Harmonic Drive

Series FHA-EC

The FHA series digital AC hollow-shaft servo actuators with Sine/Cosine Encoder, combining precision Harmonic Drive gearing with highly dynamic AC servo motors, offer unique features unsurpassed by conventionally geared drives.

Used in highly demanding industrial servo systems they provide precision motion control and high torque capacity in a very compact package. An incremental encoder at the motor shaft with sinusoidal output signals provides feedback information for the FHA Series Actuator with Sine/Cosine Encoder. The actuator is compatible with a wide variety of currently available digital servo drives for Sin/Cos motor feedback systems, e.g. Simodrive 611D®/611U®/MASTERDRIVE MC®. The additional singleturn absolute encoder type ECN-113 from Dr. Johannes Heidenhain GmbH is connected to the output flange via an extension of the hollow-shaft and allows the absolute position of the gear output to be measured.

Advantages

• Backlash-free precision gear
• Hollow-shaft from 18 mm to 45 mm
• Transmission accuracy < 60 arcsec
• Repeatability < ± 6 arcsec
• Sine-commutated AC hollow-shaft motor
• Motor winding for 600 VDC
• Winding temperature monitoring via KTY-84-130 temperature sensor
• High capacity and high stiffness cross roller bearing
• Sine-Cosine-Encoder for use with SIMODRIVE 611D/U and SIMOVERT MASTERDRIVES MC
• HIPERFACE®-encoder for operation with a variety of servo controllers (NUM, CT, Kollmorgen-Seidel, Elau, etc.)
• Good controllability even at low speed
• No homing cycle required
• No limit switches required
• Safety advantages
• Absolute value via EnDat Interface
• Absolute positioning accuracy < 20 arcsec