Harmonic Drive FHA Mini Series, Manual

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Chapter 1 Overview of the FHA-C mini series
FHA-C mini
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Chapter 1 Overview of the FHA-C mini series
FHA-C mini series servo actuators provide high torque and highly accurate rotary motion. The actuator
is composed of a Harmonic Drive® component from set (size 8 - 14)
for precise motion control and a
super-flat AC servomotor.
The first feature of the FHA-C mini series actuators is their unprecedented super-flat shape. The body
width is less than half of our previous models. The second feature is a through-hole in the center of the
shaft, through which electric cables, air pipes, and even laser beams can be passed to supply power
and signals to moving parts.
The HA-800 series and the HA-680 series are dedicated servo drivers for the FHA-C mini series actuator
to control its position and speed. The small and intelligent driver controls the FHA-C mini series actuators
with great accuracy and reliability.
FHA-C mini series actuators play an important role for driving various factory automation (FA)
equipment; such as robot joints, alignment mechanisms for semiconductor and LCD equipment, ATC of
machine tools, printing machine roller, etc.
1-1 Features
◆
Super-flat configuration
FHA-C mini series actuator is the union of Harmonic Drive® gearing with a super-flat AC servomotor for
precise motion control. The compact size allows smaller machines to be designed.
◆
Hollow Shaft*
The center through-hole shaft allows for the insertion of electric cables, air pipes, or laser beams through
the actuator to supply power and signals to moving parts. This feature will simplify the driven machine.
◆
High torque
FHA-C mini series actuator outputs have a much higher torque per volume than direct drive motors
thanks to Harmonic Drive® gearing. Furthermore, FHA-C mini series actuators have a higher rating than
our previous models.
◆
High positioning accuracy
FHA-C mini series actuators provide superior positioning accuracy. They achieve positioning accuracy
of 90 arc seconds (typically, FHA-14C-100) as well as an encoder resolution of 800,000 pulses per
output revolution.
◆
High torsion stiffness
FHA-C mini series actuators provide great torsion stiffness featuring shortens positioning time and
decreases the vibration during servo-lock stop.
◆ Incremental, Absolute or Dual Absolute encoders
An incremental or multi-turn absolute encoder is integrated to provide high resolution velocity and
position feedback
*Incremental encoder only.