Description

The Harmonic Drive FHA-32C-100-H-C1024-EC-SP is a premium-grade strain wave gear (harmonic drive) engineered for applications demanding extreme precision, compactness, and reliability. Featuring a 100:1 reduction ratio, hollow output shaft (H), and an integrated C1024 absolute single-turn encoder, this unit eliminates the need for external feedback devices while enabling clean cable routing through the center—critical for robotic joint design. The EC suffix denotes compatibility with standardized EC (electronically commutated) servo motor mounting flanges, allowing direct coupling without adapters. With near-zero backlash (<1 arcmin), high torsional stiffness, and lifetime lubrication, the FHA-32C-100-H-C1024-EC-SP is widely deployed in collaborative robots (cobots), surgical robots, wafer handlers, and high-speed pick-and-place systems where repeatability, space efficiency, and dynamic response are non-negotiable.

Application Scenarios

At a leading European cobot manufacturer, engineers struggled with inconsistent path accuracy in the wrist joint of their 6-axis robot. Switching from a planetary gearbox to the Harmonic Drive FHA-32C-100-H-C1024-EC-SP resolved micro-vibrations during high-speed reversals and improved end-effector repeatability from ±0.05 mm to ±0.01 mm. “The integrated encoder saved us three assembly steps and eliminated calibration drift,” said the lead mechanical designer. “Now our robots pass ISO 9283 validation on the first try.”

Note: “SP” typically denotes special packaging or minor factory customization; core performance remains per FHA-32C standard.

Technical Principles and Innovative Values

Innovation Point 1: Monolithic Encoder Integration – The C1024 encoder is mounted directly on the flexspline output, measuring true load-side position—eliminating errors from gearbox compliance that plague motor-mounted encoders.

Innovation Point 2: Hollow Shaft Architecture – The central bore enables routing of pneumatic lines, electrical cables, or optical fibers through the joint—essential for clean, reliable robot arm design.

Innovation Point 3: High Torque Density – Despite its compact size, the FHA-32C delivers 3x the torque density of comparable planetary gears, enabling lighter, faster robotic arms.

Innovation Point 4: Zero Maintenance – Pre-lubricated for life with high-performance grease, the unit operates reliably in 24/7 applications without oil changes or re-greasing.

Application Cases and Industry Value

In a semiconductor wafer transfer robot, the FHA-32C-100-H-C1024-EC-SP enables precise angular positioning of the end effector within a Class 1 cleanroom. Its low particle generation and vibration-free operation prevent wafer slippage—a critical requirement at 300 mm scale. Similarly, in a minimally invasive surgical robot, the hollow shaft routes instrument control wires while the integrated encoder ensures sub-degree accuracy during delicate maneuvers.

These use cases underscore why top-tier automation OEMs specify Harmonic Drive units: they reduce system complexity while raising performance ceilings.

Related Product Combination Solutions

EC-Frame Servo Motors (e.g., Kollmorgen AKM, Yaskawa Sigma-7): Direct-mount compatibility via EC flange.

Absolute Encoder Interfaces: Compatible with major drive platforms (Beckhoff, Siemens, Omron) supporting EnDat 2.2 or BiSS-C.

Robotic Joint Assemblies: Often paired with torque sensors or brake modules for full joint functionality.

Harmonic Drive CSF/CSG Series: Larger frame alternatives for higher torque needs (e.g., base joints).

Lubrication Monitoring Kits (optional): For extreme-duty applications requiring predictive maintenance.

Custom Hollow Shaft Adapters: For non-standard end-effector interfaces.

Simulation Models (STEP/IGES): Available from Harmonic Drive for CAD integration and dynamic simulation.

Installation, Maintenance, and Full-Cycle Support

Installation requires precise alignment between the motor and harmonic drive input shaft to avoid side loads. Torque must be applied gradually in a cross-pattern when securing the motor flange. The hollow output shaft accepts standard clamping hubs or custom couplings.

Maintenance is virtually nonexistent under normal conditions—no lubrication intervals, no backlash adjustment. However, periodic visual inspection for seal integrity is recommended in washdown or dusty environments.

We supply genuine Harmonic Drive FHA-32C-100-H-C1024-EC-SP units with full traceability and factory test reports. Each unit undergoes run-out, torque, and encoder validation before shipment. We also provide technical support for motor sizing, inertia matching, and control loop tuning to ensure optimal system performance. Whether you’re developing a new robotic platform or upgrading legacy automation, this harmonic drive offers a proven foundation for precision motion.