FHA-C H Rotary Actuator
New! FHA-C Series servo actuators are now available with IP65 protection. Four sizes are available: 17, 25, 32 and 40. The IP65 rated FHA-C actuator is ideal for harsh environments. With IP65 and 480V, the FHA actuator is well suited for machine tool, packaging, and wash-down applications.
These rotary servo actuators utilize Harmonic Drive® precision gears combined with a performance matched brushless servo motor. Encoder options now include EnDat® & HIPERFACE®. The FHA has a low-profile form factor and features a hollow-output shaft. 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 servo drives including Bosch, Mitsubishi, Siemens, and Kollmorgen.
Catalog
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Ordering Code
| FHA | - | 17 | C | - | 50 | - | H | - | B | - | SE032SC | - | KP | - | SP |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| 1. | Model | : FHA-C Series |
| 2. | Size | : 17, 25, 32, 40 |
| 3. | Design Version | : C |
| 4. | Gear Ratio | : 50, 100, 160 |
| 5. | Winding Voltage | : H - 680VDC |
| 6. | Brake | : Blank - without brake |
| 7. | Motor Feedback | : SE032SC - EnDat2.1 with Sin-Cos; Single turn absolute |
| 8. | Options | : S - Side exiting cable (standard) |
| 9. | Special specification | : Blank - Standard product |
Specifications
| Item / Model | FHA-17C-H | FHA-25C-H | FHA-32C-H | FHA-40C-H | |||||||||
| Gear Ratio | 50 | 100 | 160 | 50 | 100 | 160 | 50 | 100 | 160 | 50 | 100 | 160 | |
| Max torque | Nm | 39 | 57 | 64 | 151 | 233 | 261 | 281 | 398 | 453 | 500 | 686 | 823 |
| Max Current | A(rms) | 1.4 | 1.1 | .8 | 3.9 | 3 | 2.2 | 6.5 | 4.7 | 3.5 | 9.3 | 6.4 | 5 |
| Continuous Torque | Nm | 15 | 23 | 23.2 | 40 | 72 | 90 | 60 | 153.5 | 240 | 90 | 234 | 400 |
| Continuous Current | A(rms) | .65 | .55 | .45 | 1.3 | 1.3 | 1.25 | 2 | 2 | 1.9 | 2.4 | 2.4 | 2.4 |
| Max Speed of Rotation | rpm | 96 | 48 | 30 | 90 | 45 | 28 | 80 | 40 | 25 | 70 | 35 | 22 |
| Motor EMF Constant (Line-Line) | Vrms/(krpm) | 50 | 57 | 67 | 80 | ||||||||
| Vrms/(rad/s) | 0.48 | .55 | .64 | 0.77 | |||||||||
| Phase Resistance (20°C, Line-Line) | Ω | 64 | 22.4 | 7.8 | 5.6 | ||||||||
| Phase Inductance (Line-Line) | mH | 42 | 20 | 9.8 | 11.2 | ||||||||
| Torque Constant 680VDC | Nm/A(rms) | 37 | 75 | 120 | 42 | 86 | 138 | 49 | 100 | 160 | 59 | 120 | 193 |
| Moment of Inertia(GD2/4) | kg.m2 | .21 | 0.83 | 2.1 | .90 | 3.5 | 9.2 | 2.1 | 8.2 | 21 | 5.5 | 22 | 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 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 | 30 | 30 | 40 | 30 | 30 | 40 | 30 | 30 |
| Feedback Type | Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) | Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) | Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) | Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) | |||||||||
| Quad Encoder resolution * 1 | p/rev | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 | 500.000 | 1.000.000 | 1.600.000 |
| No. of Pole Pairs | 6 | 6 | 6 | 6 | |||||||||
| Motor Inertia (without brake)*2 | EnDat | 1.37 | 3.95 | 7.63 | 19.3 | ||||||||
| HIPERFACE | 1.44 | 3.65 | 7.33 | 19.3 | |||||||||
| Motor Inertia (with brake)*2 | EnDat | 1.66 | 4.84 | 9.00 | 21.9 | ||||||||
| HIPERFACE | 1.73 | 4.54 | 8.69 | 21.9 | |||||||||
| Mass | kg | 3.3 | 4.6 | 6.8 | 10.8 | ||||||||
| Mass w/brake | 3.7 | 5.4 | 7.7 | 12.8 | |||||||||
| Recommended Drivers | AC 100V | RTL-230-18 REL-230-18 | RTL-230-36 REL-230-36 | RTL-230-18 | RTL-230-36 REL-230-36 | RTL-230-18 | − | ||||||
| AC 200V | RTL-230-18 REL-230-18 | RTL-230-36 REL-230-36 | RTL-230-18 REL-230-18 | ||||||||||
| DC 24V | DDP-090-36, DEP-090-36 | − | − | − | |||||||||
| AC 100V | HA-800A-3B-100 | HA-800A-6B-100 | |||||||||||
| AC 200V | HA-800A-3B-200 | HA-800A-6B-200 | |||||||||||
*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®)
Dimensions
| ITEM / MODEL | FHA-17C-H | FHA-25C-H | FHA-32C-H | FHA-40C-H |
| A | 6-ø5.5-5.7 | 8-ø6.6-7.0 | 12-ø6.6-7.0 | 8-ø11-11.4 |
| ØB | 118 | 142 | 162 | 208 |
| ØC | 60 | 74 | 95 | 112 |
| D | 6-M5 | 8-M6 Depth 10 | 16-M6 Depth 12 | 8-M10 Depth 15 |
| ØE | 128 | 155 | 175 | 230 |
| ØF h7 | 105 | 125 | 140 | 185 |
| ØG h7 *1 | 70 | 85 | 105 | 130 |
| ØH H7 | 25 | 42 | 60 | 60 |
| ØJ +/-1 | 18 | 32 | 35 | 43 |
| ØL | 106 (108*8) | 123 | 140 | 163 |
| ØM +/-.5 | 108 | 128 | 148 | 185 |
| N | 6.6 | 10.7 | 7.7 | 11.1 |
| P | 4 | 4 | 4 | 8 |
| Q | 21 | 25 | 22 | 30 |
| R | 15.5 16.7*3 | 20 20.5*3 | 17 17.6*3 | 23 21.1*3 |
| S | 12 | 15 | 18 | 22 |
| T | 84.5 100*4 | 81.5 107.5*4 | 107 133*4 | 113.8 134.8*4 |
| U | 105.5 121*4 | 106.5 132.5*4 | 129 155*4 | 143.8 164.8*4 |
| W1 *5 | 49 64*4 | 52 77*4 | 71 97*4 | 71.7 92.7*4 |
| W2*6 | 31 | 31 | 31 | 31 |
1) For option “Q” Tolerance is +/- .5
2) For option “Q” tolerance is h7
3) With option “P” IP65 output seal
4) With brake
5) Option “S” side connectors only
6) Option “K” rear connectors only
7) Connector positions are swapped for SH064SC encoder option
8) Dimension for SH064SC option only
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