Harmonic Drive FHA Series User manual

HOLLOW SHAFT ACTUATORS
Precision Gearing & Motion Control
Total Motion Control
FHA Series

FHA-C series

CONTENTS
Safety Guide 1
Chapter 1 Overview of the FHA-C series 3
1-1 Features 3
1-2 Ordering information 4
1-3 Combinations with drivers 4
1-4 Specifications of FHA-C actuators 5
1-4-1 For incremental positioning system 5
1-4-2 For absolute positioning system 6
1-5 External dimensions of FHA-C actuators 7
1-5-1 For incremental positioning system 7
1-5-2 For absolute positioning system 9
1-6 Mechanical accuracy of FHA-C actuators 11
1-7 One-way positioning accuracy 12
1-8 Encoder resolution 12
1-9 Torsional Stiffness of actuators 12
1-9-1 Moment stiffness 12
1-9-2 Torsional stiffness 13
1-10 Rotary direction 14
1-11 Impact resistance 14
1-12 Vibration resistance 14
1-13 Torque-speed characteristics 14
1-14 Cable specifications 17
1-15 Signal Waveforms 18
Chapter 2 Selection Guidelines 19
2-1 Allowable load inertia 19
2-2 Variable load inertia 19
2-3 Verifying loads 20
2-4 Duty cycles 24
2-4-1 Actuator speed 24
2-4-2 Load inertia 24
2-4-3 Load torque 24
2-4-4 Acceleration time and deceleration time 25
2-4-5 Calculating equivalent duty 26
2-4-6 Effective torque and average speed 29
2-4-7 Permissible overloaded time 30
2-4-8 Regeneration energy 30
Chapter 3 Installing the FHA actuator 31
3-1 Receiving Inspection 31
3-2 Notice on handling 32
3-3 Location and installation 32
3-3-1 Environment of location 32
3-3-2 Installation 33
Chapter 4 Options 34
4-1 AC100V power supply 34
4-2 Brake for motor 35
4-2-1 Specifications for incremental encoder system 35
4-2-2 Brake leads 35
4-3 Cable-end connectors 36
4-4 Clamp for output 36
4-5 5 meter cables 37
4-6 Cable outlets from back face 37
4-7 Rotary position sensor set 38
4-7-1 Specifications 38
4-7-2 Adjusting procedure for sensor locations 39
4-7-3 Movable range for each limit switch 40
4-8 Extension cables 41
4-9 Connectors 41
Appendix 1 Unit conversion 42
Appendix 2 Moment of inertia/Calculation of mass and moment of inertia 44
2 Inertia of cylinder 46
Warranty and terms 47
FHA-C series AC Servo Actuator Manual

FHA-C Series
AC SERVO ACTUATOR MANUAL
• Thank you very much for your purchasing our FHA-C series servo actuator.
• Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident
resulting in a serious physical injury damaged by a malfunction or improper operation.
• Product specifications are subject to change without notice for improvement purposes.
• Keep this manual in a convenient location and refer to it whenever necessary in operating or maintaining the units.
• The end user of the actuator should have a copy of this manual.
SAFETY GUIDE
• For actuators, motors, control units and drivers manufactured by Harmonic Drive LLC
• Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator.
• WARNING: Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury.
• CAUTION: Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury
and/or damage to the equipment.
LIMITATION OF APPLICATIONS:
The equipment listed in this document may not be used for the following applications:
•Space equipment • Automobile, automotive parts
•Aircraft, aeronautic equipment • Amusement equipment, sport equipment, game machines
•Nuclear equipment • Machine or devices acting directly on the human body
•Household apparatus •
Instruments or devices to transport or carry people
•Vacuum equipment •
Apparatus or devices used in special environments
Please consult us, if you intend to use our products in one of the areas mentioned above.
Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to mal-
function or faulty operation.
Precautions When Using An Actuator and/or Driver
CAUTIONS FOR ACTUATORS IN APPLICATION DESIGN
The actuator must only be used indoors, where the following conditions are provided:
• Ambient temperature: 0ºC to 40ºC
• Ambient humidity: 20% to 80%RH (Non-condensating)
• Vibration: Max 24.5 m/S2
• No contamination by water, oil or foreign matters
• No corrosive, inflammable or explosive gas
Follow exactly the instructions in the relating manuals to install the actuator in the equipment.
• Ensure exact alignment of motor shaft center and corresponding center in the application.
• Failure to observe this caution may lead to vibration, resulting in damage of output elements.
1
FHA-C series Safety Guide

Harmonic Drive LLC 800-921-3332
CAUTIONS FOR ACTUATORS IN OPERATIONS
Do not exceed the allowable torque of the actuator.
• Be aware, that if a load arm attached to the output hits by accident an obstacle, the output shaft may become uncontrollable.
Never connect cables directly to a power supply socket.
• An actuator must not be operated without a corresponding driver.
• Failure to observe this caution may lead to injury, fire or damage of the actuator.
Protect the actuator from impact and shocks
• Do not use a hammer to position the actuator during installation
• Failure to observe this caution could damage the encoder and may cause uncontrollable operation.
• Avoid handling of the actuator by its cables.
• Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation.
CAUTIONS FOR DRIVERS IN APPLICATION DESIGN
Always use drivers under the following conditions:
• Mount in a vertical position keeping sufficient distance to other devices to let heat generated by the driver radiate freely.
• Ambient temperature: 0º to 50º
• Ambient humidity: less than 95% RH (Non condensation)
• No contamination by water, oil or foreign matters
• No corrosive, inflammable or explosive gas Use sufficient noise suppressing means and safe grounding.
• Keep signal and power leads separated.
• Keep leads as short as possible.
• Ground actuator and driver at one single point, minimum ground resistance class: D (less than 100 ohms)
• Do not use a power line filter in the motor circuit. Pay attention to negative torque by inverse load.
–Inverse load may cause damages of drivers.
• Please consult our sales office, if you intent to apply products for inverse load. Use a fast-response type
ground-fault detector designed for PWM inverters.
• Do not use a time-delay-type ground-fault detector.
CAUTIONS FOR DRIVERS IN OPERATIONS
Never change wiring while power is active:
• Make sure of power non-active before servicing the products.
• Failure to observe this caution may result in electric shock or personal injury.
Do not touch terminals or inspect products at least 5 minutes after turning OFF power.
• Otherwise residual electric charges may result in electric shock.
• Make installation of products not easy to touch their inner electric components. Do not make a voltage resistance test.
• Failure to observe this caution may result in damage of the control unit.
• Please consult our sales office, if you intent to make a voltage resistance test.
• D o not operate control units by means of power ON/OFF switching.
• Start/stop operation should be performed via input signals.
• Failure to observe this caution may result in deterioration of electronic parts.
DISPOSAL OF AN ACTUATOR, A MOTOR, A CONTROL UNIT AND/OR THEIR PARTS
• All products or parts have to be disposed of as industrial waste.
• Since the case or the box of drivers have a material indication, classify parts and dispose them separately.
2
FHA-C series Safety Guide

3
Chapter 1 Overview of the FHA-C series
Chapter 1
Overview of the FHA-C series
FHA series servo actuators provide high torque and high accuracy rotary motion. The actuators are comprised of Harmonic drive®
component from No. 17 to No.40 for precise motion control and a super-flat AC servomotors.
The first feature of the FHA series actuators is their super-flat shape. The body width is less than half of our previous models.
The second feature is a large through-hole in the center of the shaft, through which electric cables, air pipes, and even
laser beams can be passed to supply power and signals to moving parts.
The HA-655 series and th HA-675 series are dedicated servo drivers for the FHA-C series actuator to control its position and speed.
The small and intelligent driver controls the FHA-C series actuators with great accuracy and reliability.
FHA-C series actuators play an important role for driving various factory automation (FA) equipment; such as robot joints,
alignment mechanisms for semiconductor and LCD equipment, ATC of machine tools, printing machine roller, etc.
1-1 Features
• Super-flat configuration
FHA-C series actuator is the union of Harmonic drive® gearing for precise motion control with a super-flat AC servomotor.
The dimension from the coupling flange face to the actuator end is less than half the size of our previous models.
The total thickness including the output flange is 30% flatter than our previous models. The compact size allows smaller
machines to be designed.
• Through-hole shaft
The center through-hole shaft allows for the insertion of electric cables, air pipes, or laser beams through the actuator
to supply power and signals to moving parts. This feature will simplify the driven machine.
• High torque
FHA-C series actuator outputs have a much higher torque per volume than direct drive motors owing to Harmonic drive® gearing.
FHA-C series actuators have a higher rating than our previous models
.
• High positioning accuracy
FHA-C series actuators provide superior positioning accuracy. The FHA-25C/-32C/-40C -160 actuators achieve positioning
accuracy of 30 arc seconds (exceptionally, FHA-17C-160: 40arc seconds) as well as an encoder resolution of
1,600,000 pulses per output revolution.
.
• High torsion stiffness
FHA-C series actuators provide from 30% to 100% greater torsion stiffness when compared with the previous series.
This feature shortens positioning time and decreases the vibration during servo-lock stop.
• Optional absolute encoder
FHA-C s eries actuators allows to select an encoder system from two kinds of encoders for detecting a position: the one is
an incremental encoder for general applications and the other is an absolute encoder (optional) for keeping its current
position data all the time, even in power failure. The complex cable for the incremental encoder saves its wires resulted
in increased reliability and simplified wiring.
In this document, INC is attached for the descriptions for the incremental system only, and ABS is for the absolute system only.

Harmonic Drive LLC 800-921-3332 4
FHA- 17 C-50-E 250
-
AC servo actuator FHA series
Frame size: 17, 25, 32, 40
Design
Reduction ratio of harmonic drive®gearing
50: 1/50
100: 1/100
160: 1/160
Encoder specifications
US: 14 wire incremental encoder (standard)
E: 4 wire incremental encoder (optional)
S: absolute encoder (optional)
Encoder resolution
250 : 2500 p/rev (incremental)
248: 8192 p/rev (absolute)
Optional specifications
-
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

5
1-4 Specifications of FHA-C actuators
1-4-1 INCREMENTAL SYSTEM INC
Specifications of FHA-C series actuators with the 14 Wire Incremental Encoder are as follows:
Model FHA-17C-xx-US250 FHA-25C-xx-US250 FHA-32C-xx-US250 FHA-40C-xx-US250
50 100 160 50 100 160 50 100 160 50 100 160
Maximum Torque Note 2 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 Constant1) 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 (GD2/4) kg•m2 0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1 4.9 19.5 50
(J) kgf•cm•s2 1.7 6.9 17 8.3 33 85 18 72 185 50 200 510
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 220x103490x103 790x103 1400x103
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 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000
Mass Kg 2.5 4.0 6.5 12
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/s2(freq:10-400Hz) , shock resistance 294 m/s2
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: 100MΩ 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]
Chapter 1 Overview of the FHA-C series

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 Constant1) 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 (GD2/4) kg•m2 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•s2 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 220x103490x103 790x103 1400x103
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/s2(freq:10-400Hz) , shock resistance 294 m/s2
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: 100MΩ 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]

7
Chapter 1 Overview of the FHA-C series
1-5 External dimensions of FHA actuators
1-5-1 Incremental Systems INC
The external drawings are shown as follows:
• FHA-17C-xx-US250 INC
• FHA-25C-xx-US250 INC
Note 1: The parenthesized dimensions are applied for the actuators with a brake option.
Note 2: For detail dimensions, make sure of them referring our drawings for shipping.

Harmonic Drive LLC 800-921-3332 8
Chapter 1 Overview of the FHA-C series
Unit: mm (third angle projection)
• FHA-32C-xx-US250 INC
• FHA-40C-xx-US250 INC
Note 1: The parenthesized dimensions are applied for the actuators with a brake option.
Note 2: For detail dimensions, make sure of them referring our drawings for shipping.

9
Chapter 1 Overview of the FHA-C series
1-5-2 Absolute Systems ABS
The external drawings are shown as follows:
• FHA-17C-xx-S248 ABS
• FHA-25C-xx-S248 ABS
Note 1: The parenthesized dimensions are applied for the actuators with a brake option.
Note 2: For detail dimensions, make sure of them referring our drawings for shipping.

Harmonic Drive LLC 800-921-3332 10
Chapter 1 Overview of the FHA-C series
Unit: mm (third angle projection)
• FHA-32C-xx-S248 ABS
• FHA-40C-xx-S248 ABS
Note 1: The parenthesized dimensions are applied for the actuators with a brake option.
Note 2: For detail dimensions, make sure of them referring our drawings for shipping.

11
Chapter 1 Overview of the FHA-C series
4
2
A
B
A4
3 B
3 B
1
A
(2)
(1)
(4)
(3)
(3)
(4)
1-6 Mechanical accuracy of FHA actuators
The machining accuracy of the output flange and the mounting flange are indicated in the table below.
Machined accuracy of the output flange unit: mm
Machined parts FHA-17C FHA-25C FHA-32C FHA-40C
1. Axial run-out of output flange 0.010 0.012 0.012 0.014
2. Radial run-out of output flange 0.010 0.012 0.012 0.014
3. Parallelism between output flange and mounting flange 0.040 0.050 0.050 0.060
4. Concentricity between output flange to fitting face 0.040 0.050 0.050 0.060
Note: All values are T.I.R (Total Indicator Reading).
The measuring for the values are as follows:
• Axial run-out of output flange
The indicator (1) on a fixed portion measures the axial run-out
(T.I.R.) of perimeter of output flange for one revolution.
• Radial run-out of output flange
The indicator (2) on a fixed portion measures the radial run-out
(T.I.R.) of perimeter of output flange for one revolution.
• Parallelism between output flange and mounting flange
The indicator (3) on the output flange measures the axial run-out
(T.I.R.) of each perimeter of both sides of the fixing flange
for one revolution.
• Concentricity between output flange to fitting face
The indicator (4) on the output flange measures the radial run-out
(T.I.R.) of each surface of both fitting face (drive-end side
and opposite side) for one revolution.

Harmonic Drive LLC 800-921-3332 12
Chapter 1 Overview of the FHA-C series
Position difference
Commanded stopping position
Actual stopping
position
Start position
1-7 One-way positioning accuracy
The one-way positioning accuracy means the maximum
positional difference between a commanded theoretical
position and its actual angular position for serial positioning
in one revolution when approached from the same
direction.(refer to JIS B-6201-1987)
The one-way positioning accuracy of FHA-C actuators
is almost equal to the angular positioning accuracy of the
Harmonic®drive gearing, because the effect on the
positioning error of the built-in motor is reducted to its
1/50 or 1/100 or1/160 by the gearing.
The uni-directional positioning accuracy is shown in the table below:
Model FHA-17C FHA-25C FHA-32C FHA-40C
Item 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160
Uni-directional arc second
60 40 40 40 30 30 40 30 30 40 30 30
positioning accuracy
1-8 Encoder resolution
The motors of FHA-C actuators are equipped with an incremental encoder of 2500 resolutions or an absolute encoder of 1892 resolutions.
Because the motor rotation is reduced to 1/50 or 1/100 or 1/160 by the Harmonic drive® component, the resolution of the output flange is
50 or 100 or 160 times the encoder revolution. Additionally, the incremental encoder signal is used in signal is used in quadrature.
The following high resolutions are obtained:
Encoder Incremental Absolute
Encoder resolution 2,500 (10,000: quadruplicated) 8,192
Reduction Ratio 1:50 1:100 1:160 1:50 1:100 1:160
Resolution of output flange Pulse/rev
500,000 1,000,000 1,600,000 409,600 819,200 1,310,720
Resolvable angle per pulse arc sec 2.6 1.3 0.8 3.2 1.6 1.0
(All values are approximate.)
1-9 Torsional Stiffness of Actuators
1-9-1 Moment stiffness
The moment stiffness refers to the torsional stiffness when
a moment load is applied to the output flange of the actuator
(shown in the figure to the right).
For example, when a load is applied to the end of an arm
attached on the output flange, the face of the output flange tilts
in proportion to the moment load. The moment stiffness is
expressed as the torsional moment/angle.
DO NOT APPLY TORQUE, LOAD OR THRUST TO THE SLEEVE DIRECTLY.
Since the sleeve is adhered to the output flange, the adhered sleeve may be detached
from the output flange by the abnormal torque or load.
Model FHA-17C FHA-25C FHA-32C FHA-40C
Item
N•m/rad
220 x 103 490 x 103 790 x 103 1400 x 103
Moment Stiffness Kgf•m/rad 22 x 10350 x 10380 x 103140 x 103
Kgf•m/arc-min 6.5 15 23 42

13
Chapter 1 Overview of the FHA-C series
Torsion A
O
B
Torque
O
A
-T
Hysteresis
Loss
+
0
1
1
0
T
Torsion
Torque
0
0K
K
TT
1
1
1
2
2
2
3
K
O
1-9-2 Torsional Stiffness
When a torque is applied to the output flange of the actuator with the motor locked,
the resulting torsional wind up is near proportional to the torque.
The upper right figure shows the torsional stiffness characteristics of the output flange
applying torque starting from zero to plus side [+T0] and minus side [–T0].
This trajectory is called torque-torsion characteristics which typically follows
a loop 0→A→B→A’→B’→A as illustrated. The torsional stiffness of the
FHA-C actuator is expressed by the slope of the curve that is a spring rate
(wind-up) (N•m/rad).
The torsional stiffness may be evaluated by dividing torque-torsion characteristics
curve into three major regions. The spring rate of each region is expressed
K1, K2, and K3respectively.
K1: spring rate for torque region 0-T1
K2: spring rate for torque region T1-T2
K3: spring rate for torque region over T2
The wind-up for each region is expressed as follows:
T
• Wind-up for torque region 0-T1: ϕ = K1
T - T1
• Wind-up for torque region T1-T2: ϕ = θ 1+ K2
T - T2
• Wind-up for torque region over T2: ϕ = θ 2+ K3Ø
ϕ : Wind-up
The table below shows T1-T3, K1-K3, and
θ 1- θ 2values of each actuator.
Model FHA-17C FHA-25C FHA-32C FHA-40C
Reduction Ratio 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160
T1N•m 7.0 7.0 7.0 29 29 29 54 54 54 108 108 108
kgf•m 0.7 0.7 0.7 3.0 3.0 3.0 5.5 5.5 5.5 11 11 11
K
1x104N•m/rad 1.1 1.3 1.3 4.7 6.1 6.1 8.8 11 11 17 21 21
kgf•m/arc min 0.32 0.4 0.4 1.4 1.8 1.8 2.8 3.2 3.2 5.0 6.3 6.3
θ 1x10-4 rad 6.4 5.1 5.1 6.2 4.8 4.8 6.1 4.9 4.9 6.4 5.1 5.1
arc min 2.2 1.8 1.8 2.1 1.7 1.7 2.1 1.7 1.7 2.2 1.8 1.8
T
2N•m 25 25 25 108 108 108 196 196 196 382 382 382
kgf•m 2.5 2.5 2.5 11 11 11 20 20 20 39 39 39
K
2K2x104N•m/rad 1.3 1.7 1.7 6.1 7.7 7.7 11 14 14 21 29 29
kgf•m/arc min 0.4 0.5 0.5 1.8 2.3 2.3 3.4 4.2 4.2 6.3 8.5 8.5
θ 2x10-4 rad 19.5 15.6 15.6 19.2 15 15 19.1 15.1 15.1 19.3 14.7 14.7
arc min 6.7 5.4 5.4 6.6 5.1 5.1 6.4 5.2 5.2 6.6 5.0 5.0
K
3x104N•m/rad 2.0 2.5 2.5 8.4 11 11 15 20 20 30 37 37
kgf•m/arc min 0.6 0.75 0.75 2.5 3.3 3.3 4.5 5.8 5.8 9 11 11
The table below shows torque-wind-up relation for reference.
(unit:N•m)
Model FHA-17C FHA-25C FHA-32C FHA-40C
Reduction Ratio 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160 1:50 1:100 1:160
2 arc-min 6.3 8.1 8.1 27 37 37 51 63 63 98 129 129
4 arc-min 14 18 18 62 82 82 117 148 148 220 300 300
6 arc-min 22 29 29 97 136 136 179 243 243 340 490 490

Harmonic Drive LLC 800-921-3332 14
Chapter 1 Overview of the FHA-C series
1-10 Rotary direction
Forward rotary direction is defined as clockwise (CW)
rotation viewing the output flange of the actuator when
a driver of HA655 and HA-675 signals forward commands.
The direction can be reversed by the setting of
[parameter mode]→[8: rotary direction] of the driver.
Value FWD command REV command Setting
0 FWD rotation REV rotation Default
1 REV rotation FWD rotation
1-11 Impact resistance
The actuators are resistant to impacts along the radial axes.
Impact acceleration: 294 m/s2
However, do not apply impact to the output flange.
1-12 Vibration resistance
The allowable vibration from all directions is as follows:
Vibration acceleration: 24.5 m/s2
(Frequency:10~400Hz)
1-13 Torque-speed characteristics
The following are actuator speed-torque characteristics in combination
with a proper the HA-655 and HA-675 driver showing allowable
duty range. Refer to chapter 2 [selection guidelines] for using
the FHA-C series actuators most suitably.
• Continuous duty range
The range allows continuous operation for the actuator.
• 50% duty range
The range allows the 50% duty time operation of a cycle time.
Refer section 2-4-5 [duty cycle].
• Acceleration and deceleration range
The range allows instantaneous operation like acceleration and deceleration, usually.
The continuous and 50% ranges in each graph are measured on the condition of the
FHA-C actuator attached on the heat radiation plate described in the figure.

15
Chapter 1 Overview of the FHA-C series
Acc./dec. range
50% duty range
Continuous range
Acc./dec. range
Acc./dec. range Acc./dec. range
Acc./dec. range Acc./dec. range
50% duty range
Continuous range
Radiation plate 350x350x18(mm)
Torque [Nm]
Speed [r/min]
50% duty range
Continuous range
Radiation plate 300x300x15(mm)
Torque [Nm]
Speed [r/min]
50% duty range
Continuous range
Radiation plate 350x350x18(mm)
Torque [Nm]
Speed [r/min]
50% duty range
Continuous range
Radiation plate 300x300x15(mm)
Torque [Nm]
Speed [r/min]
Radiation plate 350x350x18(mm)
Torque [Nm]
Speed [r/min]
Radiation plate 300x300x15(mm)
Torque [Nm]
Speed [r/min]
50% duty range
Continuous range

16
Chapter 1 Overview of the FHA-C series
Acc./dec. range
50% duty range
Continuous range
Radiation plate 400x400x20(mm)
Torque [Nm]
Speed [r/min]
Acc./dec. range
50% duty range
Continuous range
Radiation plate 500x500x25(mm)
Torque [Nm]
Speed [r/min]
Acc./dec. range
50% duty range
Continuous range
Radiation plate 400x400x20(mm)
Torque [Nm]
Speed [r/min]
Acc./dec. range
50% duty range
Continuous range
Radiation plate 500x500x25(mm)
Torque [Nm]
Speed [r/min]
Acc./dec. range
50% duty range
Continuous range
Radiation plate 400x400x20(mm)
Torque [Nm]
Speed [r/min]
Acc./dec. range
50% duty range
Continuous range
Radiation plate 500x500x25(mm)
Torque [Nm]
Speed [r/min]
Harmonic Drive LLC 800-921-3332

17
Chapter 1 Overview of the FHA-C series
GND
A
M26LS31C(Equivalent)
V
CC
A
,B,Z,U,V,W
_
A, _ B,_ Z, _ U, _ V, _ W
AM26LS32C
(Equivalent)
Output circuit Input circuit of user’sdevice (Ex.)
V
CC
GND
Voltage strength of capacitor C1,C2 : 50V
FG FG
C1
C2
R1
R1:120_
1-14 Cable specifications
The following tables show the lead specifications for the motors and the encoders of the FHA-C actuators.
• Motor Cable
Color Motor specification
Standard Brake option
Red Motor phase-U Motor phase-U
White Motor phase-V Motor phase-V
Black Motor phase-W Motor phase-W
Green/yellow PE PE
Blue No connection Brake
Yellow No connection Brake
(Shield) FG FG
• Encoder Lead for 14 Wire Incremental Encoder INC
Color Signal Color Signal
Red Vcc Black GND
Green A Green/White A
Gray B Gray/White B
Yellow Z Yellow/White Z
Brown U Brown/White U
Blue V Blue/White V
Orange W Orange/White W
• Encoder Lead for 4 Wire Incremental Encoder INC
Color Signal Reference
Red +5V Power
Black 0V Supply
Yellow SD Serial Signal
Blue SD Differential Output
(Shield) FG
• Encoder Lead for Absolute Encoder ABS
Color Signal Reference
Red +5V
Black 0V Power Supply
White 0V
Yellow SD Serial Signal
Blue SD Differential Output
Orange BAT+ Battery+
Gray BAT- Battery-
Green CLR Clear Signal
(Shield) FG