Harmonic Drive FHA-Cmini Series, Manual

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1-13 Operable range
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1-13 Operable range
The graphs below show the operable range when a FHA-C mini series actuator and an HA-800 or
HA-680 driver combination is selected. Refer to [Chapter 2 Selection guidelines] for the most efficient
use of FHA-C mini series actuators' output.
(1) Continuous motion range
The range allows continuous operation for the actuator.
(2) 50% duty motion range
This range indicates the torque rotation speed which is operable in the 50% duty operation (the
ratio of operating time and delay time is 50:50). Refer to p2-10 [Duty cycles] for information on
duty.
(3) Motion range during acceleration and deceleration
This range indicates the torque rotation speed which is operable momentarily. The range allows
instantaneous operation like acceleration and deceleration, usually.
The continuous and 50% duty motion ranges shown on each graph are measured on the condition
where the radiation plate specified in the graph is installed.
FHA-8C

100V
Motion range during
acceleration and deceleration
50% duty range
Continuous
motion range
Radiation plate: 150 x 150 x 6(mm)
Rotation speed [r/min]
250 200 150 100 50 0
2.0
1.8
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0
Torque [Nm]

FHA-8C-30
Input voltage: 100V
Note: If you are continuously using a single direction for the continuous motion range, please consult us.
Rotation speed [r/min]
Torque [Nm]
140 120 80 60 20 0
50% duty range
Continuous
motion range
Radiation plate: 150 x 150 x 6(mm)

FHA-8C-50
Input voltage: 100V
40 100
3.5
3.0
2.5
2.0
1.0
0.5
0
1.5
Motion range during
acceleration and deceleration
6
5
2
1
0
3
70 60 40 30 10 0 20 50

FHA-8C-100
4
Motion range during
acceleration and deceleration
50% duty range
Continuous
motion range
Radiation plate: 150 x 150 x 6(mm)
Rotation speed [r/min]
Torque [Nm]
Input voltage: 100V