PEABODY, Mass. – Harmonic Drive LLC, which develops high-precision motion control systems, this week announced new FHA mini actuators that include an integrated servo drive. The FHA-C Mini series eliminates the need for an external drive, and greatly improves wiring, while also retaining high-positional accuracy and torsional stiffness in a compact housing, the company said.

The compact actuators help deliver high torque with “exceptional accuracy and repeatability,” Harmonic Drive said in a statement. As part of the family, an integrated servo drive version utilizing CANopen communication is now available. Since the device communicates via CANopen, only four wires are needed: CANH, CANL, +24DC, and 0VDC. In addition, a single-turn 14-bit (16384 cpr) gear output sensing encoder has been integrated, along with a single-turn 15-bit (32768 cpr) motor input sensing encoder. Harmonic Drive, an RBR50 2019 honoree, said this provides a true absolute encoder that does not require a battery within 360-degrees of rotation of the output.

Additional features

Harmonic said its engineering team incorporated more features and capabilities without greatly impacting the size and mass of the actuator. Key features of the FHA-C Mini include:

• Actuator + integrated servo drive utilizing CANopen communication
• 24VDC nominal +7-28VDC supply voltage range
• Single cable with only four wires needed: CANH, CANL, +24VDC, 0VDC
• Zero backlash
• Dual absolute encoders
• Panel mount connectors with four exit options
• Output sensing encoder 14-bit (16384 cpr) resolution
• Input sensing encoder 15-bit (32768 cpr) resolution
• Control modes including torque, velocity, and position control, CSP, CSV, CST
• Harmonic Drive HDL software

The series was produced at Harmonic Drive LLC in Peabody. The company said it will be showing off the drive at RoboBusiness 2019, held Oct. 1-3, 2019, in Santa Clara, Calif.

For more details on the FHA-C Mini, download this product brochure.