A traditional servo rotary actuator consists of a rotor, stator, housing, bearings, end caps, and feedback components. A frameless motor removes all redundant mechanical structures and retains only the electromagnetic conversion core. The rotor becomes a direct part of the load shaft, while the stator is integrated into the machine structure through bonding, locking, or potting.

The HATF Harmonic Servo Rotary Actuators support harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, with rated torque from 4 N·m to 1200 N·m. They feature multi-turn absolute encoders with Tamagawa protocol: single-turn 17-bit / multi-turn 16-bit, or single-turn 23-bit / multi-turn 16-bit. Dual-encoder configurations are also available.Based on the HAS solid model, the HATF actuators add an integrated flange, allowing mounting when end-face installation is not possible. This design provides better support for axial and radial loads, while enhancing vibration and impact resistance.