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| Categories | Harmonic Servo Rotary Actuators |
|---|---|
| Brand Name: | HONPINE |
| Model Number: | HASF |
| Place of Origin: | china |
| MOQ: | 1 |
| Packaging Details: | Carton with form |
HONPINE(www.honpine.com) is a Chinese integrated manufacturer combining “Harmonic Drive + Nabtesco + actuator” technologies. It provides precision transmission solutions for numerous manufacturers in robotics R&D, medical machinery, semiconductor equipment, CNC machinery, and other precision industries.
The HASF Solid Standard Harmonic Servo Rotary Actuator encompasses harmonic drive models 11, 14, 17, 20, and 25, offering a rated torque range between 4 N·m and 133 N·m. It is equipped with a multi-turn absolute encoder that utilizes Tamagawa protocol, featuring a 23-bit resolution for single turns and 16-bit for multi-turns. This specific model enhances the standard HASF solid design by incorporating an integrated flange, which facilitates installation when direct end-face mounting is impractical. The flange improves support for both axial and radial loads and bolsters resistance to vibrations and impacts.
Robust and Trustworthy Setup
The disc-shaped flange design guarantees evenly spaced bolt holes
for dependable face-contact installation, fostering a strong
connection between the motor, harmonic drive, and adjacent parts.
Streamlined Installation Process
With face-contact mounting, there's no requirement for exact shaft
alignment, which accelerates and simplifies the assembly of the
system.
Lower Calibration Expenses
This flange serves as a guiding feature for the module,
significantly reducing the need for alignment and calibration tasks
during assembly.
Simple Upkeep and Replacement
Modules can be easily detached by loosening bolts, allowing for
quick access without affecting neighboring components, thus
facilitating maintenance and minimizing downtime.
| Product Parameters(AC-220V) | ||||||||||||||||||||
| Model | HASF11 | HASF14 | HASF17 | HASF20 | HASF25 | |||||||||||||||
| Reduction Ratio | / | 51 | 101 | 51 | 81 | 101 | 51 | 81 | 101 | 121 | 51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 |
| 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 |
| Peak Torque | N·M | 8.3 | 11 | 23 | 29 | 34 | 43 | 53 | 66 | 66 | 69 | 91 | 102 | 108 | 113 | 121 | 169 | 194 | 207 | 217 |
| Rated Speed | RPM | 69 | 35 | 59 | 37 | 30 | 59 | 37 | 30 | 25 | 59 | 37 | 30 | 25 | 19 | 49 | 31 | 25 | 21 | 16 |
| Max Speed | RPM | 102 | 51 | 118 | 74 | 59 | 118 | 74 | 59 | 50 | 118 | 74 | 59 | 50 | 37 | 94 | 59 | 48 | 40 | 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 |
| 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 |
| 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 |
| Unidirectional Positioning Accuracy | Arcsec | ≤90 | ≤90 | ≤70 | ≤60 | ≤60 | ≤60 | ≤60 | ≤50 | ≤50 | ≤60 | ≤60 | ≤60 | ≤50 | ≤50 | ≤60 | ≤50 | ≤50 | ≤40 | ≤40 |
| Repeat Positioning Accuracy | Arcsec | ≤20 | ≤20 | ≤15 | ≤10 | ≤10 | ≤15 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 |
| Tilt Stiffness | X104N.m/rad | 4 | 8 | 15 | 24 | 38 | ||||||||||||||
| 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 | |||||||||
| Motor Phase Resistance | Ohma(20°C) | 12 | 7.5 | 2.6 | 2.6 | 3.55 | ||||||||||||||
| Motor Phase Inductance | Mh | 9.5 | 11.5 | 6.7 | 6.7 | 10 | ||||||||||||||
| Back-EMF Constant | Vrms/Krpm | 10.5 | 25 | 25 | 25 | 40 | ||||||||||||||
| 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 | ||||||||||||||
| 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 | ||||||||||||||
| Mass (Without Brake) | Kg | 1.17 | 1.66 | 2.2 | 2.4 | 3.6 | ||||||||||||||
| Mass (With Brake) | Kg | 1.36 | 2 | 2.8 | 2.96 | 4.2 | ||||||||||||||
| Motor Poles | Pole | 10 | 16 | 16 | 16 | 16 | ||||||||||||||
| Diameter & Length (With/Without Brake) | mm | 63mmX83mm 63mmx99.7mm | ø74mmX91.5mm ø74mmX109.5mm | ø88mmX98mm ø88mmX122mm | ø88mmX101mm ø88mmX125mm | ø110mmX109mm ø110mmX130.5mm | ||||||||||||||
| Hollow Shaft Diameter | mm | ø10mm | ø9mm | ø13.5mm | ø16.5mm | ø17mm | ||||||||||||||
| Notes | For reference only, please contact sales for actual parameters | |||||||||||||||||||
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