At a glance

Optimised for your applications

  • Increased operating reliability
  • Reduced set up time
  • Shorter time to market
  • Flexible control configuration
  • Optimal design solution
  • Easy load connection
  • Low manufacturing and installation
  • costs
  • Reduced material use
  • Higher product quality
  • Less waste
  • Consistent quality
  • High availability
  • Reduced Total Cost of Ownership
  • Reduced maintenance costs

Features

  • Large hollow shaft
  • Servo controller available
  • Various feedback systems
  • Integrated high capacity output bearing
  • Excellent lifetime precision
  • Compact, lightweight design
  • Easy to customise
  • Third party controller compatibility
Engineering Data

Engineering Data

AC Servo Actuators FHA-C

PDF Download

2D-/3D-CAD files

Overview 2D-/3D-CAD files
for your planning/construction phase

Download

More downloads

Abschnitte

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Product inquiry!

Please choose the ratio

Compare products

Compare Now!

Combinations

Size 17C 25C 32C 40C
Ratio 50
100
160
 
 
Motor winding and connector configuration H
L
 
 
Motor feedback C1024
D250
M128P
M512P
US250
 
 
Brake B
 
 
Option Sensor EC
 
 
Option Cable/Connector K
R
S
 
 

Available

On request

Not available

Technical data

Ordering code

Define the ordering code for your customised product,
in consideration with your requested product characteristics.

PDF Download

Change size Unit FHA-17C
Motor feedback system   C1024 C1024 C1024
Ratio i [] 50 100 160
Maximum output torque Tmax [Nm] 39 57 64
Maximum output speed nmax [min-1] 96 48 30
Continuous stall torque T0 [Nm] 17 28 30
Brake holding torque TBr [Nm] 25 49 78
Hollow shaft diameter dH [mm] 18 18 18
Transmission accuracy [arcmin] < 1 < 0.7 < 0.7
Lost Motion [arcmin] < 2 < 2 < 2
Torsional stiffness K3 [x103 Nm/rad] 20 25 25
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 2801 2801 2801
Dynamic axial load FA dyn (max) [N] 4180 4180 4180
Dynamic tilting moment Mdyn (max) [Nm] 188 188 188
Change size Unit FHA-25C
Motor feedback system   C1024 C1024 C1024
Ratio i [] 50 100 160
Maximum output torque Tmax [Nm] 151 233 261
Maximum output speed nmax [min-1] 90 45 28
Continuous stall torque T0 [Nm] 42 86 102
Brake holding torque TBr [Nm] 49 98 157
Hollow shaft diameter dH [mm] 32 32 32
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5
Lost Motion [arcmin] < 2 < 2 < 2
Torsional stiffness K3 [x103 Nm/rad] 84 110 110
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 4668 4668 4668
Dynamic axial load FA dyn (max) [N] 6967 6967 6967
Dynamic tilting moment Mdyn (max) [Nm] 370 370 370
Change size Unit FHA-32C
Motor feedback system   C1024 C1024 C1024
Ratio i [] 50 100 160
Maximum output torque Tmax [Nm] 281 398 453
Maximum output speed nmax [min-1] 80 40 25
Continuous stall torque T0 [Nm] 73 151 232
Brake holding torque TBr [Nm] 75 150 240
Hollow shaft diameter dH [mm] 35 35 35
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5
Lost Motion [arcmin] < 2 < 2 < 2
Torsional stiffness K3 [x103 Nm/rad] 150 200 200
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 6250 6250 6250
Dynamic axial load FA dyn (max) [N] 9328 9328 9328
Dynamic tilting moment Mdyn (max) [Nm] 530 530 530
Change size Unit FHA-40C
Motor feedback system   C1024 C1024 C1024
Ratio i [] 50 100 160
Maximum output torque Tmax [Nm] 450 690 823
Maximum output speed nmax [min-1] 70 35 22
Continuous stall torque T0 [Nm] 122 256 345
Brake holding torque TBr [Nm] 108 216 346
Hollow shaft diameter dH [mm] 45 45 45
Transmission accuracy [arcmin] < 0.7 < 0.5 < 0.5
Lost Motion [arcmin] < 2 < 2 < 2
Torsional stiffness K3 [x103 Nm/rad] 300 370 370
Ambient operating temperature [°C] 0 ... 40 0 ... 40 0 ... 40
Output bearing
Dynamic radial load FR dyn (max) [N] 11644 11644 11644
Dynamic axial load FA dyn (max) [N] 17379 17379 17379
Dynamic tilting moment Mdyn (max) [Nm] 690 690 690

Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 0,27 1,09 2,78
Moment of inertia without brake Jout [kgm2] 0,2 0,8 2,04
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 0,24 0,96 2,5
Moment of inertia without brake Jout [kgm2] 0,17 0,67 1,7
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 0,24 0,96 2,5
Moment of inertia without brake Jout [kgm2] 0,17 0,67 1,7
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 0,57 2,3 5,88
Moment of inertia without brake Jout [kgm2] 0,5 2,0 5,12
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 0,57 2,3 5,88
Moment of inertia without brake Jout [kgm2] 0,5 2,0 5,12

Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 1,09 4,34 11,1
Moment of inertia without brake Jout [kgm2] 0,86 3,45 8,82
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 1,0 4,1 10,6
Moment of inertia without brake Jout [kgm2] 0,8 3,2 8,3
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 1,0 4,1 10,6
Moment of inertia without brake Jout [kgm2] 0,8 3,2 8,3
Ratio i [] 50 160
Moment of inertia with brake Jout [kgm2] 1,09 11,1
Moment of inertia without brake Jout [kgm2] 1,15 11,8
Ratio i [] 50 160
Moment of inertia with brake Jout [kgm2] 1,09 11,1
Moment of inertia without brake Jout [kgm2] 1,15 11,8

Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 2,2 8,9 22,8
Moment of inertia without brake Jout [kgm2] 1,87 7,5 19,2
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 2,1 8,4 22,0
Moment of inertia without brake Jout [kgm2] 1,8 7,1 18,1
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 2,1 8,4 22,0
Moment of inertia without brake Jout [kgm2] 1,8 7,1 18,1
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 2,50 10,2 26,1
Moment of inertia without brake Jout [kgm2] 2,20 8,8 22,5
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 2,50 10,2 26,1
Moment of inertia without brake Jout [kgm2] 2,20 8,8 22,5

Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 5,7 22,6 57,9
Moment of inertia without brake Jout [kgm2] 5,0 20,0 51,2
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 5,5 22,0 57,0
Moment of inertia without brake Jout [kgm2] 4,9 19,5 50,0
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 5,5 22,0 57,0
Moment of inertia without brake Jout [kgm2] 4,9 19,5 50,0
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 5,9 23,6 60,4
Moment of inertia without brake Jout [kgm2] 5,2 21,0 53,7
Ratio i [] 50 100 160
Moment of inertia with brake Jout [kgm2] 5,9 23,6 60,4
Moment of inertia without brake Jout [kgm2] 5,2 21,0 53,7
Length (without brake) L [mm] 100
Length (with brake) L1 [mm] 115,5
Weight without brake m [kg] 2,8
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 78 ±1
Length (with brake) L1 [mm] 93,5 ±1
Weight without brake m [kg] 2,5
Weight with brake m [kg] 2,9
Length (without brake) L [mm] 78 ±1
Length (with brake) L1 [mm] 93,5 ±1
Weight without brake m [kg] 2,5
Weight with brake m [kg] 2,9
Length (without brake) L [mm] 100
Length (with brake) L1 [mm] 115,5
Weight without brake m [kg] 2,8
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 100
Length (with brake) L1 [mm] 115,5
Weight without brake m [kg] 2,8
Weight with brake m [kg] 3,2
Length (without brake) L [mm] 115
Length (with brake) L1 [mm] 134,5
Weight without brake m [kg] 4,3
Weight with brake m [kg] 5,1
Length (without brake) L [mm] 90,5 ±1
Length (with brake) L1 [mm] 100 ±1
Weight without brake m [kg] 4,0
Weight with brake m [kg] 4,8
Length (without brake) L [mm] 90,5 ±1
Length (with brake) L1 [mm] 100 ±1
Weight without brake m [kg] 4,0
Weight with brake m [kg] 4,8
Length (without brake) L [mm] 114,5
Length (with brake) L1 [mm] 134,5
Weight without brake m [kg] 4,3
Weight with brake m [kg] 5,1
Length (without brake) L [mm] 114,5
Length (with brake) L1 [mm] 134,5
Weight without brake m [kg] 4,3
Weight with brake m [kg] 5,1
Length (without brake) L [mm] 135
Length (with brake) L1 [mm] 155,5
Weight without brake m [kg] 6,7
Weight with brake m [kg] 7,6
Length (without brake) L [mm] 111,5 ±1
Length (with brake) L1 [mm] 132 ±1
Weight without brake m [kg] 6,5
Weight with brake m [kg] 7,4
Length (without brake) L [mm] 111,5 ±1
Length (with brake) L1 [mm] 132 ±1
Weight without brake m [kg] 6,5
Weight with brake m [kg] 7,4
Length (without brake) L [mm] 134,5
Length (with brake) L1 [mm] 155
Weight without brake m [kg] 6,7
Weight with brake m [kg] 7,6
Length (without brake) L [mm] 134,5
Length (with brake) L1 [mm] 155
Weight without brake m [kg] 6,7
Weight with brake m [kg] 7,6
Length (without brake) L [mm] 152,5
Length (with brake) L1 [mm] 173,5
Weight without brake m [kg] 12,2
Weight with brake m [kg] 14,2
Length (without brake) L [mm] 127 ±1
Length (with brake) L1 [mm] 148 ±1
Weight without brake m [kg] 12
Weight with brake m [kg] 14
Length (without brake) L [mm] 127 ±1
Length (with brake) L1 [mm] 148 ±1
Weight without brake m [kg] 12
Weight with brake m [kg] 14
Length (without brake) L [mm] 152,5
Length (with brake) L1 [mm] 173,5
Weight without brake m [kg] 12,2
Weight with brake m [kg] 14,2
Length (without brake) L [mm] 152,5
Length (with brake) L1 [mm] 173,5
Weight without brake m [kg] 12,2
Weight with brake m [kg] 14,2

Motor feedback

Encoder
Type Incremental Incremental Incremental Multi-turn absolute Multi-turn absolute
Ordering code C1024 D250 US250 M128P M512P
Manufacturers designation CCK SKM36 EQN 1125
Protocol - HIPERFACE® EnDat® 2.2/01
Power supply 5 VDC ±10% 5 VDC ±5% 5 VDC ±5% 7 ... 12 VDC 3,6 - 14 VDC
Incremental signal 1 Vss RS422 RS422 0,8 ... 1,1 1 Vss
Signal form sinusoidal square wave square wave sinusoidal sinusoidal
Resolution 1024 2500 2500 128 512
Commutation signal 1 x C+D 1 Vss 6 x U, V, W 6 x U, V, W - -
Reference signal 1 x R 1 x Z 1 x Z -
Absolute position revolution - 4096 (12 bit) 8192 (13 bit)
Revolutions - 4096 (12 bit) 4096 (12 bit)

Compatibility

Please select your manufacturer

Product Harmonic Drive AG-YukonDrive® Siemens-SINAMICS S120 Bosch-Rexroth IndraDrive Beckhoff-AX 5000 B&R-ACOPOS NUM-MDLUX LTi Drives-ServoOne Elmo-Gold series SEW EURODRIVE-MOVIDRIV · 10 Lenze-9400 Metronix-ARS 2000 Parker-COMPAX KOLLMORGEN-AKD Fanuc-SVx
FHA-C
Controller Compatbility
DC Bus Voltage
18 VDC
24 ... 48 VDC
24 VDC
320 VDC
36 VDC
42 VDC
48 VDC
560 VDC
Motor Feedback
EnDat® + SIN/COS
EnDat® 2.1/01 SI · 10
EnDat® 2.2/22 MZ · 10
EnDat® 2.2/22 SZ · 10
HIPERFACE®
Inkrement. SIN/COS
Inkrement. TTL
Inkremental TTL DCO
Resolver 2-pole ROO
Resolver 2-polig
SSI + SIN/COS MGS
Temperature Sensor
KTY 84-130
PTC

On request

Available

  • Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

    Product inquiry!

    Please choose the ratio

  • Compare products

    Compare products

    Compare Now!

  • ProductFinder

    Locate the right product in a few simple steps.

    ProductFinder

These products could also be of interest:

  • CHA

    Largest hollow shaft with precision output bearing

    CHA

    CHA Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in eight sizes with gear ratios between 30 and 160:1, the actuators can provide maximum torques from 9 to 1840 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations.

    To adapt to your specific application, the CHA Series offers many possible combinations when selecting the motor winding, motor feedback, brake, various sensors and cable as well as connector options. The integrated hollow shaft can be used to feed through supply lines or services for additional axes, enabling space saving designs with minimal installation dimensions required. With a reinforced output bearing offering maximum tilting rigidity, the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable machine characteristics, increased operating reliability and consistent quality. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.

    By combining the CHA Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.

  • FHA-C Mini

    Compact mini servo actuator with hollow shaft

    FHA-C Mini

    FHA-C Mini Servo Actuators with a central hollow shaft comprise a synchronous servo motor, an HFUC Series Component Set, feedback sensor and a specially developed output bearing.

    Available in three sizes with gear ratios of 30, 50 and 100:1 the actuators can provide maximum torques from 1,8 to 28 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations. The integrated hollow shaft can be used to feed through supply lines or services for further additional axes. The accurate positioning of the actuator guarantees stable machine characteristics and short cycle times, whilst the compact design ensures minimum installation space is required.

    By combining the FHA-C Mini Actuators with the specially adapted YukonDrive® or the HA-680 Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the FHA-C Mini Actuators are compatible with many common servo controllers on the market.

  • CHA-C

    Largest hollow shaft with precision output bearing, new motor feedback

    CHA-C

    CHA-C Series Hollow Shaft Servo Actuators combine a synchronous servo motor, Unit from the CPU-H Series, feedback sensor and a high capacity precision output bearing. Available in four sizes with gear ratios between 30 and 160:1, the bespoke servo actuators can provide maximum torques from 27 to 647 Nm. The output bearing with high tilting capacity often allows direct attachment of heavy payloads without the need for further support, thereby providing simple and space saving design installations.

    To adapt to your specific application, the CHA-C Series offers many possible combinations when selecting the motor winding, motor feedback, brake, various sensors and cable as well as connector options. By combining the CHA-C Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.

    The integrated hollow shaft can be used to feed through supply lines or services for additional axes, enabling space saving designs with minimal installation dimensions required. With a reinforced output bearing offering maximum tilting rigidity, the actuators can easily absorb and accurately guide heavy payloads. The accurate positioning of the actuator ensures stable machine characteristics, increased operating reliability and consistent quality. With high protection ratings and corrosion resistance, the series is perfectly suited for use in harsh and demanding environmental conditions.

  • CanisDrive®

    The Benchmark for Power Density, Precision and Long Life

    CanisDrive®

    With the first use of CobaltLine® generation gears in a servo actuator, Harmonic Drive AG enters new dimensions with the CanisDrive® Series in terms of torque density, durability and reliability. This new drive series is characterised by a 30% higher maximum torque. For example, the previous model CHA-20C-100 has a maximum torque of 82 Nm whereas the new CanisDrive®-20A-100 has a maximum torque of 107 Nm. Moreover, the new CanisDrive® also scores with a longer life of 40% - this means the operating time of a size 20 gear increases from 35 000h to 50 000h, thus increasing the useful operating life of the machinery.

    In addition to all the other benefits that our new series Canis Drive® has to offer, all these servo actuators offer a large central hollow shaft. The servo actuator consists of a synchronous servomotor coupled with a CobaltLine®-CPM Gear Unit. They are available in six sizes and five ratios between 50:1 and 160:1 with a maximum torque between 23 and 841 Nm. The stiff output bearing allows the direct connection of high payloads without further support, resulting in a simple and space-saving design. The high ingress protection and corrosion protection built into these actuators means the series is ideal for use in harsh environments.

    To adapt to your specific application, the CanisDrive® Series offers many possible combinations when selecting the motor winding, motor feedback, brake, various sensors and cable as well as connector options. By combining the CanisDrive® Actuators with the specially adapted YukonDrive® Servo Controllers, it is possible to provide a single source supply for a pre-configured drive system tailored to suit your application. Alternatively, the flexible configuration of the actuator ensures compatibility with almost any servo controller on the market.