|
|
 |
 |
| The FHA-C series AC servo actuators' flat shape and hollow-shaft construction makes possible downsizing of machinery/equipment and structural simplification. |
|
|
 |
|
• Thin and compact configuration;
• Hollow-shaft construction;
• High torque, high rigidity, high accuracy;
• Built-in high-rigidity support mechanism;
• Availability of a series of multifunctional control units.
Used for:
• Machine tools:Tool revolvers, index tables, loaders;
• Industrial robots: for whirling and articulated drives;
• Semiconductor manufacturing equipment: for transport robots,
inspection tables;
• Liquid crystal manufacturing equipment: for transport robots,
inspection tables, sensitizer application roll driving mechanisms;
• Printing machines: for sensitizer application roll driving sections. |
 |
Type: FHA-C series |
 |
Size: 17, 25, 32, 40 |
 |
Version symbol: C |
 |
Harmonic Drive®Reduction ratio: 50, 100, 160 |
 |
Encoder type and resolution |
|
• E250: Incremental encoder 2500p/r |
|
• E248: Absolute 2048p/r |
 |
Option symbols (Please ask Harmonic Drive Systems for details) |
 |
Special specification (Suffix "SP"
is only special specification) |
 |
| Item/model |
FHA-17C |
FHA-25C |
| Reduction ratio |
50 |
100 |
160 |
50 |
100 |
160 |
| Maximum momentary torque |
N·m |
39 |
57 |
64 |
150 |
230 |
260 |
| Max. rotational speed |
r/min |
96 |
48 |
27 |
90 |
45 |
28 |
| Torque constant |
N·m/A |
21 |
42 |
67 |
22 |
45 |
72 |
| Moment of inertia |
kg·m2 |
0.17
(0.2) |
0.67
(0.7) |
1.7
(1.9) |
0.84
(0.8) |
3.2
(3.4) |
8.3
(8.6) |
| Allowable radial load |
kN |
2.9 |
4.9 |
| Allowable axial load |
kN |
9.8 |
14.7 |
| Allowable moment load |
N·m |
188 |
370 |
| Moment stiffness |
N·m/rad |
220X103 |
490X103 |
| Uni-directional positional accuracy |
sec |
60 |
40 |
40 |
40 |
30 |
30 |
| Detector resolution *1 |
p/rev |
500,000
(409,600) |
1,000,000
(819,200) |
1,600,000
(1,310,720) |
500,000
(409,600) |
1,000,000
(819,200) |
1,600,000
(1,310,720) |
| Mass |
kg |
2.5
(2.9) |
4.0
(4.5) |
| Combined driver |
- |
HA-655-2-200orHA-675-2-200
(HA-655-2A-200orHA-675-2A-200) |
| Item/model |
FHA-32C |
FHA-40C |
| Reduction ratio |
50 |
100 |
160 |
50 |
100 |
160 |
| Maximum momentary torque |
N·m |
281 |
398 |
453 |
500 |
690 |
820 |
| Max. rotational speed |
r/min |
80 |
40 |
25 |
70 |
35 |
22 |
| Torque constant |
N·m/A |
27 |
54 |
86 |
31 |
64 |
102 |
| Moment of inertia |
kg·m2 |
1.8
(1.8) |
7.1
(7.3) |
18.1
(18.6) |
4.9
(5.0) |
19.5
(19.8) |
50
(50.7) |
| Allowable radial load |
kN |
9.5 |
14.7 |
| Allowable axial load |
kN |
24.5 |
39.2 |
| Allowable moment load |
N·m |
530 |
690 |
| Moment stiffness |
N·m/rad |
790X103 |
1400X103 |
| Uni-directional positional accuracy |
sec |
40 |
30 |
30 |
40 |
30 |
30 |
| Detector resolution *1 |
p/rev |
500,000
(409,600) |
1,000,000
(819,200) |
1,600,000
(1,310,720) |
500,000
(409,600) |
1,000,000
(819,200) |
1,600,000
(1,310,720) |
| Mass |
kg |
6.5
(7.1) |
12
(13) |
| Combined driver |
- |
HA-655-4-200orHA-675-4-200
(HA-655-4A-200orHA-675-4A-200) |
*1:Detector resolution is calculated by (Motor shaft resolution) x4x (Reduction ratio)
*2:Values for absolute encoders are in parantheses. |
| Model |
A |
øB |
øC |
D |
øE |
øF h7 |
øG h7 |
øH H7 |
øJ |
K |
øL |
| FHA-17C |
6-ø5.5 |
118 |
60 |
6-M5
Depth 8 |
128 |
105 |
70 |
25 |
18 |
3.5 |
106
(115) |
| FHA-25C |
8-ø6.6 |
142 |
74 |
8-M6
Depth 10 |
155 |
125 |
85 |
42 |
32 |
5.7 |
123 |
| FHA-32C |
12-ø6.6 |
162 |
95 |
16-M6
Depth 10 |
175 |
140 |
105 |
60 |
35 |
5 |
129 |
| FHA-40C |
8-ø11 |
208 |
112 |
8-M10
Depth 15 |
230 |
185 |
130 |
60 |
45 |
7.6 |
164 |
| Model |
øM h7 |
N |
P |
Q |
R |
S |
T |
U |
W |
Y |
Z |
| FHA-17C |
108 |
6.6 |
4 |
5 |
16 |
12 |
57
(86)
*72.5
(*101.5) |
78
(107)
*93.5
(*122.5) |
8.5
(15) |
12 |
under-68
(under-73) |
| FHA-25C |
128 |
10.7 |
4 |
5 |
20 |
15 |
65.5
(88)
*85
(*107.5) |
90.5
(113)
*110
(*132.5) |
9
(15) |
10 |
under-77 |
| FHA-32C |
148 |
7.7 |
4 |
5 |
17 |
18 |
89.5
(110)
*110
(*130.5) |
111.5
(132)
*132
(*152.5) |
9
(15) |
9 |
under-80 |
| FHA-40C |
185 |
11.1 |
8 |
7 |
23 |
22 |
97
(118)
*118
(*139) |
127
(148)
*148
(*169) |
9
(15) |
10 |
under-100 |
*1: The value with * is for specification with a brake.
*2: The value with () is for absolute encoder specification. |
| Please confirm dimensions and specification with the drawing issued by Harmonic Drive Systems. |
|
|
