Harmonic Drive LLC 800-921-3332
6
Chapter 1 Overview of the FHA-C series
1-4-2 Absolute System
Specifications of FHA-C series actuators with an
Absolute Encoder
are as follows:
Model
FHA-17C-xx-US248
FHA-25C-xx-US248
FHA-32C-xx-US248
FHA-40C-xx-US248
50
100
160
50
100
160
50
100
160
50
100
160
Maximum
Torque
N•m 39 57 64 150 230 260 281 398 453
500
690
820
Maximum
Speed
r/min
96 48
27
90 45 28 80 40 25
70
35
22
Torque Constant
1)
200V
N•m/A
21 42
67
22 45 72 27 54 86
31
64
102
100V N•m/A
11
21
33
11
2.2
36
13
27
43
15
32
51
Maximum Current 200V
A
2.1
1.6
1.1
7.3
5.6
4.0
11.4
8.0
5.9
17.3
11.8
9.0
Note 2
100V
A
4.2
3.2
2.2
15
11
8.0
23
16
12
35
24
18
EMF Voltage Constant
200V
V/(r/min)
2.3 4.7 7.5
2.5 5.1 8.1 3.0 5.9 9.5
3.6 7.2
11.4
100V V/(r/min) 1.2
2.4
3.8
1.3
2.6
4.1
1.5
3.0
4.8
1.8
3.6
5.7
Phase Resistance
200V
(20ºC) 7.9 2.6
1.0 0.73
100V (20ºC)
2.0
0.65
0.25
0.18
Phase Inductance
200V
mH 6.0 2.6
1.3 1.5
100V
mH
1.5
0.65
0.33
0.38
Inertia of Actuator
(GD
2
/4) kg•m
2
0.2 0.7 1.9 0.8 3.4 8.6 1.8 7.3 18.1 5.0 19.8
50.7
(J) kgf•cm•s
2
1.7 7.5 19.2 8.6 34.2 87.6 18.5 74.2 185
50.5 202 517
Reduction Ratio
1:50
1:100
1:60
1:50
1:100
1:60
1:50
1:100
1:60
1:50
1:100
1:60
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 Torsional Moment
N•m
188 370
530 690
Moment stiffness
N•m/rad
220x10
3
490x10
3
790x10
3
1400x10
3
One-way
Positioning Accuracy
arc-sec
60 40
40
40 30 30 40 30 30
40
30
30
Motor encoder
2500 pulse/rev.
Quad encoder
-resolution Note
4
Pulse/rev
409,600 819,200 1,310,720
409,600 819,200 1,310,720 409,600 819,200 1,310,720
409,600 819,200
1,310,720
Mass
Kg 2.9 4.5
7.1 13
Enclosure
Totally enclosed, self-cooling (equivalent to IP44)
Environmental conditions
Service / Storage temperature : 0~40ºC / -20 ~ 60ºC
Service / storage humidity : 20~80%RH (no condensation)
Vibration / impact resistance : 24.5m/s
2
(freq:10-400Hz) , shock resistance 294 m/s
2
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist;
install in room, no direct sunlight
Altitude: less than 1,000 meters above sea level
Motor insulation
Insulation resistance: 100M
Ω
or more (by DC500V insulation tester)
Withstanding voltage: AC1500V / 1 minute
Insulation class: F
Orientation
All
position
Note 1: The table shows output values of actuators.
Note 2: Values for saturated temperature under the conditions that the actuator is driven by an appropriate HA-655 or HA-675 driver.
Note 3: Quad encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]
Summary of Contents for FHA Series
Page 2: ...FHA C series...
