---
title: "Harmonic Drive FHA-14C-100 (FHA-C Mini) specs"
description: "Harmonic / Precision actuator from Harmonic Drive LLC (Japan). Peak torque 28 Nm, rated 6.8 Nm, weight 1650 g, torque density 17 Nm/kg, price quote only."
canonical: https://actuatorlist.com/actuators/harmonic-drive-fha-14c-100
last-updated: 2026-11-01T14:05:43.000Z
---
# FHA-14C-100 (FHA-C Mini) by Harmonic Drive LLC

> Harmonic / Precision actuator from Harmonic Drive LLC (Japan). Peak torque 28 Nm, rated 6.8 Nm, weight 1650 g, torque density 17 Nm/kg, price quote only.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Harmonic / Precision |
| Peak torque | 28 Nm |
| Rated torque | 6.8 Nm |
| Max speed | 60 rpm |
| Gear ratio | 100:1 |
| Weight | 1650 g |
| Torque density | 17 Nm/kg |
| Price | quote only |
| Price per Nm | n/a |
| Backdrivable | no |
| Backlash | 0 arcmin |
| Voltage | 24 V |
| Peak current | n/a |
| Communication | CAN, EtherCAT |
| Control modes | position, velocity, torque |
| Encoder | dual absolute (15-bit motor input, 14-bit output), battery-less within one turn |
| Integrated driver | yes |
| Availability | in production |
| Data status | Catalog headline specs spot-checked: confirm revision |

## Size a joint

- [Motor torque calculator](/tools/motor-torque-calculator?solve=power&t=6.8&n=60): **42.7 W** of shaft power at its rated 6.8 N·m and 60 rpm.
- [Robot arm torque calculator](/tools/robot-arm-torque-calculator?L=0.4,0.35,0.12&m=1.2,0.8,0.3&a=1.65,0.5,0&p=2): **36.5 N·m** at the shoulder with its 1650 g at the elbow of a 2 kg-payload arm.

## Use cases

- robot arm
- cobot joint
- semiconductor
- medical robotics

## Notes

Compact hollow-shaft AC servo actuator: pancake BLDC motor plus zero-backlash Harmonic Drive strain-wave gear. FHA-C Mini family sizes 8C/11C/14C with ratios 30/50/100:1. For FHA-14C at 100:1 the maximum (peak/momentary) torque is 28 N·m and continuous/rated torque is about 6.8 N·m; maximum output speed 60 rpm. 'Zero backlash' is the manufacturer strain-wave claim (recorded as 0). Positioning accuracy about 90 arc-sec (1.5 arcmin); repeatability not published in accessible sources, so left null. 24VDC integrated-drive version communicates via CANopen (4-wire) with an EtherCAT option. Weight about 1.65 kg per Radwell distributor listing for the exact FHA-14C-100-D200-M1-SP part. Quote-only pricing.

## Sources

- [https://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini](https://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-mini)
- [https://www.harmonicdrive.net/\_hd/content/catalogs/pdf/fha-c-miniature-spec-sheet-24v.pdf](https://www.harmonicdrive.net/_hd/content/catalogs/pdf/fha-c-miniature-spec-sheet-24v.pdf)
- [https://www.radwell.com/Buy/HARMONIC%20DRIVE/HARMONIC%20DRIVE/FHA-14C-100-D200-M1-SP](https://www.radwell.com/Buy/HARMONIC%20DRIVE/HARMONIC%20DRIVE/FHA-14C-100-D200-M1-SP)
- [https://www.radwell.com/Buy/HARMONIC%20DRIVE/HARMONIC%20DRIVE/FHA-14C-100-12S17BE-C](https://www.radwell.com/Buy/HARMONIC%20DRIVE/HARMONIC%20DRIVE/FHA-14C-100-12S17BE-C)

## Similar Harmonic / Precision actuators

- [EC-A5013-H17-100 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a5013-h17-100): 142.9 Nm/kg
- [EC-A3814-H14-107 (ENCOS)](https://actuatorlist.com/actuators/encos-ec-a3814-h14-107): 138.2 Nm/kg
- [LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-lpa-20): 40.7 Nm/kg
- [SHA-CG series (SHA-CG Hollow Shaft Actuator) (Harmonic Drive LLC)](https://actuatorlist.com/actuators/harmonic-drive-sha-cg): n/a
- [CHA series (Hollow Shaft Servo Actuator) (Harmonic Drive (Harmonic Drive SE / LLC))](https://actuatorlist.com/actuators/harmonic-drive-cha-series): n/a

## Catalog comparisons

Catalog specifications and source caveats, not compatibility recommendations.

- [EC-A3814-H14-107 vs FHA-14C-100 (FHA-C Mini)](/comparisons/encos-ec-a3814-h14-107-vs-harmonic-drive-fha-14c-100)

[Browse actuator comparisons](/compare).

## Machine-readable

- JSON: https://actuatorlist.com/api/v1/actuators/harmonic-drive-fha-14c-100
- Catalog index for agents: https://actuatorlist.com/llms.txt