FHA-Mini Rotary Actuator
The FHA-C Mini Series is a family of extremely compact Hollow Shaft Actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive® gear component with a pancake brushless servo motor. An incremental or multi-turn absolute encoder is integrated to provide high resolution velocity and position feedback. The large cross roller output bearing allows heavy loads to be mounted directly to the actuator without the need for additional support.
Key Features:
• Compact Form Factor
• Hollow-shaft design (for incremental encoder only)
• Available with an Incremental or Multi-turn Absolute Encoder
• Robust Cross Roller Output Bearing Supports High Loads
• High torque/weight and torque/volume ratio
DXF CAD Files 
PDF Drawings
3D CAD Files
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Ordering Code (with Incremental Encoder)
| FHA | - | 8 | C | - | 50 | E200 | C | - | E | K | - | SP |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
| 1. | Model |
: FHA-C Mini Series
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| 2. | Size |
: 8, 11, 14
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| 3. | Design Version |
: C
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| 4. | Gear Ratio |
: 30, 50, 100
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| 5. | Encoder Type and Resolution |
: US200 - Incremental Encoder with 14 wire 2000p/rev |
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| 6. | Connector |
: Blank - No Connector (Standard) |
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| 7. | Power Supply |
: Blank - 100V or 200VAC (Standard)
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| 8. | Cable orientation |
: Blank - Side exit (Standard)
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| 9. | Special specification |
: Blank - Standard product |
Ordering Code (with Absolute Encoder)
| FHA | - | 8 | C | - | 50 | - | 12S17b | A | - | C | - | SP | |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | ||||||
| 1. | Model |
: FHA-C Mini Series |
| 2. | Size |
: 8, 11, 14 |
| 3. | Design Version |
: C |
| 4. | Gear Ratio |
: 30, 50, 100 |
| 5. | Encoder Type and Resolution |
: 12S17b - Absolute Encoder |
| 6. | Power Supply |
: A - 100VAC |
| 7. | Connector |
: Blank - No Connector (Standard) |
| 8. | Special specification |
: Blank - Standard product |
Specifications
| Specification / Model | FHA-8C | FHA-11C | FHA-14C | ||||||||
| Gear Ratio | 30 | 50 | 100 | 30 | 50 | 100 | 30 | 50 | 100 | ||
| Maximum Torque | N.m | 1.8 | 3.3 | 4.8 | 4.5 | 8.3 | 11 | 9.0 | 18 | 28 | |
| in-lb | 15.9 | 29.2 | 42.5 | 39.8 | 73.5 | 97.4 | 79.7 | 159.3 | 247.8 | ||
| Maximum Speed | rpm | 200 | 120 | 60 | 200 | 120 | 60 | 200 | 120 | 60 | |
| Torque Constant (100V-200VAC) |
Nm/A(rms) | 3.9 | 6.7 | 14 | 3.8 | 6.6 | 13 | 4.2 | 7.2 | 15 | |
| in-lb/A(rms) | 34.5 | 59.3 | 123.9 | 33.6 | 58.4 | 115.1 | 37.2 | 63.7 | 132.8 | ||
| Torque Constant (24VDC) |
Nm/A(rms) | 0.8 | 1.3 | 2.7 | 0.8 | 1.3 | 2.6 | 0.8 | 1.4 | 2.9 | |
| in-lb/A(rms) | 7.1 | 11.5 | 23.9 | 7.1 | 11.5 | 23.0 | 7.1 | 12.4 | 25.7 | ||
| Positioning Accuracy | arc-sec | 150 | 120 | 120 | 120 | 90 | 90 | 120 | 90 | 90 | |
| Maximum Moment Load | Nm | 15 | 40 | 75 | |||||||
| in-lb | 133 | 354 | 664 | ||||||||
| Moment Stiffness | Nm/rad | 2 x 104 | 4 x 104 | 8 x 104 | |||||||
| in-lb/rad | 18 x 104 | 35 x 104 | 71 x 104 | ||||||||
| Moment of Inertia (GD2/4) |
Incremental | kg-m2 | 0.0026 | 0.0074 | 0.029 | 0.0060 | 0.017 | 0.067 | 0.018 | 0.050 | 0.20 |
| Absolute | kg-m2 | 0.0026 | 0.0073 | 0.029 | 0.0062 | 0.017 | 0.069 | 0.019 | 0.054 | 0.215 | |
| Encoder Type | Incremental | 2000 pulse/revolution | |||||||||
| Absolute | Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) | ||||||||||
| Encoder Resolution* | Incremental | p/rev | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 | 240,000 | 400,000 | 800,000 |
| Absolute | cpr | 3,932,160 | 6,553,600 | 13,107,200 | 3,932,160 | 6,553,600 | 13,107,200 | 3,932,160 | 6,553,600 | 13,107,200 | |
| Mass | Incremental | kg | 0.40 | 0.62 | 1.2 | ||||||
| Absolute | kg | 0.50 | 0.75 | 1.3 | |||||||
| Servo Drive** |
Incremental (14 wire) |
24VDC | DCJ-055-09,DDP-090-09,DEP-090-09 | DCJ-055-18,DDP-090-18,DEP-090-18 | DDP-090-36, DEP-090-36 | ||||||
| HA-680-4-24 | HA-680-6-24 | ||||||||||
| 100V/200VAC | RTL-230-18, REL-230-18 | ||||||||||
| HA-800-1 | |||||||||||
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Incremental (4 wire serial) |
24VDC | DEP-090-09 | DEP-090-18 | DEP-090-36 | |||||||
| 100V/200VAC | REL-230-18 | ||||||||||
| Absolute | 24VDC | DEP-090-09 | DEP-090-18 | DEP-090-36 | |||||||
| 100V/200VAC | REL-230-18 | ||||||||||
| Drawings | Incremental | PDF DXF | PDF DXF | PDF DXF | |||||||
| Absolute | PDF DXF | PDF DXF | PDF DXF | ||||||||
*Incremental encoder resolution at the output of the actuator = (encoder resolution) x 4 x (gear ratio)
Absolute encoder resolution at the output of the actuator = (encoder bit count) x (gear ratio)
** Driver Communication - DCJ (Step & Direction / Analog), DDP (CanOpen®), DEP & REL (EtherCat®), HA-680 & HA-800 available for MechatroLink™ and CC-Link®
Outline Drawing (Incremental encoder)
Dimensions (Incremental encoder)
mm
| Actuator Model | A ±1 | øB | øC h7 | øD h7 | øE | F | G ±30 | Mass (kg) |
| FHA-8C | 50 | 66 | 49 | 33.5 | 6.2 | 48.5 | 300 | 0.4 |
| FHA-11C | 60 | 80 | 59 | 41 | 8 | 56 | 300 | 0.62 |
| FHA-14C | 75 | 100 | 74 | 52.5 | 13.5 | 66 | 300 | 1.2 |
Outline Drawing (Absolute encoder)
Dimensions (Absolute encoder)
| Actuator Model | A ±1 | øB | øC h7 | øD h7 | øE | F | G ±30 | Mass (kg) |
| FHA-8C | 50 | 66 | 49 | 48 | 33.5 | 61.8 | 300 | 0.50 |
| FHA-11C | 60 | 80 | 59 | 58 | 41 | 68.5 | 300 | 0.75 |
| FHA-14C | 75 | 100 | 74 | 73 | 52.5 | 78 | 300 | 1.3 |
