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Motion Control Resources

Dual Absolute Encoder Actuator

Harmonic Drive LLC

Introducing Dual Absolute encoder versions of the FHA-C mini actuator. Featuring BiSS-C bi-directional communication for both encoders, the dual encoders are incorporated in essentially the same package size as the long-standing FHA-C mini single incremental encoder version. Without increasing 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.

The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive(R) gear component with a pancake brushless servo motor.A single turn 14bit (16384 cpr) gear output encoder has been integrated along with a single turn 14bit (16384 cpr) motor input encoder providing a true absolute encoder that does not require a battery within 360° of rotation of the output. Typical multi-turn encoders monitoring the motor input shaft require a battery to store the current position when power is lost to the system; however, the dual absolute encoder overcomes this need. In other words, No Battery Required. When power is restored the actuator knows its position.

Key Features:

  • A pair of Single Turn Absolute Encoders on both Input and Output Sides
  • Compact - significantly shorter than our multi-turn absolute encoder version
  • Minimal length difference compared to our incremental encoder version
  • Output Encoder 14bit (16384 cpr) resolution
  • Input Encoder 14bit (16384 cpr) resolution
  • BiSS-C bi-directional communication for both encoders
  • Compatible Drive: Copley Controls BEL or BPL
  • Wide encoder voltage range (4.75-30)
  • Robust Cross Roller Output Bearing Supports High Loads
  • High torque/weight and torque/volume ratio
  • Panel mount connectors
  • Harmonic Drive(R) CSF zero backlash gear

Panel Mount exit options:

 

Specifications

 

Specification / Model FHA-8C FHA-11C FHA-14C
Gear Ratio 30 50 100 30 50 100 30 50 100
Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
Maximum Speed rpm 200 120 60 200 120 60 200 120 60
Torque Constant
(24VDC)
Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
Allowable continuous current A(rms) 1.6 1.7 1.3 3.7 3.5 2.8 6 5.4 4.4
One-way Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
Allowable Moment Load Nm 15 40 75
Moment Stiffness Nm/rad 2 x 104 4 x 104 8 x 104
Moment of Inertia
(GD2/4)
Incremental kg-m2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
ABS kg-m2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
Dual ABS kg-m2 0.0036 0.0100 0.0399 0.007 0.019 0.077 0.019 0.052 0.206
Encoder Type Incremental 2000 pulse/revolution
ABS Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
Dual ABS Dual Absolute Encoder, BiSS-C, bi-directional
Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
Output Shaft Resolution* Incremental p/rev 240,000 400,000 800,000 240,000 400,000 800,000 240,000 400,000 800,000
Single ABS p/rev 3,932,160 6,553,600 13,107,200 3,932,160 6,553,600 13,107,200 3,932,160 6,553,600 13,107,200
Dual ABS Motor p/rev 491,520 819,200 1,638,400 491,520 819,200 1,638,400 491,520 819,200 1,638,400
Dual ABS Output p/rev 16,384 16,384 16,384 16,384 16,384 16,384 16,384 16,384 16,384
Mass Incremental kg 0.40 0.62 1.2
Single ABS kg 0.50 0.75 1.3
Dual ABS kg 0.50 0.62 1.2
Servo Drive Dual ABS 24VDC BEL or BPL-06 BEL or BPL-14 BEL or BPL-30

 

*Incremental encoder resolution at the output of the actuator = (encoder resolution) x 4 x (gear ratio)
Absolute encoder resolution at the output of the actuator = (encoder bit count) x (gear ratio)

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