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KNIEL FPD 375.16PC24.4
KNIEL FPD 375.16PC24.4

Harmonic FPA-32-33

  • Product Name: FPA Series Integrated Flat Servo Actuator (with Harmonic Drive)
  • Product Introduction: A high-precision integrated actuator combining a brushless PM servo motor, a zero-backlash harmonic gear reducer (33:1 ratio), and a high-resolution encoder in a compact flat package, designed for robotic joints and precision positioning.
Category:
Description
  • Technical Specifications & Performance Parameters:
    • Frame Size: 32 (FPA-32)
    • Reduction Ratio: 33:1
    • Max Output Torque: ~300 Nm (peak), continuous stall ~117 Nm (varies by config)
    • Max Output Speed: ~136 rpm (at rated motor speed)
    • Rated/Max Motor Speed: 2500 / 4500 rpm
    • Encoder: M2048 (2048 PPR) magnetic or optical incremental/absolute
    • Backlash: < 4 arcmin transmission accuracy, essentially zero hysteresis from harmonic flexspline
    • Protection: IP65 (sealed against dust and low-pressure water jets)
    • Brake: Optional 24 V DC electromagnetic brake (~20 Nm)
    • Temperature: 0 °C to +40 °C (standard), some variants -10 to +40
    • Weight: ~12 kg with brake
  • Functional Features: Zero-backlash harmonic drive, high torque density, integrated temperature sensing (KTY), built-in encoder feedback, hollow shaft option in similar FHA models for cable routing.
  • Material & Structural Characteristics: Aluminum alloy housing, hardened steel flexspline/cup, stainless steel seals, flattened pancake form factor for space-constrained axes.
  • Application Scenarios: Articulated robot wrists/elbows, semiconductor wafer handling, CNC rotary tables, aerospace gimbals, medical imaging gantries.
  • Working Principle: Servo motor rotates wave generator of harmonic drive, inducing controlled elliptical deflection in flexspline mesh with circular spline, producing precise reduced-speed high-torque rotation with minimal backlash.
  • Installation Requirements: Flange or face-mount with precise alignment; ensure motor phase wiring matches drive; brake wiring must be fail-safe; use flexible couplings if driving off-axis loads.
  • Usage Precautions: Do not drill output shaft (surface hardened); grease is lifetime-filled—do not open seal; overload beyond peak torque damages teeth; respect thermal limits; encoder resolution must match controller scaling.
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