# Harmonic Drive FHA-17C

Human: https://roboterminal.app/hardware/fha-17c · Agent: https://roboterminal.app/hardware/fha-17c.md

Integrated harmonic actuator. 100:1, 24 Nm rated / 57 Nm peak, 2.5 kg. Opposite of QDD: stiff, not backdrivable. EtherCAT lives on the HD driver, not the actuator body.

- Family: Harmonic Drive
- Layer: Actuate
- Maker: Harmonic Drive Systems
- Buses: ethernet
- Typical: $3,000–4,500 + drive

## Buy

- [FHA-C hollow actuators](https://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/fha-c)

## Compatible

- [Harmonic Drive CSF](https://roboterminal.app/hardware/hd-csf) (paired: Called out as a known pair)
- [Harmonic Drive CSG-2UH](https://roboterminal.app/hardware/hd-csg) (paired: Called out as a known pair)
- [Harmonic Drive SHD](https://roboterminal.app/hardware/hd-shd) (family: Harmonic Drive family)
- [NXP i.MX 8M Plus](https://roboterminal.app/hardware/imx8mp) (paired: Called out as a known pair)