeatability arc/sec ±5 ±5 ±4 ±4
Bi-directional repeatability arc/sec 75 30 30 30 30 60 25 25 25 25 50 20 20 20 20 50 20 20 20 20
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 2.8 4.7 7.1 13.6
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 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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