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Components › A · Joint Actuation › Harmonic Drive Systems
FHA-8CAdd to cart
Series reference image, not this exact model · from harmonicdrive.netFHA-8C — FHA-8C catalogue figure, p.1 — manufacturer series reference image1 / 1
哈默纳科（上海）商贸有限公司 · Harmonic Drive Systems

FHA-8C

A · Joint Actuation · active · sources 11 · multiple values 3
specs 207evidence [n]sources 11multiple values 3

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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
32 values for this fieldConfirm with the supplier.
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-03Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-03Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/FHA_Mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-03Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/FHA_Mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-03Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-06Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-06Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-06Changed —
Reduction ratioreduction_ratio
value
as printed 1:3030
source sentenceReduction ratio 1:30 1:50 1:100 1:30 1:50 1:100 1:30 1:50 1:100
sourcehttps://www.harmonicdrive.net/_hd/content/documents/fha_mini.pdf · p.16 · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-06Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
33 values for this fieldConfirm with the supplier.
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
51 values for this fieldConfirm with the supplier.
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.03 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.42.4 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Encoder mode Dual Absolute Encoders · Reduction ratio Gear Ratio: 30 / 50 / 100 · Encoder arrangement Dual Absolute Encoders · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
source sentenceEncoder Type Dual Absolute Encoders Dual Absolute Encoders Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.03 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.42.4 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007474000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007373000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
2000 pulse/revolution
source sentenceEncoder Type Incremental Incremental 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
source sentenceEncoder Type ABS ABS Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
source sentenceEncoder Type Dual ABS Dual ABS Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Incremental kg · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.400.4 kg
source sentenceMass Incremental kg 0.40 0.40 0.40 0.62 0.62 0.62 1.2 1.2 1.2
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Single ABS · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Single ABS kg · Encoder arrangement Single ABS · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.500.5 kg
source sentenceMass Single ABS kg 0.50 0.50 0.50 0.75 0.75 0.75 1.3 1.3 1.3
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-without-hollow-shaft/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.03 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.42.4 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Encoder mode Dual Absolute Encoders · Reduction ratio Gear Ratio: 30 / 50 / 100 · Encoder arrangement Dual Absolute Encoders · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
source sentenceEncoder Type Dual Absolute Encoders Dual Absolute Encoders Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.03 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.42.4 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Encoder mode Dual Absolute Encoders · Reduction ratio Gear Ratio: 30 / 50 / 100 · Encoder arrangement Dual Absolute Encoders · How it was measured FHA-Mini Actuator with Integrated Servo Drive FHA Integrated Drive The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
source sentenceEncoder Type Dual Absolute Encoders Dual Absolute Encoders Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit) Dual Absolute Encoders, BiSS-C, bi-directional Motor Input Encoder (15bit) & Gear Output Encoder (14bit)
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-integrated-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.03 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.42.4 A
source sentenceMaximum Current Maximum Current A(rms) 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007474000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007373000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode ABS · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) ABS kg-m 2 · Encoder arrangement Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) ABS kg-m 2 0.0026 0.0073 0.029 0.0062 0.017 0.069 0.019 0.054 0.215
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
2000 pulse/revolution
source sentenceEncoder Type Incremental Incremental 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
source sentenceEncoder Type ABS ABS Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit) Single Absolute Encoder, Nikon A, Single Turn (17 bit) & Multi-Turn (16 bit)
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
source sentenceEncoder Type Dual ABS Dual ABS Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit) Dual Absolute Encoder, BiSS-C, bi-directional Motor Input Encoder (14 bit) & Gear Output Encoder (14 bit)
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Incremental kg · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.400.4 kg
source sentenceMass Incremental kg 0.40 0.40 0.40 0.62 0.62 0.62 1.2 1.2 1.2
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Single ABS · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Single ABS kg · Encoder arrangement Single ABS · How it was measured FHA-Mini Dual Encoder Compact Servo Actuator Dual Encoder FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.500.5 kg
source sentenceMass Single ABS kg 0.50 0.50 0.50 0.75 0.75 0.75 1.3 1.3 1.3
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini-dual-absolute · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 15.91.796 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 29.23.299 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 42.54.802 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.93.9 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6.76.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1414 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 34.53.898 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 59.36.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 123.914 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 7.10.8022 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 11.51.299 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 23.92.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1502.5 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1202 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007474000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
2000 pulse/revolution
source sentenceEncoder Type Incremental Incremental 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
source sentenceEncoder Type Absolute Absolute Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Incremental kg · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.400.4 kg
source sentenceMass Incremental kg 0.40 0.40 0.40 0.62 0.62 0.62 1.2 1.2 1.2
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Dimensions (Incremental encoder)
as printed 0.40.4 kg
source sentenceFHA-8C 50 66 49 33.5 6.2 48.5 300 0.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/actuators-hollow-shaft/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 15.91.796 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 29.23.299 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 42.54.802 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.93.9 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6.76.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1414 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 34.53.898 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 59.36.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 123.914 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 7.10.8022 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 11.51.299 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 23.92.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1502.5 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1202 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007474000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
2000 pulse/revolution
source sentenceEncoder Type Incremental Incremental 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
source sentenceEncoder Type Absolute Absolute Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Incremental kg · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Hollow Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.400.4 kg
source sentenceMass Incremental kg 0.40 0.40 0.40 0.62 0.62 0.62 1.2 1.2 1.2
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Dimensions (Incremental encoder)
as printed 0.40.4 kg
source sentenceFHA-8C 50 66 49 33.5 6.2 48.5 300 0.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3030
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 5050
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 100100
source sentenceGear Ratio Gear Ratio Gear Ratio 30 50 100 30 50 100 30 50 100
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.81.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.33.3 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 4.84.8 N·m
source sentenceMaximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 30 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 15.91.796 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 50 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 29.23.299 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio Gear Ratio: 100 · Row in other units Maximum Torque Maximum Torque N.m 1.8 3.3 4.8 4.5 8.3 11 9.0 18 28 Maximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 42.54.802 N·m
source sentenceMaximum Torque Maximum Torque in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 200200 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 50 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 120120 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Reduction ratio Gear Ratio: 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6060 r/min
source sentenceMaximum Speed Maximum Speed rpm 200 120 60 200 120 60 200 120 60
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 3.93.9 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 6.76.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1414 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 34.53.898 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 59.36.7 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (100V-200VAC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) Nm/A(rms) 3.9 6.7 14 3.8 6.6 13 4.2 7.2 15 Torque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 123.914 N·m/A
source sentenceTorque Constant (100V-200VAC) Torque Constant (100V-200VAC) in-lb/A(rms) 34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.80.8 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1.31.3 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 2.72.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 30 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 7.10.8022 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 50 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 11.51.299 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Supply voltage (24VDC) · Reduction ratio Gear Ratio: 100 · Row in other units Torque Constant (24VDC) Torque Constant (24VDC) Nm/A(rms) 0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9 Torque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 23.92.7 N·m/A
source sentenceTorque Constant (24VDC) Torque Constant (24VDC) in-lb/A(rms) 7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 30 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1502.5 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Angular positioning accuracyangular_positioning_accuracy
valuemeasured at Reduction ratio Gear Ratio: 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 1202 arcmin
source sentencePositioning Accuracy Positioning Accuracy arc-sec 150 120 120 120 90 90 120 90 90
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.002626000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 50 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.007474000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Moment of inertiamoment_of_inertia
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 100 · Table row Moment of Inertia (GD 2 /4) Incremental kg-m 2 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.029290000 g·cm²
source sentenceMoment of Inertia (GD 2 /4) Incremental kg-m 2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
2000 pulse/revolution
source sentenceEncoder Type Incremental Incremental 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution 2000 pulse/revolution
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Reduction ratio Gear Ratio: 30 / 50 / 100 · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
source sentenceEncoder Type Absolute Absolute Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr) Multi-turn 16bit (65536 cpr), Single turn (motor) 17bit (131072 cpr)
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Incremental · Reduction ratio Gear Ratio: 30 / 50 / 100 · Table row Mass Incremental kg · How it was measured FHA-Mini Compact Hollow Shaft Servo Actuator FHA-Mini Rotary Actuator The FHA-C Mini Series is a family of extremely compact Hollow Shaft Servo Actuators that deliver high torque with exceptional accuracy and repeatability.
as printed 0.400.4 kg
source sentenceMass Incremental kg 0.40 0.40 0.40 0.62 0.62 0.62 1.2 1.2 1.2
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Encoder mode Dimensions (Incremental encoder)
as printed 0.40.4 kg
source sentenceFHA-8C 50 66 49 33.5 6.2 48.5 300 0.4
sourcehttps://www.harmonicdrive.net/products/miniature-products/miniature-actuators/fha-mini · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
specs 207, 207 shown

Source documents.

11 documents · 3 fields with several values

11 documents
harmonicdrive.net/_hd/content/documents/fha_mini.pdfMaker's document · 4 valuesRetrieved 2026-09-03
harmonicdrive.net/_hd/content/documents1/FHA_Mini.pdfMaker's document · 2 valuesRetrieved 2026-09-03
harmonicdrive.net/_hd/content/documents1/fha_mini.pdfMaker's document · 2 valuesRetrieved 2026-09-06
DownloadSource files are not published yet: which documents may be published is undecided.
3 fields with several values
2026-09-03first collected · 11 sources
multiple values · 3Reduction ratio · Peak torque · Torque constant
Next update2026-10-01

Change history kept

Build a joint around this part.

Put a motor, a reducer and an encoder into the slots to see whether they combine.

Check joint combinations
JOINT · FHA-8C · A · Joint Actuation
StatusNeeds checking
  • Missing specs for the joint check
  • No verdict: the specification keys it needs are not settled

To settle before a verdict

Supplier.

WRC 2026 Beijing exhibitors, and other suppliers.

哈默纳科（上海）商贸有限公司Harmonic Drive Systems
WRC2026-B-008Hall BBooth B110CNharmonicdrive.net · official
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