Product Short Description
Product Introduction: The FHA-32C-100-E250-C belongs to the same FHA-C family as the 50:1 variant above, but with a 100:1 reduction ratio and an E250 incremental encoder (4-wire, 2500 pulses/rev). The FHA-C series is characterized by a low-profile form factor, a hollow shaft through the center of the output, and the combination of Harmonic Drive precision gears with a matched brushless servo motor. These actuators are designed to operate with a wide range of third-party drivers as well as Harmonic Drive’s own DDP, RTL (CANopen), REL (EtherCAT), and HA-800 (MechatroLink, CC-Link) driver families.
Description
Technical Specifications (per FHA-C 32-size series data):
- Frame size: 32
- Gear ratio: 100:1
- Encoder: E250 — incremental, 4-wire, 2500 pulses/rev
- Max torque: 51 N·m
- Max speed of rotation: 29 rpm
- Torque constant (200 VAC): 22 N·m/Arms
- Allowable radial load: 9.5 kN
- Allowable axial load: 24.5 kN
- Allowable moment load: 530 N·m
- Moment stiffness: 790 × 10³ N·m/rad
- One-way positioning accuracy: 40 arc-sec
- Quad encoder resolution: 1.0 M counts/rev
- Mass: 7.1 kg
- Key dimensions: A = 162 mm, øB = 95 mm, 12× ø6.6 mounting holes, depth 10 mm; øF h7 = 105 mm, øH H7 = 35 mm
- Power supply: 200 VAC (100 VAC optional for size 32)
- Driver communication: DDP & RTL (CANopen), REL (EtherCAT), HA-800 (MechatroLink, CC-Link)
Structural & Working Principle: Same harmonic drive principle as the 50:1 variant — wave generator, flexspline, and circular spline produce zero-backlash reduction. The higher 100:1 ratio trades maximum speed for increased torque and finer positioning resolution. The hollow output shaft (ø35 mm H7) enables routing of cables, tubing, or optical paths through the rotation axis.
Functional Features:
- Zero backlash with high torque output
- 100:1 reduction for high-resolution motion
- 2500 p/rev incremental encoder with 4-wire interface
- Large center through-hole (35 mm) for utility routing
- Compatibility with multiple industrial fieldbus drivers
Application Scenarios: Precision rotary indexing, robotic joints requiring high torque at low speed, semiconductor wafer handling, optical alignment systems, and packaging machinery where fine angular resolution and high torque are simultaneously required.
Installation Requirements: Flange mounting with 12 × M6 bolts at 162 mm bolt circle. Align the ø35 mm H7 hollow shaft for cable/pneumatic pass-through. Connect to a compatible servo drive (e.g., Harmonic Drive RTL-230-36 for 200 VAC). Maintain ambient temperature within the standard industrial range.
Usage Precautions: The 100:1 ratio limits maximum output speed to approximately 29 rpm — verify application speed requirements before selection. The standard configuration has no brake; for vertical-load holding, consider a brake-equipped variant. Observe the allowable radial/axial load limits to prevent bearing damage.
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