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FHA-C Mini 24VDCIncremental, Absolute or Dual Absolute EncodersNEW!Now Available: New Connector Options Dual Absolute Encoders

FHA Mini 24VDCFHA-C Mini Actuator 24VDCThe FHA-C Mini Series is a family of extremely compact actuators that deliver high torque withexceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive gear component with a pancake brushless servo motor. An encoder is integrated to providehigh-resolution velocity and position feedback. The large cross-roller output bearing allows heavyloads to be mounted directly to the actuator without the need for additional support. FHA-C Miniactuators are designed to work with a variety of third party servo drives, as well as, Harmonic DriveLLC’s DDP, DCJ and HA-680.As part of the FHA-C Mini family, a Dual Absolute encoder version is now available. Both encodersutilize BiSS-C bi-directional communication. The dual encoders are incorporated in essentially thesame package size as the long-standing FHA-C Mini single incremental encoder version. Withoutincreasing the size, the dual absolute encoder offers single turn absolute position at the output,without the need for battery back-up.Panel mount connectors come standard, and customers can choose between 4 exit options.Together, these new features offer the design engineer more flexibility and reliability. Features Zero backlash Incremental, Absolute or Dual Absolute Encoders Panel Mount Connectors with 4 exit options 24VDC (standard)* High-torque/weight and torque/volume ratio Optional flex-rated cables with sealed connectors Hollow shaft available with Incremental encoder version (only)Mounting Flange: FixedConnectors: Panel MountExit Options: Left, Right, Top, RearGearhead:Harmonic Drive CSFHollow Shaft Option:Incremental Encoder onlyCross Roller Bearing:High moment loadingcapacity*Contact us for 100/200VAC2Motor: 24VDC (other voltages available)Encoder Options:Incremental Encoder with 14 wire 2000p/revIncremental Encoder with 4 wire serial 2000p/revSingle Absolute Encoder, Nikon ADual Absolute Encoders, BiSS-C (both)

FHA Mini 24VDC Ordering Code (with Incremental Encoder)-FHA118C23--504Model-US2005CEK6782Size8, 11, 14Design VersionC4Gear Ratio30, 50, 1005Encoder Type and ResolutionUS200 – Incremental Encoder with 14 wire 2000p/revE200 – Incremental Encoder with 4 wire serial 2000p/rev6Connector (leads only)Blank – Leads without connectorC – Leads with connector for extension cable7Power SupplyE – 24VDCOptions99FHA-C Mini Series38- SPLeadsBlank – Side exit leads, right (of output side)K – Rear exit leadsCableM1 – 1M Length Cable (motor & encoder)KM1 – Rear Exit 1M Length Cable (motor & encoder)Panel MountPM1 – Panel Mount Connectors, rear exitPM2 – Panel Mount Connectors, right exitPM3 – Panel Mount Connectors, left exitPM4 – Panel Mount Connectors, top exitNEW!Blank – Standard ProductSP – Special Specification CodeSpecial Specification Ordering Code (with Absolute Encoder or Dual Absolute Encoder)FHA-18 C2- 50 -312S17b E451ModelFHA-C Mini Series2Size8, 11, 143Design VersionC4Gear Ratio30, 50, 1005678Encoder Type and ResolutionPower SupplyOptions- PM1 - SP67812S17b - Single Absolute Encoder, Nikon ASingle Turn (17 bit) & Multi-Turn (16 bit)SB14bSB14b - Dual Absolute Encoders, BiSS-C, bi-directionalMotor Input Encoder (14 bit) & Gear Output Encoder (14 bit)NEW!E – 24VDCLeads*Blank – Leads without connectorC – Leads with connector for extension cableCable*M1 – 1M Length Cable (motor & encoder)Panel MountPM1 – Panel Mount Connectors, rear exitPM2 – Panel Mount Connectors, right exitPM3 – Panel Mount Connectors, left exitPM4 – Panel Mount Connectors, top exitSpecial SpecificationNEW!Blank – Standard ProductSP – Special Specification Code* only available with single absolute encoder.3

FHA Mini 24VDCNEW! Panel Mount ConnectorsThe FHA-C Mini series actuators are now available with built-in connectors. These connectoroptions expand the FHA-C Mini series servo actuator line and offer cable flexibility withoutadding additional length or width to the actuator. Features Standard Lemo Connectors 4 exit options Available for all sizes, ratios and encoder options for FHA-C Mini 24VDC No exposed leads that could be susceptible to damage Cables can be replaced without replacing the entire actuator. In most cases,the actuator can remain installed. Simple to install replacement cables available IP68 rated connectors Exit OptionsKey PM1 Panel mount connectors,rear exit (opposite output) PM2 Panel mount connectors,right exit (of output side) PM3 Panel mount connectors,left exit (of output side) PM4 Panel mount connectors,top exit* Hollow shaft only available with incrementalencoder version4PM1 Rear ExitPM2 Right ExitPM3 Left ExitPM4 Top Exit

FHA Mini 24VDCDual Absolute EncodersA single turn 14 bit (16384 cpr) gear output sensing encoder has been integrated along witha single turn 14 bit (16384 cpr) motor input sensing encoder. Together, both encoders providetrue absolute position within 360 of output rotation without requiring a battery. Typical multi-turnencoders monitoring the motor input shaft require a battery to store the current position whenpower is lost to the system; however, the dual absolute encoder overcomes this need. In otherwords, No Battery Required. When power is restored, the actuator knows its position. Features Output Encoder 14 bit (16384 cpr) resolution A pair of Single Turn Absolute Encoders Input Encoder 14 bit (16384 cpr) resolutionfor Input and Output Sensing BiSS-C bi-directional communication for Compact - significantly shorter than ourboth encodersmulti-turn absolute encoder version Wide encoder voltage range (4.75-30) M inimal length difference compared to C ompatible Drive: Copley Controls BEL or BPLour incremental encoder version Optional Cables3 Lengths Available (ZZ): 3m (03), 5m (05), 10m (10)Encoder VoltageEncoder CableEncoderDescriptionIncLength (ZZ)3 meter5 meter10 meterCBL-EZZ-L012-N ABSCBL-EZZ-L006-N DualCBL-EZZ-L012-N EncoderEncoder VoltageOperational Range(VDC)Minimum Voltage (VDC)Requirement for Cable Length (ZZ)3 meter5 meter10 meterInc4.75 - 5.2555.25.65ABS4.75 - 6555.4Dual4.75 - 30555.25LEADSSHIELDL (ZZ)Motor CableActuatorDescriptionFHA-8,11FHA-14Length (ZZ)3 meter5 meter10 meterCBL-MZZ-L004-N CBL-MZZ-L104-N LEADSSHIELDL (ZZ)5

FHA Mini 24VDC SpecificationsSizeMaximum 0Nm1.83.34.84.58.3119.01828Maximum speedrpm200120602001206020012060Torque constant(Note) 2Nm/Arms0.81.32.70.81.32.60.81.42.9Maximum current (Note) 2Arms3.03.32.47.88.25.614.816.412.3Allowable continuous current (Note) r supply voltageV24VDCEMF constantV/(rpm)Phase resistanceΩ(20 C)0.100.160.540.320.090.150.190.07Phase inductancemH0.220.110.06Number of polesMoment of inertia(Note) 0180.0500.20ABSGD 215DualABSGD 206222Allowable moment loadMoment Stiffness2Nm15Nm/rad2 x 10INCOutput shaft resolution(Note) 4Single ABScounts/revDual ABS MotorDual ABS OutputOne-way positioningaccuracyarc secInput power supply voltage4 x 10ABS8 x ly enclosed self-cooled (IP44)Use temperature: 0 to 40 C/Storage temperature: -20 to 60 C, Use humidity and storage humidity: 20 to 80%RH (non-condensing)Free from dust, dirt, metallic powder, corrosive gas, flammable gas, oil mist, and others. Avoid outdoor use or direct sunlight.Altitude: 1,000 m or less. Motor insulation: 100 MΩ (500 VDC) or higher. Dielectric strength: 1500 VAC1 min. Insulation class: BAmbient environment specificationMounting directionCan be installed in any directionIncremental(14 wire)Servo 09, DDP-090-09DCJ-055-18, DDP-090-18HA-680-4-24DDP-090-36HA-680-6-2424VDCBEL or BPL-090-06BEL or BPL-090-14BEL or BPL-090-30ABS24VDCBEL or BPL-090-06BEL or BPL-090-14BEL or BPL-090-30Dual ABS24VDCBEL or BPL-090-06BEL or BPL-090-14BEL or BPL-090-30(4 wire serial)(Note) 1. The table shows typical output values of actuators.2. Values when using HA-680 drive.3. All values are typical.4. Incremental encoder resolutions are obtained by [motor encoder resolution] x 4 x [reduction ratio]. Motor ABS encoder resolutions are obtained by [motor encoder resolution]x [reduction ratio].5. Refer to the HA-680 manual for details.6. All parts, except the rotary sliding parts (oil seal) and C option connectors, are protected against solid bodies of superior dimensions to 1mm, and against the water sprays.Panel mount connectors are IP68.6

FHA Mini 24VDC One-Way Positional AccuracyThe one-way positioning accuracy is defined as themaximum positional difference between the commandedposition and the actual stop position when a series ofpositioning moves are performed in the same rotationdirection. (Refer to JIS B-6201-1987).Commanded stoppositionPositioning errorActual stoppositionThe FHA-C Mini actuator incorporates a Harmonic Drive gear which inherently has high rotational position accuracy.Because of the gearing's high ratio, any rotational error atthe input (i.e. motor shaft position error or motor feedbackerror) is reduced by a factor of the ratio (1/ratio) andtypically becomes negligible at the output. Therefore mostof the error is represented by the transmission error of theHarmonic Drive gear itself.Datum positionOne-Way Positioning AccuracySizeOne-WayPositional 100arc sec15012012012090901209090rad7.27 10-45.82 10-45.82 10-45.82 10-44.37 10-44.37 10-45.82 10-44.37 10-44.37 10-47

FHA Mini 24VDC Outline Dimensions (FHA-C Mini 24VDC)30WTMOTOR CONNECTOR(LEMO)GFENCODER CONNECTOR(LEMO)V4XBHOLLOW BOREINCREMENTAL ENCODERVERSION ONLYK h7CJ h7DL 0.2EMA 1PNR 0.5QS 0.5 G1018.524 (PM1), 25.8 (PM2, 3) 25.3 N101015P558Q101215R1313.518.5[INC]48.55666[Single ABS]61.868.578[Dual ABS]4955.565.5[INC]2.11215.2 (PM1), 13.5 (PM2), 14.5 (PM3), 14.7 (PM4)[Single ABS]2.11217.5 (PM1), 15.8 (PM2), 16.8 (PM3), 17 (PM4)[Dual ABS]2.11214.8 (PM1), 13 (PM2), 14 (PM3), 14.3 (PM4)V151517.5 (PM1,2,3), 15 (PM4)W303032.5 (PM1,2,3), 30 (PM4)1. *Incremental encoder version only.8Unit: mm

Dual Absolute EncoderSingle Absolute EncoderIncremental EncoderFHA Mini 24VDC Length Comparison [mm]FHA-8FHA-11FHA-149

FHA Mini 24VDC Operating RangeThe following graphs show the operatingrange when a FHA-C Mini series actuatorand an HA-680 drive are combined. FHA-8C-30Input voltage: 24ＶAluminum heatsink: 150 150 6（mm）2.01.81.61.21.050% duty motion range0.80.6(2) 50% Duty Motion RangeThis range indicates the torque rotationspeed which is operating in the 50% dutyoperation (the ratio of operating time anddelay time is 50:50).Continuousmotion range0.40.20050100150200250Rotational Speed [rpm] FHA-8C-50Input voltage: 24ＶAluminum heatsink: 150 150 6（mm）3.53.0Acceleration/decelerationmotion range2.5Torque [Nm](3) Motion Range During Accelerationand DecelerationThis range indicates the torque rotationspeed which is operated momentarily.The range allows instantaneous operationas is typical during acceleration anddeceleration. The continuous and 50%duty motion ranges shown on each graphare measured on the condition where theradiation plate specified in the graph isinstalled.Acceleration/decelerationmotion range1.4Torque [Nm](1) Continuous Motion RangeThe range allows continuous operationfor the actuator.2.050% duty motion range1.51.0Continuousmotion range0.50020406080100120140Rotational Speed [rpm] FHA-8C-100Input voltage: 24ＶAluminum heatsink: 150 150 6（mm）6Torque [Nm]5Acceleration/decelerationmotion range4350% duty motion range2Continuousmotion range1001020304050Rotational Speed [rpm]106070