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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 Constant
1)
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
(GD
2
/4) kg•m
2
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•s
2
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 220x10
3
490x10
3
790x10
3
1400x10
3
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/s
2
(freq:10-400Hz) , shock resistance 294 m/s
2
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]
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