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 Integrated Drive

The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability. As part of the FHA-C mini family, an integrated servo drive version utilizing CANopen® communication is now available. This evolutionary product eliminates the need for an external drive and greatly improves wiring while retaining high-positional accuracy and torsional stiffness in a compact housing.

Since it communicates via CANopen, only 4 wires are needed: CANH, CANL, +24VDC, 0VDC. A single-turn 14bit (16384 cpr) gear output sensing encoder has been integrated along with a single-turn 15bit (32768 cpr) motor input sensing 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 encoders overcome this need. In other words, No Battery Required. When power is restored, the actuator knows its position.

Key Features:

  • Actuator + Integrated Servo Drive utilizing CANopen communication
  • 24VDC Nominal +7-28VDC Supply Voltage Range
  • Single Cable with only 4 wires needed: CANH, CANL, +24VDC, 0VDC
  • Zero Backlash
  • Dual Absolute Encoders
  • Panel Mount Connectors with 4 exit options
  • Output Sensing Encoder 14bit (16384 cpr) resolution
  • Input Sensing Encoder 15bit (32768 cpr) resolution
  • Control Modes Including Torque, Velocity, and Position Control, CSP, CSV, CST
  • Harmonic Drive HDL Software

Catalog

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Ordering Code FHA-C Mini with Integrated Servo Drive

FHA - 8 C - 50 - IDT15b14b E - PM1 S - 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

IDT15b14b - Integrated Drive
Motor Input Encoder (15 bit) & Gear Output Encoder (14 bit)

6. Power Supply

E - 24VDC

7. Options Panel Mount

PM1 - Panel Mount Connectors, rear exit
PM2 - Panel Mount Connectors, right exit
PM3 - Panel Mount Connectors, left exit
PM4 - Panel Mount Connectors, top exit
(see image below)

8.

I/O Connection Signal

Blank – without I/O
S – with I/O Signal Panel Mount Connector

9. Special specification

Blank - Standard product
SP____ - Special specification code

Panel Mount exit options (shown without I/O):

FHA-C Mini actuators with an integrated servo drive include standard Lemo® connectors with four exit orientation options. Along with providing the equipment builder the flexibility to choose optimum cables for their specific application, panel mount connectors permit easy replacement of cables. In the event of cable damage, the cables can be replaced without disassembling or replacing the entire actuator.




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)
kg-m2 0.0036 0.0100 0.0399 0.007 0.019 0.077 0.019 0.052 0.206
Encoder Type Dual Absolute Encoders Dual Absolute Encoders, BiSS-C, bi-directional
Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
Output Shaft Resolution* Motor p/rev 983,040 1,638,400 3,276,800 983,040 1,638,400 3,276,800 983,040 1,638,400 3,276,800
Output p/rev 16,384
Mass kg 0.41 0.63 1.2

*Motor ABS encoder resolutions are obtained by (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 Cables: 3 Lengths (ZZ) Available: 3m (03), 5m (05), 10m (10)

Actuator Connection Cable Lengths (ZZ)
Description 03 05 10
FHA-8, 11 Power & Communication CBL-DZZ-L004-N
FHA-14 Power & Communication CBL-DZZ-L104-N
FHA 8, 11, 14 Input/Output [optional] CBL-EZZ-L006-N

HDL-IDE 3.0 Software

HDL-IDE 3.0 software provides the ability to setup or commission the FHA-C Mini Integrated actuator without connecting to a CANopen master controller. A single actuator can connect to a personal computer or laptop with a CAN communication converter and a power supply. All 256 parameters, including the tuning parameters and 256 general user variables can be set and stored to be recognized by the CANopen master controller operating the specific application. The following are some of the features included in HDL-IDE 3.0 software:

  • Torque Mode and Graph

  • Velocity Mode and Graph

  • Position Mode and Graph

  • Homing Mode

    • Limit Switch

    • Current Position

    • Hardstop Homing

  • Step Response

  • Bode Plot

  • Parameter List

  • Virtual Mode (shown)

  • Common Features for all Actuators

for more information.

Contact

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