Harmonic Drive LLC

247 Lynnfield Street
Peabody,  MA  01960-4904

United States
http://www.harmonicdrive.net
  • Booth: 551


We look forward to seeing you!

Harmonic Drive is a world leader in the design, development and manufacturing of zero-backlash motion control products. Our servo-actuators, gearheads, and gear components achieve accuracy better than 30 arc-seconds and repeatability of +/- 5 arc-seconds. A wide variety of standard and customized designs are available to meet the high precision requirements of semiconductor manufacturing equipment and robotics. Application engineers with expertise in motion control are available to assist you with your concept and detailed designs, free of charge. Harmonic Drive® products are used extensively in wafer and flat panel transfer robots as well as CMP and ion implant equipment. Our products provide the highest torque density of any product in its class and are available in sizes ranging from 13mm to 330mm in diameter. Our US Headquarters and manufacturing facility in Massachusetts, is ISO 9001 and AS9100 registered and produces the majority of products we sell.


 Press Releases

  • Harmonic Drive LLC announces new mini actuator with Dual Absolute Encoders

    Panel mount connectors with 4 exit options

    Peabody, MA, June 14, 2019--- Harmonic Drive LLC, the leader in high precision motion control announces new encoder options for our 24VDC FHA mini actuators.  Featuring dual absolute encoders and panel mount connectors, these extremely small actuators deliver high torque with exceptional accuracy and repeatability.

    Both encoders utilize BiSS-C bi-directional communication. The dual encoders are incorporated in essentially the same package size as the long-standing FHA-C mini single incremental encoder version. Without increasing the size, the dual absolute encoder offers single turn absolute position at the output, without the need for battery back-up.

    Panel mount connectors come standard, and customers can choose between 4 exit options. Together, these new features offer the design engineer more flexibility and reliability

    A single turn 14 bit (16384 cpr) gear output sensing encoder has been integrated along with a single turn 14 bit (16384 cpr) motor input sensing encoder providing a true absolute encoder that does not require a battery within 360° of rotation of the output. Typical multi-turn encoders monitoring the motor input shaft require a battery to store the current position when power is lost to the system; however, the dual absolute encoder overcomes this need. In other words, No Battery Required. When power is restored the actuator knows its position.

    Key Features:

    • Single Turn Absolute Encoders on both Input and Output Sides
    • Compact - significantly shorter than our multi-turn absolute encoder version
    • Minimal length difference compared to our incremental encoder version
    • Output Encoder 14 bit (16384 cpr) resolution
    • Input Encoder 14 bit (16384 cpr) resolution
    • BiSS-C bi-directional communication for both encoders
    • Compatible Drive: Copley Controls BEL or BPL
    • Compact Form Factor
    • Robust Cross Roller Output Bearing Supports High Loads
    • High torque/weight and torque/volume ratio
    • Panel mount connectors

    The FHA-C Mini series actuators with dual absolute encoders are among the latest products developed at HDLLC in Peabody, MA.

    About Harmonic Drive LLC

    Harmonic Drive, LLC engineers and manufactures precision servo actuators, gearheads and gear component sets. We work closely with both Fortune 500 and companies of all sizes to understand their application requirements and provide a standard or, in most cases, a custom-engineered solution to enable the success of their design project. The majority of the products sold by Harmonic Drive, LLC are proudly made at our manufacturing facility in Peabody, Massachusetts. The Harmonic Drive Group Companies are comprised of Harmonic Drive, LLC (United States), Harmonic Drive Systems, Inc. (Japan) and Harmonic Drive AG (Germany). We have shared core values, product designs and quality standards. State of the art manufacturing facilities in the US, Japan and Germany enables us to locally serve the needs of our global customers providing both custom-engineered solutions and standard products.

    With over 50 years of experience, our expert engineering and production teams develop enabling technologies and products to meet the needs of an evolving motion control market. We are very proud of our outstanding company history. Our high-precision, zero-backlash Harmonic Drive® gears and Harmonic Planetary® gears have, and continue to play critical roles in robotics, spaceflight applications, semiconductor manufacturing equipment, factory automation equipment, medical diagnostics and surgical robotics. More information can be found by visiting the company’s website at www.harmonicdrive.net

    Harmonic Drive is a registered trademark of Harmonic Drive Systems.

  • Harmonic Drive LLC, a leader in high precision motion control announces the addition of 80:1 and 120:1 reduction ratios for CSD and SHD zero-backlash gears. The addition of these new ratios enhance the already successful product lines.

    The ultra-flat, zero backlash CSD precision component sets are available with standard hollow bore or an oversized (BB) hollow shaft. CSD and SHD zero-backlash gear units are housed gears available in versatile designs such as hollow shaft and lightweight. Select the size, configuration and ratio that is right for you.

    Three Product Types:

    • Ultra-flat component set (CSD-2A)
    • Housed gear units (CSD-2UH/UF, SHD-2UH-LW)
    • Simplicity gear units (SHD-2SH)

    Component Sets

    Harmonic Drive® precision component sets are the core motion control mechanisms. These zero backlash products offer the widest design flexibility. Products can be selected which offer the optimum dimension and performance based on the available volume within the customer-designed housing. High Torque, Ultra Flat, and Hollow Shaft Options are available. These high accuracy gearing components are often used as the core building block for custom high performance servo actuators and motion control mechanisms. Customer-supplied servo motors can be easily integrated into the design

    Gear Units

    Gear units are housed zero backlash Harmonic Drive® component gears combined with a precision cross roller output bearing & flange. Gear Units are very compact, robust and easy to use gearhead/gearbox solution. Our Simplicity Gear Units are Non-housed component gearing combined with a precision cross roller output bearing. Simplicity Gear Units do not include the housing and output flange, which allows for even tighter integration into the customer’s housing or machine structure

    Simplicity Gear Units

    Our Simplicity Gear Units are Non-housed component gears combined with a precision cross roller output bearing. Simplicity Gear Units do not include the housing and output flange, which allows for even tighter integration into the customer’s housing or machine structure. Axially compact, they feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.

    With the addition of the 80-:1 and 120:1 ratios for these product lines, it is even easier than ever to find the exact speed reducer to optimize your project.

    About Harmonic Drive LLC

    Harmonic Drive, LLC engineers and manufactures precision servo actuators, gearheads and gear component sets. We work closely with both Fortune 500 and companies of all sizes to understand their application requirements and provide a standard or custom-engineered solution to enable the success of their design project. The majority of the products sold by Harmonic Drive, LLC are proudly made at our manufacturing facility in Peabody, Massachusetts. Harmonic Drive Group Companies in, Japan (Harmonic Drive Systems, Inc.) and Germany (Harmonic Drive AG) provide additional products. We have shared core values, product designs and quality standards. State of the art manufacturing facilities in the US, Japan and Germany enables us to locally serve the needs of our global customers.

    With over 50 years of experience, our expert engineering and production teams develop enabling technologies and products to meet the needs of an evolving motion control market. We are very proud of our outstanding company history. Our high-precision, zero-backlash Harmonic Drive® gears and Harmonic Planetary® gears have, and continue to play critical roles in robotics, spaceflight applications, semiconductor manufacturing equipment, factory automation equipment, medical diagnostics and surgical robotics. More information can be found by visiting the company’s website at www.harmonicdrive.net

    Harmonic Drive is a registered trademark of Harmonic Drive Systems.


 Products

  • Hollow Shaft Motor - HMA
    HMA Hollow shaft servo motors are available in 5 frame sizes. Large Hollow Shaft design allows cables, shafts or lasers to pass through the axis of rotation....

  • HMA Hollow shaft servo motors are available in 5 frame sizes. Large Hollow Shaft design allows cables, shafts or lasers to pass through the axis of rotation.


    Models:
    HMAC08*200 | HMAB09*200 | HMAB09*100 | HMAB12*200 | HMAB15*200 | HMAA21A*200


    Key Features:

    • AC Servomotor
    • Large Hollow Shaft
    • Absolute Encoder (17 bit single-turn, 16 bit multi-turn)
    • Available in 5 frame sizes
    • Rated output from 163 to 1320 W
    • Available with or without brake
    Item HMAC08
     
    HMAB09A200
     
    HMAB09A100
     
    HMAB12
     
    HMAB15
     
    HMAA21
     
    Rated torque *1,*2 Nm 0.52

    0.80

    0.80 1.55 3.6 12.6
    Rated rotational speed *1,*2 rpm 3000 3000 3000 2500 2000 1000
    Rated power *1,*2 W 163 251 251 406 754 1320
    Torque constant *1 Nm/A(rms) 0.35 0.41 0.24 0.44 0.54 0.72
    Rated current *1,*2 A(rms) 2.1 2.5 4.3 4.2 7.8 20.0
    Rated stall current *2 A 2.4 3.6 6.2 8.5 13 33
    Max. torque *1 Nm 1.8 3 3 6.6 13 33
    Max. rotational speed *1 rpm 6000 5600 4800 4800 4000 3000
    Max. current *1 A(rms) 6.5 8.9 15.4 19 29 75
    EMF constant *3 V/(rpm) 0.037 0.043 0.025 0.046 0.057 0.075
    Phase resistance (at 20℃) Ω 1.43 1.2 0.4 0.33 0.19 0.028
    Phase inductance mH 2.5 3 1 1.4 1.2 0.29
    Moment of Inertia (without brake) x10-4 kg・m2 .734 1.78 1.78 6.45 15.8 125
    Moment of Inertia (with brake) x10-4 kg・m2 .828 2.16 2.16 6.83 19.8 141
    Mass (without brake) kg 1.4 2.0 2.0 3.4 5.5 17.5
    Mass (with brake) kg 1.5 2.1 2.1 3.8 6.2 19.7
    Power Supply Voltage V AC200 AC200 AC100 AC200 AC200 AC200
    Encoder type Absolute encoder
    Single turn motor revolution encoder resolution

    217 (131072)

    Multi-turn revolution counter *4

    (battery buffered)

    216 ( 65536)
    Motor insulation Insulation resistance: 100 MΩ (500 VDC) or higher
     
    Dielectric strength : AC1500V/1min Insulation class : A

    * B indicates with brake 
    * 1 The table show typical output values of actuators 
    * 2 Value after temperature rise and saturation when it is used with aluminum radiation plate shown below:
    HMAC08: 320 x 320 x 16 [mm], HMAB09: 350 x 350 x 18 [mm], HMAB12: 400 x 400 x 20 [mm], HMAB15: 500 x 500 x 25 [mm], HMAA21A: 650 x 650 x 30 [mm]
    * 3 This is the value of the phase EMF constant multiplied by 3. 
    * 4 The range of the multi revolution counter is from -32,768 to 32,767.

  • RSF Supermini Actuator
    These extremely small servo actuators utilize zero backlash Harmonic Drive® precision gears, a brushless servo motor and an incremental encoder to deliver precision motion control....

  • RSF-Supermini
    These extremely small servo actuators utilize zero backlash Harmonic Drive® precision gears, a brushless servo motor and an incremental encoder to deliver precision motion control. The RSF Supermini series is designed to operate with a wide range of third party drivers as well as Harmonic Drive LLC’s DCJ Series, DDP Series, DEP Series, and HA680 drivers. The units are small enough to fit inside the finger of a robotic hand.

    Key Features:

    • Compact, lightweight
    • High output torque
    • High positional accuracy
    • RSF-5B is available with an optional brake
    Item / Model RSF-3C RSF-5B
    Gear Ratio 30 50 100 30 50 100
    Rated Torque Nm 0.03 0.07 0.11 0.18 0.29 0.44
    lb-in 0.27 0.62 0.97 1.6 2.6 3.9
    Rated Speed rpm 150 90 45 150 90 45
    Stall Torque Nm 0.04 0.08 0.12 0.28 0.44 0.65
    lb-in 0.35 0.71 1.06 2.5 3.9 5.8
    Maximum Torque Nm 0.13 0.21 0.3 0.5 0.9 1.4
    lb-in 1.15 1.86 2.66 4.4 8 12.4
    Moment of Inertia (GD2/4) *1 Standard (kgm2) 0.11x10-4 0.29x10-4 1.17x10-4 0.66x10-4 1.83x10-4 7.31x10-4
    With Brake (kgm2) None None None 0.11x10-3 0.31x10-3 1.23x10-3
    Encoder Resolution *2 Pulses/Rotation 24,000 40,000 80,000 60,000 100,000 200,000
    One-way Positioning accuracy arc/sec 600 600 600 240 180 180
    Number of Poles 8 8
    Mass (g) Without Brake(g) 31.0 (except clamp filter) 66.0 (except clamp filter)
    With Brake(g) - 86.0 (except clamp filter)
  • FHA-C mini actuator with Dual Absolute encoder
    FHA-Mini actuators with dual absolute encoders, utilize BiSS-C bi-directional communication for both encoders....

  • The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability. The actuator combines a high precision Harmonic Drive® gear component with a pancake brushless servo motor. An encoder is integrated to provide high-resolution velocity and position feedback. The large cross-roller output bearing allows heavy loads to be mounted directly to the actuator without the need for additional support. FHA-C mini actuators (single absolute and incremental encoder versions) are designed to work with a variety of third party servo drives, as well as, Harmonic Drive LLC’s DEP, DDP, DCJ and HA-680.
    As part of the FHA-C mini family, a Dual Absolute encoder version is now available. Both encoders utilize BiSS-C bi-directional communication. The dual encoders are incorporated in essentially the same package size as the long-standing FHA-C mini single incremental encoder version. Without increasing the size, the dual absolute encoder offers single turn absolute position at the output, without the need for battery back-up.
    Panel mount connectors come standard, and customers can choose between 4 exit options. Together, these new features offer the design engineer more flexibility and reliability.
    ■ Features
    • Zero backlash
    • Incremental, Absolute or Dual Absolute Encoder
    • Panel Mount Connectors with 4 exit options
    • 24VDC (standard)*
    • High-torque/weight and torque/volume ratio
    • Optional flex-rated cables with sealed connectors
    • Hollow shaft available with Incremental encoder version (only)

 Additional Info

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New Products:
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