文字自由编辑字体可自行编辑

FHA-Mini Rotary Actuator

The FHA-C Mini Series is a family of extremely compact Hollow Shaft 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.

Key Features:

• Compact Form Factor
• Hollow-shaft design (for incremental encoder only)
• Available with an Incremental or Multi-turn Absolute Encoder
• Robust Cross Roller Output Bearing Supports High Loads
• High torque/weight and torque/volume ratio

Catalog

DXF CAD Files

PDF CAD Files

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	E200	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 : E200 - Incremental Encoder with 4 wire serial 2000p/rev
6.	Connector	: Blank - No Connector (Standard) : C - With connector (Option)
7.	Power Supply	: Blank - 100V or 200V AC (Standard) : E - 24V DC (Option)
8.	Cable orientation	: Blank - Side exit (Standard) : K - Back exit (Option )
9.	Special specification	: Blank - Standard product : SP____ - Special specification code

Ordering Code (with Absolute Encoder)

FHA		-	8	C	-	50	-	12S17b	A	-	C	-	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 and Resolution	: 12S17b - Absolute Encoder * Single turn - 131,072 cpr (17 bit) & Multi-turn - 65,536 cpr (16 bit)
6.	Power Supply	: A - 100V AC : G - 200V AC : E - 24V DC
7.	Connector	: Blank - No Connector (Standard) : C - With connector (Option)
8.	Special specification	: Blank - Standard product : SP____ - Special specification code

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-200V AC)		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 (24V DC)		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
	Absolute	kg-m2	0.0026	0.0073	0.029	0.0062	0.017	0.069	0.019	0.054	0.215
Encoder Type	Incremental		2000 pulse/revolution
	Absolute		Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
Encoder Resolution*	Incremental	p/rev	240,000	400,000	800,000	240,000	400,000	800,000	240,000	400,000	800,000
	Absolute	cpr	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
Mass	Incremental	kg	0.40			0.62			1.2
	Absolute	kg	0.50			0.75			1.3
Servo Drive**	Incremental (14 wire)	24V DC	DCJ-055-09,DDP-090-09,DEP-090-09			DCJ-055-18,DDP-090-18,DEP-090-18			DDP-090-36, DEP-090-36
			HA-680-4-24						HA-680-6-24
		100V/200V AC	RTL-230-18, REL-230-18
			HA-800-1
	Incremental (4 wire serial)	24V DC	DEP-090-09			DEP-090-18			DEP-090-36
		100V/200V AC	REL-230-18
	Absolute	24V DC	DEP-090-09			DEP-090-18			DEP-090-36
		100V/200V AC	REL-230-18
CAD Downloads		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®), DEP & REL (EtherCat®), HA-680 & HA-800 available for MechatroLink™ and CC-Link®