Name: Description of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators
Brand: Suzhou Giant Precision Industry Co., Ltd.
SKU: HATF
Availability: InStock

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Description of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators

Place of Origin:

china

Brand Name:

HONPINE

Model Number:

HATF

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Description of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators

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Product Description

Description of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators

The HATF Harmonic Servo Rotary Actuators are compatible with harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, delivering a torque range from 4 N·m to 1200 N·m. They are equipped with multi-turn absolute encoders utilizing the Tamagawa protocol, offering configurations of single-turn 17-bit / multi-turn 16-bit or single-turn 23-bit / multi-turn 16-bit. Additionally, dual-encoder setups are an option. Building on the HAS solid model, the HATF actuators feature an integrated flange that allows for installation when mounting on the end face is not feasible. This design improves support for both axial and radial loads while boosting resistance to vibrations and shocks.

Features of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators

Even Load Distribution
The design of the face-contact flange ensures that both radial and axial forces are spread uniformly over the flange, which helps to minimize vibration and movement of the module while it operates.

Streamlined Installation
By using face-contact mounting, there's no requirement for accurate alignment of the shaft, resulting in quicker and easier assembly.

Lower Calibration Expenses
The flange acts as a guide for the module, significantly cutting down on the time and effort needed for alignment and calibration during the setup process.

Convenient Maintenance and Replacement
Individual modules can be detached by simply loosening bolts, allowing for maintenance to be carried out without disturbing adjacent components, thus reducing repair time and downtime.

Specification of Dual Encoder Integrated Flange Harmonic Servo Rotary Actuators

Product Parameters(AC-220V)
Model		HATF11		HATF14			HATF17				HATF20					HATF25					HATF32					HATF40					HATF50		HATF58
Reduction Ratio	/	51	101	51	81	101	51	81	101	121	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	101	51	101
Rated Torque	N·M	4	8	8.6	13.5	13.5	27	33	49	49	30	48	58	61	61	68.5	107	133	133	133	133	206	264	267	267	242	351	460	557	557	642	823	951	1200
Peak Torque	N·M	8.3	11	23	29	34	43	53	66	66	69	91	102	108	113	121	169	194	207	217	267	376	411	436	459	497	641	702	762	800	1163	1211	1828	1964
Rated Speed	RPM	69	35	59	37	30	59	37	30	25	59	37	30	25	19	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12	27	22	27	22
Max Speed	RPM	102	51	118	74	59	118	74	59	50	118	74	59	50	37	94	59	48	40	30	90	57	49	38	29	80	51	41	34	25	37	30	37	30
Rated Current	A	0.98	0.99	0.78	0.77	0.62	2.36	1.82	2.17	1.81	2.63	2.65	2.56	2.25	1.69	3.90	3.84	3.83	3.20	2.40	5.82	5.68	5.83	4.93	3.7	8.72	7.97	8.37	8.46	6.36	11.94	12.27	17.68	17.89
Max Current	A	2.03	1.36	2.09	1.66	1.56	3.68	2.92	2.92	2.44	6.04	5.02	4.51	3.98	3.13	6.90	6.07	5.58	4.97	3.92	11.69	10.36	9.08	8.04	6.36	17.91	14.55	12.75	11.58	9.13	21.62	18.06	33.99	29.29
Torque Constant	N·M/Arms	4.08	8.08	11.02	17.50	21.82	11.42	18.14	22.62	27.10	11.42	18.14	22.62	27.10	36.06	17.54	27.86	34.74	41.62	55.38	22.85	36.29	45.25	54.21	72.13	27.74	44.06	54.94	65.82	87.58	53.78	67.06	53.784	67.064
Unidirectional Positioning Accuracy	Arcsec	≤90	≤90	≤70	≤60	≤60	≤60	≤60	≤50	≤50	≤60	≤60	≤60	≤50	≤50	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤30	≤30	≤30	≤30
Repeat Positioning Accuracy	Arcsec	≤20	≤20	≤15	≤10	≤10	≤15	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Tilt Stiffness	X104N.m/rad	4		8			15				24					38					95					175					Rated radial load 2750N Rated axial load 2750N Rated overturning moment 1950N.M		Rated radial load 3200N Rated axial load 3200N Rated overturning moment 2500N.M
Torsional Stiffness	X104N.m/rad	0.3	0.34	0.46	0.6		1.07	1.3			1.8	2.3				3.4	4.6				7.6	9.9				14	18.6
Motor Phase Resistance	Ohma(20°C)	12		7.5			2.6				2.6					3.55					0.88					0.8					0.126		0.126
Motor Phase Inductance	Mh	9.5		11.5			6.7				6.7					10					6.1					8					0.65		0.65
Back-EMF Constant	Vrms/Krpm	10.5		25			25				25					40					40					44					52		52
Rotor Inertia	Without brake KG*m2	8.32*10^-6		3.6*10^-5			7.96*10^-5				8.8*10^-5					2.1*10^-4					8.3*10^-4					1.64*10^-3					4.8*10^-3		4.8*10^-3
Rotor Inertia	With brake KG*m2	8.73*10^-6		3.7*10^-5			9.12*10^-5				9.17*10^-5					2.2*10^-4					1.04*10^-3					2.05*10^-3					/		/
Mass (Without Brake)	Kg	1.17		1.66			2.2				2.4					3.6					7.4					10.7					25		32
Mass (With Brake)	Kg	1.36		2			2.8				2.96					4.2					8.7					12					/		/
Motor Poles	Pole	10		16			16				16					16					16					16					20		20
Diameter & Length (With/Without Brake)	mm	63mmX83mm 63mmx99.7mm		ø74mmX91.5mm ø74mmX109.5mm			ø88mmX98mm ø88mmX122mm				ø88mmX101mm ø88mmX125mm					ø110mmX109mm ø110mmX130.5mm					ø142mmX138.7mm ø142mmX164.2mm					ø170mmX150.7mm ø170mmX175.7mm					ø214mmX196mm		ø240mmX216mm ø240mmX249.4mm
Hollow Shaft Diameter	mm	ø10mm		ø9mm			ø13.5mm				ø16.5mm					ø17mm					ø29mm					ø40mm					ø40mm		ø50mm
Notes	For reference only, please contact sales for actual parameters

Product Parameters(AC-220V)
Model		HATF11		HATF14			HATF17				HATF20					HATF25					HATF32					HATF40					HATF50		HATF58
Reduction Ratio	/	51	101	51	81	101	51	81	101	121	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	101	51	101
Rated Torque	N·M	4	8	8.6	13.5	13.5	27	33	49	49	30	48	58	61	61	68.5	107	133	133	133	133	206	264	267	267	242	351	460	557	557	642	823	951	1200
Peak Torque	N·M	8.3	11	23	29	34	43	53	66	66	69	91	102	108	113	121	169	194	207	217	267	376	411	436	459	497	641	702	762	800	1163	1211	1828	1964
Rated Speed	RPM	69	35	59	37	30	59	37	30	25	59	37	30	25	19	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12	27	22	27	22
Max Speed	RPM	102	51	118	74	59	118	74	59	50	118	74	59	50	37	94	59	48	40	30	90	57	49	38	29	80	51	41	34	25	37	30	37	30
Rated Current	A	0.98	0.99	0.78	0.77	0.62	2.36	1.82	2.17	1.81	2.63	2.65	2.56	2.25	1.69	3.90	3.84	3.83	3.20	2.40	5.82	5.68	5.83	4.93	3.7	8.72	7.97	8.37	8.46	6.36	11.94	12.27	17.68	17.89
Max Current	A	2.03	1.36	2.09	1.66	1.56	3.68	2.92	2.92	2.44	6.04	5.02	4.51	3.98	3.13	6.90	6.07	5.58	4.97	3.92	11.69	10.36	9.08	8.04	6.36	17.91	14.55	12.75	11.58	9.13	21.62	18.06	33.99	29.29
Torque Constant	N·M/Arms	4.08	8.08	11.02	17.50	21.82	11.42	18.14	22.62	27.10	11.42	18.14	22.62	27.10	36.06	17.54	27.86	34.74	41.62	55.38	22.85	36.29	45.25	54.21	72.13	27.74	44.06	54.94	65.82	87.58	53.78	67.06	53.784	67.064
Unidirectional Positioning Accuracy	Arcsec	≤90	≤90	≤70	≤60	≤60	≤60	≤60	≤50	≤50	≤60	≤60	≤60	≤50	≤50	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤30	≤30	≤30	≤30
Repeat Positioning Accuracy	Arcsec	≤20	≤20	≤15	≤10	≤10	≤15	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Tilt Stiffness	X104N.m/rad	4		8			15				24					38					95					175					Rated radial load 2750N Rated axial load 2750N Rated overturning moment 1950N.M		Rated radial load 3200N Rated axial load 3200N Rated overturning moment 2500N.M
Torsional Stiffness	X104N.m/rad	0.3	0.34	0.46	0.6		1.07	1.3			1.8	2.3				3.4	4.6				7.6	9.9				14	18.6
Motor Phase Resistance	Ohma(20°C)	12		7.5			2.6				2.6					3.55					0.88					0.8					0.126		0.126
Motor Phase Inductance	Mh	9.5		11.5			6.7				6.7					10					6.1					8					0.65		0.65
Back-EMF Constant	Vrms/Krpm	10.5		25			25				25					40					40					44					52		52
Rotor Inertia	Without brake KG*m2	8.32*10^-6		3.6*10^-5			7.96*10^-5				8.8*10^-5					2.1*10^-4					8.3*10^-4					1.64*10^-3					4.8*10^-3		4.8*10^-3
Rotor Inertia	With brake KG*m2	8.73*10^-6		3.7*10^-5			9.12*10^-5				9.17*10^-5					2.2*10^-4					1.04*10^-3					2.05*10^-3					/		/
Mass (Without Brake)	Kg	1.17		1.66			2.2				2.4					3.6					7.4					10.7					25		32
Mass (With Brake)	Kg	1.36		2			2.8				2.96					4.2					8.7					12					/		/
Motor Poles	Pole	10		16			16				16					16					16					16					20		20
Diameter & Length (With/Without Brake)	mm	63mmX83mm 63mmx99.7mm		ø74mmX91.5mm ø74mmX109.5mm			ø88mmX98mm ø88mmX122mm				ø88mmX101mm ø88mmX125mm					ø110mmX109mm ø110mmX130.5mm					ø142mmX138.7mm ø142mmX164.2mm					ø170mmX150.7mm ø170mmX175.7mm					ø214mmX196mm		ø240mmX216mm ø240mmX249.4mm
Hollow Shaft Diameter	mm	ø10mm		ø9mm			ø13.5mm				ø16.5mm					ø17mm					ø29mm					ø40mm					ø40mm		ø50mm
Notes	For reference only, please contact sales for actual parameters

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