FHA IP65 480V Rotary Actuator - Harmonic Drive

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New Product News FHA IP65 480V Rotary Actuator Harmonic Drive FHA series actuators are now available with IP65 rating and with an additional voltage option of 480VAC. New! FHA-C Series servo actuators are now available with IP65 protection. Four sizes are available: 17, 25, 32 and 40. The IP65 rated FHA-C actuator is ideal for harsh environments. With IP65 and 480V, the FHA actuator is well suited for machine tool, packaging, and wash-down applications. These rotary servo actuators utilize Harmonic Drive precision gears combined with a performance matched brushless servo motor. Encoder options now include EnDat & HIPERFACE . The FHA has a low-profile form factor and features a hollow-output shaft. This hollow shaft feature may be used to pass cables, tubing or lasers through the axis of rotation. The FHA series is designed to operate with a wide range of third-party servo drives including Bosch, Mitsubishi, Siemens, and Kollmorgen. Features IP65 Rating 480VAC* EnDat & HIPERFACE Encoder Protocols DESINA style flex rated cables * Contact us for additional voltage options.

Options Gearhead Encoder Connectors Standard HarmonicDrive Gear Standard Side Exit Option Rear Exit Protocols EnDat 2.1 Single Turn EnDat 2.2 Single Turn EnDat 2.2 Multi Turn HIPERFACE Single Turn HIPERFACE Multi Turn Options Brake Standard Ingress Protection Standard IP44 Option IP65 Option Without Brake With Brake Motor Hollow Standard 480VAC Brushless with Thermal Sensor Shaft Rotates with Output Flange Output Surface Flange Rotating Output Output Mounting Bearing Standard Cross Roller Bearing Standard Pilot Diameter - Rear Option Pilot Diameter - Front Mating Flange Fixed Coating Option Cables Available, Orderd Separately Ordering Code Series Size Design Ratio Winding Voltage Brake Motor Feedback Option FHA 17 C 50 H*1 B SE032SC KP (1) (2) (3) (4) (5) (6) (7) (8) (2) Size (3) Design (4) Ratio (5) Winding Voltage 17 25 C 32 50 100 160 H 40 (6) Brake Option Blank Without Brake B With Brake *1 Contact us for voltage options. 680VDC*1 (7) Motor Feedback Protocol Type SE032SC EnDat2.1 with Sin-Cos Single Turn Absolute SE19b22 EnDat2.2 (Full Digital) Single Turn Absolute ME19b22 EnDat2.2 (Full Digital) Battery Buffered Multi Turn Absolute SH064SC HIPERFACE Single Turn Absolute MH064SC HIPERFACE Multi Turn Absolute (8) Options K Connector Rear Exit (Standard: Side Exit) P IP65 (Standard: IP44) R Pilot Diameter - Rear (Standard: Pilot Diameter - Front) T Temperature Sensing Provided within EnDat 2.2 Protocol (Standard: Separate conductors within feedback cable)

Mechanical Accuracy Unit: mm (inch) FHA-17C FHA-25C FHA-32C FHA-40C 1. Axial run-out of output flange 0.010 (0.00039) 0.012 (0.00047) 0.012 (0.00047) 0.014 (0.00047) 2. R adial run-out of output flange 0.010 (0.00039) 0.012 (0.00047) 0.012 (0.00047) 0.014 (0.00047) 3. P arallelism of output flange and mounting flange 0.040 (0.000157) 0.050 (0.000197) 0.050 (0.000197) 0.060 (0.000197) 4. C oncentricity of output flange to mounting pilot 0.040 (0.000157) 0.050 (0.000197) 0.050 (0.000197) 0.060 (0.000197) Note: All values are T.I.R. (Total Indicator Reading). B 2 1 A 3 B 4 A 4 A 3 B Positioning Accuracy One-Way Positioning Accuracy The one-way positioning accuracy is defined as the maximum positional difference between the commanded position and the actual stop position when a series of positioning moves are performed in the same rotation direction. (Refer to JIS B-6201-1987). The FHA-C actuator incorporates a Harmonic Drive gear which inherently has high rotational position accuracy. Because of the gearing’s high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (1/ratio) and typically becomes negligible at the output. Therefore most of the error is represented by the transmission error of the Harmonic Drive gear itself. Positioning Error Commanded Position Actual Stop Position Start Position Unit: arc-sec The one-way positioning accuracy is shown in the table below: Model FHA-17C FHA-25C FHA-32C FHA-40C 50:1 60 40 40 40 100:1, 160:1 40 30 30 30 Ratio

Specifications (Bus voltage 680VDC) Maximum Torque N m FHA-17C-H FHA-25C-H FHA-32C-H FHA-40C-H Symbol Model Item 50 100 160 50 100 160 50 100 160 50 100 160 TM 39 57 64 151 233 261 281 398 453 500 686 823 Maximum Current Arms IM 1.4 1.1 0.8 3.9 3 2.2 6.5 4.7 3.5 9.3 6.4 5.0 Continuous Torque N m TC 15 23 23.2 40 72 90 60 153.5 240 90 234 400 Continous Current Arms IC 0.65 0.55 0.45 1.3 1.3 1.25 2 2 1.9 2.4 2.4 2.4 Maximum Speed rpm NM 96 48 30 90 45 28.1 80 40 25 70 35 21.9 Torque Constant N m/Arms KT 37 75 120 42 86 138 49 100 160 59 120 193 Motor EMF Constant (Line-Line) Vrms/(krpm) Vrms/(rad/s) VEMF 50 57 67 80 0.48 0.55 0.64 0.77 Phase Resistance (20 C, Line-Line) Ω R 64 22.4 7.8 5.6 Phase Inductance (Line-Line) mH L 42 20 9.8 11.2 Number of Pole Pairs p P 6 6 6 6 Allowable Axial Load kN LA 9.8 14.7 24.5 39.2 Allowable Radial Load kN LR 2.9 4.9 9.5 14.7 Allowable Moment Load Nm LM 188 Moment Stiffness N m/rad One-Way Positional Accuracy arc-sec 220 x 10 60 Feedback Type*1 Output Shaft Resolution Mass Mass (with brake) Motor Inertia (without brake)*2 Motor Inertia (with brake)*2 EnDat HIPERFACE 490 x 10 40 40 30 530 3 790 x 10 30 40 30 690 3 1400 x 103 30 40 30 30 Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) Single-turn absolute (EnDat and HIPERFACE) Multi-turn absolute (EnDat) SE19b22 pls/rev 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 SE032SC pls/rev 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 ME19b22 pls/rev 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 26,214,400 52,428,800 83,886,080 SH032SC pls/rev 51,200 102,400 163,840 51,200 102,400 163,840 51,200 102,400 163,840 51,200 102,400 163,840 MH032SC pls/rev 51,200 102,400 163,840 51,200 102,400 163,840 51,200 102,400 163,840 51,200 102,400 163,840 kg M EnDat HIPERFACE 40 370 3 kg m2 (x10-4) JA 3.3 4.6 6.8 10.8 3.7 5.4 7.7 12.8 1.37 3.95 7.63 19.3 1.44 3.65 7.33 19.3 1.66 4.84 9.00 21.9 1.73 4.54 8.69 21.9 The table shows typical values. *1 Refer to the manual for details. *2 Inertia shown in this table is at input side. To convert to output side, multiply the inertia by (ratio)2

Outline Dimensions OPTION 'K' ENCODER CONNECTOR 7 OPTION 'K' W1 7 ENCODER CONNECTOR W2 7 B J HOLLOW DIA G E H F 7 L M .5 OUTPUT FLANGE ØA (SIDE EXIT CABLE NOT SHOWN) 23 N OPTION 'K' (REAR EXIT CABLE) NOT SHOWN S R P Q T U 1 Dimensions Model FHA-17C-H FHA-25C-H FHA-32C-H FHA-40C-H A 6-ø5.5-5.7 8-ø6.6-7.0 12-ø6.6-7.0 8-ø11-11.4 øB 118 142 162 208 Item øC 60 74 95 112 6-M5 8-M6 16-M6 8-M10 Depth 8 Depth 10 Depth 12 Depth 15 128 155 175 230 øF h7 105 125 140 185 øM 0.5/-0 108 128 148 185 øF 0.5/-0 105 125 140 185 øM h7 D øE Standard R Option 108 128 148 185 øG h7 70 85 105 130 øH H7 25 42 60 60 ØJ /-1 18 32 35 43 123 140 163 øL 106 113*6 N 6.6 10.7 7.7 11.1 P 4 4 4 8 Q 21 25 22 30 R S T U 15.5 20 17 23 16.7*1 20.5*1 17.6*1 21.1*1 12 15 18 22 84.5 81.5 107 113.8 100*2 107.5*2 133*2 134.8*2 105.5 106.5 129 143.8 121 W1*3 W2 *2 *2 49 64 *2 31 132.5 52 77 *2 31 *2 155 *2 71 97 *2 31 164.8*2 71.7 92.7*2 31 *1) With option “P” IP65 output seal. *2) With brake. *3) Side connectors only. *4) Option “K” rear connectors only. *5) Connector positions are swapped for SH032SC encoder option. *6) Dimension (estimated) for SH032SC option only.

Operating Range

Operating Range

1-8 Cable Specification Motor Wiring M17 Male Connector Motor Connector [Size 17, 25, 32, 40] Part Number 1607711(Phoenix contact). M17 Male connector. 1-8 Cable Specification 1 Technical data 2 7 8 9 11 付 Motor U BLK Brake 24VDC (No polarity) WHT Brake 24VDC (No polarity) 6 BLK2 Motor V BLK3 Motor W GRN/YEL PE 7 connector. Part Number 1607634(Phoenix contact). M17 Male Pin Number Name Pin Part Number PE (Pheonix contact) 1 Motor U 1618261 3 Brake 24VDC (No polarity) 1607578 4 Brake 24VDC (No polarity) 1607578 6 Motor V 1618261 7 Motor W 1618261 PE PE 1618261 CAUTION Encoder Wiring Encoder Feedback M17 Male Connector Motor connector includes pins for both motor power (high voltage) and brake power (24VDC). Do not apply high voltage to the brake power. It could causes serious damage to the brake and its control circuit. It may also affect the other components in the system. Please double check all wires before power on. Follow safety instructions of the servo amplifer Wiring and wire the Encoder code: SE19b22 (EnDat2.2) Standard Encoder proper way. PE is connected to the actuator housing. Please connect PE to the proper 1590658-ZZ* location of the amplifier and /or the 1590658-ZZ* Mating Cable 1590658-ZZ* 1590658-ZZ* Pin Part Number CAUTION Pin Number system. Signal Name (Phoenix Contact) Pin# Color SE19b22 SE032SC ME19b22 SH032SC 1 3 2 5 3 4 5 7 YEL GRN CAUTION RED Do not touch- DATA connector pins. A It could cause damage to the brake control- circuit inside theAmotor. CLOCK - - DATA DATA - - - - - CLOCK Up Return (0VDC) 14 BRN/BLU 8 17 GRN/BLK Thermal sensor GRN/RED Thermal sensor- Thermal sensor- 10 BRN/RED Up (5V) Up (5V) Up (5V) 11 BLK - B 0V Up return CLOCK- Up return 0V Up Return 0V 14 16 17 1 2 3 - CLOCK - - - GND(0V) Up return 0V Up Return 0V 1-12 SHEILD Thermal sensor Thermal sensor Thermal sensor DATA- DATA- WHT/BLK CLOCK- CLOCK- BRN/GRY Sensor 0V A BRN/YEL SHIELD Signal Name - - - - Up (12V) Up (5V) Up (5V) - SIN - - - REFSIN - - DATA- DATA- Thermal sensor- Thermal sensor- Encoder code: SE032SC (EnDat2.2 with 1Vpp 12 BRN B- Analog) Pin Number - DATA CAUTION ORG2 ME19b22 - REFCOS 7 13 1590658-ZZ* SE19b22 DATA Up (Encoder power, 5VDC typical) 1607577 Please use the proper cable and mating connectors. BLU CLOCK CLOCK CLOCK It is recommended to use shielded cable for better noise performance.- DATA- 10 1590658-ZZ* DATA 13 15 COS Option T Encoder Wiring DATA 6 9 10 Signal Name BLK1 3 4 6 Color 1 Feedback Connector [Size 17, 25, 32, 40] 4 3 5 Pin# DATAPin Part Number DATA - (Phoenix CLOCK- Contact) - CLOCK- CLOCK- Sensor 0V Ubat Return - Sensor 0V Ubat Return Sensor Up Sensor Up Ubat - Sensor Up Ubat SHIELD SHIELD SHIELD SHIELD SHIELD SHIELD A- DATA *ZZ cable length 02 2m, 05 5m, 10 10m. Additional lengths are available. 5 CLOCK Mating 7 Cable Type: M17 Up Return (0VDC) Up (Encoder power, 5VDC typical) Cable Assembly 10 1607577 Part Number Length [m] Motor Feedback 11 B 12 2 B- 1590657-02 1590658-02 13 5 DATA- 1590657-05 1590658-05 14 10 CLOCK- 1590657-10 1590658-10 Please contact us for additional lengthsSHEILD or for a custom cable or a cable for a specific drive. 17 1-13 HarmonicDrive.net 42 Dunham Ridge, Beverly, MA 01915 Harmonic Drive and the HD logo are registered trademarks of Harmonic Drive LLC. All other trademarks are property of their respective owners. Rev 20200304

FHA-17C-H FHA-25C-H FHA-32C-H FHA-40C-H A 6-ø5.5-5.7 8-ø6.6-7.0 12-ø6.6-7.0 8-ø11-11.4 øB 118 142 162 208 øC 60 74 95 112 D 6-M5 8-M6 16-M6 8-M10 Depth 8 Depth 10 Depth 12 Depth 15 øE 128 155 175 230 Standard øF h7 105 125 140 185 øM 0.5/-0 108 128 148 185 R Option øF 0.5/-0 105 125 140 185 øM h7 108 128 148 185 øG h7 70 85 105 130 .

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