Harmonic Drive FHA Series, Manual

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Harmonic Drive LLC 800-921-3332
4
FHA- 17 C-50-E 250
-
AC s ervo actuator FHA s erie s
Frame s i z e: 17, 25, 32, 40
De s ign
Reduction ratio of harmonic drive
®
gearing
50: 1/50
100: 1/100
160: 1/160
Encoder
s pecification s
U S : 14 wire incremental encoder ( s tandard)
E: 4 wire incremental encoder (optional)
S : ab s olute encoder (optional)
Encoder re s olution
250 : 2500 p/rev (incremental)
248: 8192 p/rev (ab
s olute)
Optional s pecification s
-
1-2 Ordering Information for the FHA actuators
Model number of FHA-C series actuators are as follows:
Details of the optional specifications are as follows:
Optional spec. Details Symbol
AC100V power supply available for FHA-17C, -25C, -32C only A
Brake for motor for holding motor shaft B
Position sensors origin and end limits L
Cable-end connectors for motor cable (IP-20) & for encoder cable (IP-40) C
Cable outlet on back face from back bracket face K
Protection equivalent to IP-67
(technical arrangement is required)
W
Clamp for output by built-in hydraulic mechanism with position sensors D
5 meter cables 5m for each motor cable and encoder cable F5
24V available for FHA-17C only E
Note 1: For more details, refer to chapter 4.
Note 2: For requirement of two or more optional items, please contact to Harmonic Drive System, Inc. for availability and delivery date.
1-3 Combinations with drivers
Two series of HA-655 and HA-675 drivers are available for use with FHA-C actuators dealing with their nominal current and encoder sys-
tems. The correct actuator / driver combinations are as follows:
Incremental System INC Absolute System ABS
Volt
FHA-17C FHA-25C FHA-32C FHA-40C FHA-17C FHA-25C FHA-32C FHA-40C
-xx-US250 -xx-US250 -zz-US250 -XX-US250 -xx-S248 -xx-S248 -xx-S248 -xx-S248
200V
HA-655-2-200 HA-655-2-200 HA-655-4-200 HA-655-4-200 HA-655-2A-200 HA-655-2A-200 HA-655-4A-200 HA-655-4A-200
HA-675-2-200 HA-675-2-200 HA-675-4-200 HA-675-4-200 HA-675-2A-200 HA-675-2A-200 HA-675-4A-200 HA-675-4A-200
100V
HA-655-2-100 HA-655-4-100 HA-655-4-100 – HA-655-2A-100 HA-655-4A-100 HA-655-4A-100 –
HA-675-2-100 HA-675-4-100 HA-675-4-100 – HA-675-2A-100 HA-675-4A-100 HA-675-4A-100 –
Chapter 1 Ordering Information for the FHA-C series