Harmonic Drive SHA, SHA CG, SHA SG, SHA32A, SHA40A Series Manual

ISO14001

(Hotaka plant)

ISO9001

AC Servo Actuator

SHA SG and CG series manual

Introduction

Thank you for purchasing our SHA series AC Servo Actuator.

• Improper handling or use of this product may result in an accident or reduced life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years to come.

• Product specifications are subject to change without notice.

• Keep this manual in a convenient location and refer to it as necessary when

operating or maintaining the actuator.

• The end user of the actuator should have a copy of this manual.

SAFETY GUIDE

Indicates a potentiall y hazardous situation, which, if not avoided, could result

Indicates a potentially hazardous situation, which, if not avoided, may result in Indicates what should b e performed or avoided to prevent non-opera tion or

Space equipment

Apparatus or devices used in special environments

WARNING

CAUTION

SAFETY GUIDE

To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this manual carefully. It is im portant to fully understand the information pro vided herein before using the actuator.

NOTATION

Important safety information you must note is provided herein. Be sure to observe these instructions.

in death or serious personal injury.

minor or moderate personal injury and/or damage to the equipment.

LIMIT ATION OF APPLICATIONS

The equipment listed in this document may not be used for the applications listed below:

・

・Automobile, automotive parts ・Aircraft, aeronautic equipment ・Amusement equipment, sport equipment, game machines ・Nuclear equipment ・Machine or devices acting directly on the human body ・Household apparatus ・Instruments or devices to transport or carry people ・Vacuum equipment

・

If the above list includes your intended application, please consult us.

malfunction of the product or negative effects on its performance or function.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to malfunction or faulty operation.

3

SAFETY GUIDE

CAUTION

WARNING

SAFETY NOTE

ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR

• PRECAUTIONS FOR ACTUATORS AT THE APPLICATION DESIGN PHASE

Always use under followings conditions.

The actuator is designed to be used indoors. Observe the following conditions: ・ Ambient temperature: 0℃ to 40℃ ・ Ambient humidity: 20% to 80%RH (Non-condensation) ・ Vibration: Max 25 m/s2 ・ No contamination by water, oil ・ No corrosive or explosive gas

Follow the exact instructions in the related manuals to install

the actuator in the equipment.

・ Ensure precise alignment of the actuator shaft center and the

corresponding center in the application.

・ Failure to observe this caution ma y lead to vi brati on, r e s ulting in damage of

output elements.

• PRECAUTIONS FOR ACTUATORS IN OPERATION

Comply with the toque limits for the actuator.

・ Be aware, that if by accident, the arm attached to the output elem ent hits a

solid object, the output element may become uncontrollable.

Never connect cables directly to a power supply socket.

・ Each actuator must be operated with a proper driver. ・ Failure to observe this caution may lead to injury, fire or damage of the

actuator.

Do not apply impacts and shocks

・ The actuator directly connects with the encoder so do not use a hammer

during installation.

・ Failure to observe this caution could damage the enc oder and may cause

uncontrollable operation.

Avoid handling of actuators by cables.

・ Failure to observe this caution may damage the wiring, causing

uncontrollable or faulty operation.

4

ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER

CAUTION

WARNING

 CAUTIONS RELATED TO THE DESIGN

Always use drivers under followings conditions.

The driver generates heat. Use under the following conditions while paying

careful attention to the heat radiation. ・ Mount in a vertical position keeping sufficient clearance. ・ 0℃ to 50℃, 95%RH or below (No condensation) ・ No vibration or physical shock ・ No dust, dirt, corrosive or inflammable gas

Use sufficient noise suppressing means and safe grounding.

A ny n ois e generated on a signa l wire will cause vibration or im proper motion.

Conform to the following conditions. ・ Keep signal and power leads separated. ・ Keep leads as short as possible. ・ Ground act uator and dri ver at on e sin gle po int, m inimum gr ound resis tance

class: D (less than 100 ohms)

・ Do not use a power line filter in the motor circuit.

Pay attention to negative torque by inverse load.

・ Inverse load may cause damages of drivers. ・ Please cons ult our sales office, if you intent to appl y products for inverse

load.

Use a fast-response type ground-fault detector designed for

PWM inverters.

Do not use a time-delay-type ground-fault detector.

Safety measures are essential to prevent accidents resulting

in death, injury or damage of the equipment due to

malfunction or faulty operation.

SAFETY GUIDE

 CAUTIONS FO R USAGE

Never change wiring while power is active.

Make sure of power non-active before servicing the products. Failure to

observe this caution may result in electric shock or personal injury.

Do not touch terminals or inspect products at least 5

minutes after turning OFF power.

・ Otherwise residual electric charges may result in electric shock. ・ Make installation of products not easy to touch their inner electric

components.

5

SAFETY GUIDE

CAUTION

Do not make a voltage resistance test.

・ Failure to observe this caution may result in damage of the control unit. ・ Please consult our sales office, if you intent to use a voltage resistance

Do not operate control units by means of power ON/OFF

・ Start/stop operation should be performed via input signals. ・ Failure to observe this caution may result in deterioration of electronic

DISPOSAL

All products or parts should be disposed of as industrial

Since the case or the box of drivers ha ve a material indication, classif y parts

test.

switching.

parts.

waste.

and dispose them separately.

6

1 Overview of the SHA series

eration and

9

1

2

3

4

5

6

7

8

9

10

11

付

Outline

.

Model

Item

SHA20A

51

81

101

121

161

(1) Output at point A

W

99

109

106

86

(2) Voltage at point A

V

113

117

119

122

(3) Allowable

current

(4) Speed at point A

rpm

44

30

24

21

17

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

Model

SHA25A

(Motor input voltage 100V)

51

81

101

121

161

11

51

81

101

121

161

(1) Output at point A

W

165

188

190

178

127

133

175

203

207

178

127

(2) Voltage at point A

V

61

64

65

64

62

101

115

122

125

120

(3) Allowable

current

(4) Speed at point A

rpm

45

31

25

21

15

141

41

29

24.5

21

15

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

Model

Item

SHA32A

SHA40A

11

51

81

101

121

161

51

81

101

121

161

(1) Output at point A

W

240

328

369

373

308

233

487

564

570

560

480

(2) Voltage at point A

V

97

110

114

118

116

115

109

115

116

122

(3) Allowable

current

(4) Speed at point A

rpm

115

34

23

20

16.5

12.5

29

20.5

16.5

14

12

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

Model

Item

SHA58A

SHA65A

81

101

121

161

81

101

121

161

(1) Output at point A

W

897

948

863

731

964

963

958

802

(2) Voltage at point A

V

99

101

107

92

96

100

(3) Allowable

current

(4) Speed at point A

rpm

12

10

8.5

7.2

10 8 7.4

6.2

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

SG/HP type

1-1 Overview

Item

continuous

A

2.1 2.0 2.0 1.9 1.6

rms

Hz 187 203 202 212 228

℃ 40

－

SHA25A (Motor input voltage 200V)

A

4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.9 2.6 2.1

rms

Hz 191 209 210 212 201 129 174 196 206 212 201

℃

－

40

continuous

A

6.0 6.0 6.0 5.7 5.0 4.1 9.0 9.0 9.0 8.8 7.2

rms

Hz 105 145 155 168 166 168 123 138 139 141 161

℃

－

40

continuous

A

17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3

rms

Hz 130 135 137 155 108 108 119 133

℃

－

40

10

1-1 Overview

Outline

Model

Item

SHA20A

50

80

100

120

160

(1) Output at point A

W

97

108

106

85

(2) Voltage at point A

V

112

116

119

122

(3) Allowable

current

(4) Speed at point A

rpm

44

29.5

24

21

17

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

Model

SHA25A(Motor input voltage

100V)

SHA25A（(Motor input

voltage 200V)

50

80

100

120

160

50

80

100

120

160

(1) Output at point A

W

167

191

192

174

127

177

201

204

174

127

(2) Voltage at point A

V

62

65

63

61

115

121

123

119

(3) Allowable

current

(4) Speed at point A

rpm

47

32

25.5

20.5

15

42

29

24

20.5

15

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

Model

Item

SHA32A

SHA40A

50

80

100

120

160

50

80

100

120

160

(1) Output at point A

W

321

372

373

308

233

493

558

568

488

(2) Voltage at point A

V

109

114

117

116

115

109

114

115

116

123

(3) Allowable

current

(4) Speed at point A

rpm

34

23.5

20

16.5

12.5

30

20.5

16.6

14.2

12.2

(5) Frequency at

point A

(6) Allowable range

temperature

(7) Number of phase

3

CG type

Item

continuous

A

2.1 2.1 2.1 2.0 1.7

rms

Hz 183 197 200 210 227

℃

－

A

4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.6 2.1

rms

Hz 196 213 213 205 200 175 193 200 205 200

℃

－

40

continuous

A

6.0 6.0 5.7 5.0 4.1 9.0 9.0 9.0 8.8 7.2

rms

Hz 142 157 167 165 167 125 137 138 142 163

℃

－

40

11

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Chapter 1

Overview

This chapter explains the features, functions and specifications of the actuator.

1-1 Overview ············································································· 13 1-2 Model ················································································· 14 1-3 Drivers and extension cables ··················································· 15 1-4 Specifications ······································································· 16 1-5 Motor shaft brake ·································································· 25 1-6 External dimensions ······························································ 28 1-7 Mechanical accuracy ····························································· 40 1-8 Position al ac cur acy ······························································· 42 1-9

Encoder specifications (Absolute encoder)

1-10 Output Stiffness ································································· 46 1-11 Direction of rotation ····························································· 50 1-12 Shock resistance ································································ 51 1-13 Vibration resistance ···························································· 52 1-14 Operable range ·································································· 53 1-15 Cable specifications ···························································· 68

············································· 44

1-1 Overview

12

1-1 Overview

Outline

1-1 Overview

The SHA series of AC Servo Actuators provide high torque and high accuracy rotary motion. These AC Servo Actuators are each composed of a Harmonic Drive® speed reducer for precise control and a flat, high performance AC servo motor with an integral absolute multi-turn encoder. The SHA series AC Servo Actuators all feature a large hollow shaft through the axis of rotation.

There are 3 types of speed reducers: SG with SHG series incorporated, HP with HPF series incorporated, and CG with the CSG series incorporated. They are an advanced version of current FHA series AC Servo Actuators having a flat, hollow structure.

One key feature of the SHA actuators is their compact size. The outside diameter has been minimized, providing a maximum torque/volume ratio which is approximately double that of conventional FHA actuators. A through hole is provided in the center of the actuator, through which wiring, air lines, laser beams or concentric shafts may be passed.

The HA-800 series driver is a dedicated family of servo drive units for position/speed control, developed exclusively for driving SHA series actuators. The small, multi-functional drivers control the SHA series actuators' operations with great accuracy and precision. Additionally, the REL driver series may be used, which provides interface to many network field buses.

◆ Improved Torque Density High-torque SHG or CSG series Harmonic Drive® speed reducers are incorporated into the actuator for precise control and

the outer diameter of the actuator has been reduced by 20% compared to our conventional products. As a result, the maximum torque/volume ratio has approximately doubled compared to our previous actuator designs. Based on maximum torque, you can select a model which is one size smaller. Also, the output torque is much higher than direct drive motors of similar volume/weight. This is another reason why the SHA series has an outstanding performance advantage.

◆ Expanded product lineup 6 models are available for SG, accommodating high torque up to 3,400 Nm. The SHA line als o inc lud es m ode ls with reduction

ratios of 51 to 161. CG series has 4 fra me sizes available with 5 reduction ratios of 50:1 to 160:1.

◆ Modular design The components of the SHA series, such as speed reducers, output shaft bearing, motor, brake and encoder, are arranged

based on a modular design. We can also custom-design a model to meet your specific requirements. Please contact your HDLLC sales representative for details.

◆ Standar d 17-bit mag netic absolute encoder The newly developed AC servo motors are equipped with our original, highly reliable 17-bit magnetic* absolute encoder with

safety functions. The serial communication reduces wiring and provides not only a multi-turn encoder, which is a must-have feature on actuators with speed reducers, but it also has an internal backup to retain absolute positions even when the encoder cable is disconnected for short periods of time.

The encoder circuitry also constantly compares two separate sets of encoder signals. If any abnormality is detected, the encoder's built-in failsafe function outputs an alarm signal to the host system.

*SHA 20 comes with an optical encoder.

◆ Support for network control s By using a dedicated HA-800 series driver, you can control your actuator on a MECHATROLINK-II or CC-Link network. The

REL series drivers support EtherCat, CANOpen, and Dev ice N et.

◆ For high speeds Also supports high speeds in combination with the HPF hollow shaft planetary speed reducer.

13

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA

32 A 101

SG － B 12 A 200 －

10

S17b

A － C L －

SP

(1)

(2)

(3)

(4)

(5) －

(6)

(7)

(8)

(9) －

(10)

(11)

(12) －

(13)

(14) －

(15)

A

Size: 58, 65 (SG only)

08

Size: 20

B

With brake

(10) Encoder format

With standard connector (for extension cables)

Output shaft single revolution absolute model (CG only)

Blank

Standard product

1-2 Model

Model numbers for the SHA series actuators and how to interpret them are explained below. Examples of standard models

(1) Model: SHA series actuator (2) Size: SG: 20, 25, 32, 40, 58, 65

(3) Version: A: Standard, Y: Yaskawa compatible, M: Mitsubishi compatible, P: Panasonic compatible (4) Reduction ratio (R:1)

Reduction ratio 11 is for the HPF hollow shaft planetary (Size 25, 32) Reduction ratios 50 and higher are for the HarmonicDrive

(5) Gearhead

(6) Motor version symbol

(7) Motor size

(8) Brake

(9) Motor input voltage

:

CG: 20, 25, 32, 40 HP: 25, 32

HPF SHG CSG

51 51:1 50 50:1 81 81:1 80 80:1

11 11:1

HP HPF hollow shaft planetary SG HarmonicDrive® SHG series CG HarmonicDrive® CSG series

B Size: 25, 32, 40 C Size: 20

09 Size: 25 12 Size: 32 15 Size: 40 21 Size: 58, 65 (SG only)

A Without brake

100 100V (Size 25 only) 200 200V

LV

101 101:1 100 100:1 121 121:1 120 120:1 161 161:1 160 160:1

48V DC to 90V DC (Size 20, 25,32)

®

gears

10 A-Format (2.5Mbps, 1 to 1 connection) 00 Incremental Encoder 14 Panasonic Format 16 Mitsubishi Format (not available in size 20) 17 Yaskawa Format (not available in size 20)

(11) Encoder type, resolution

S17b

D250 D250: Incremental encoder (size 25, 32, and 40)

(12) Encoder phase angle: Phase difference between

induced voltage in motor phase U and absolute origin

A 0 degree B 30 Dgree

(13) Connector specification

C N With Pigtails

(14) Option symbol

L With near origin and end limit sensors Y Side exiting cable

V With mounting stand (CG only) S

(Please contact us for option-compatible models.) (15) Special specification

SP____ Special specification code

17-bit absolute encoder, 131,072 pulses/revolution (Nikon-A format)

1-2 Model

14

1-3 Drivers and extension cables

Outline

HA-800A-6 D/E -

200

HA-800B-6D/E -

200

HA-800C-6D/E -

200

HA-800□-6D/E：

TMC

Encoder

cable

1-3 Drivers and ext ension cables

The proper combination of SHA actuators, drivers, and extension cables are as follows:

SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A

REL Servo Drive

HA-800 Standard

I/O command type

REL-230-18 REL-230-18

HA-800A-

3D/E -200

3D/E-200

（HA-800A-

6D/E -100）

REL230-36

REL 230-40

HA-800A6D/E -200

200

or

HA-800A-24D/E -

HA-800A-

24D/E -200

HA-800A-

24D/E -

200

HA-800

MECHATROLINK

HA-800 CC-Link

Extension

cables

(option)

Motor

cable

HA-800B-

3D/E -200

HA-800C3D/E -200

HA-800B3D/E -200

（HA-800B-

6D/E -100）

HA-800C3D/E -200

（HA-800C-

6D/E -100）

EWD-MB**-A06-TN3

(Driver side connector

supplied separately)

EWD-S**-A08-3M14 EWD-S**-D10-3M14

HA-800B6D/E -200

HA-800C6D/E -200

200

or

HA-800B-24D/E -

200

or

HA-800C-24D/E -

EWD-MB**-A06-

TN3

HA-800□-24D/E：

EWD-MB**-A06-

HA-800B-

24D/E -200

HA-800C-

24D/E -200

EWD-MB**-D09-TMC

** in the extension cable model indicates the cable length: 03 = 3m, 05 = 5m, 10 = 10m

The models shown in parenthesis are those with 100V motor input voltage combinations.

HA-800B-

24D/E -

200

HA-800C-

24D/E -

200

15

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Model

Item

SHA20A

51

81

101

121

161

REL-230-18

HA-800□-3D/E-200

Nm

73

96

107

113

120

kgf･m

7.4

9.8

10.9

11.5

12.2

Allowable continuous

torque

Nm

21

35

43

48

kgf･m

2.1

3.6

4.4

4.9

Max. rotational speed*1

rpm

117.6

74.1

59.4

49.6

37.3

Nm/A

16.5

27

33

40

53

kgf･m/A

1.7

2.7

3.4

4.1

5.4

Max. current*1

A

rms

6.0

4.9

4.5

4.0

3.4

Allowable continuous

current

EMF constant*3

V/(rpm)

1.9

3.0

3.7

4.5

5.9

Phase resistance

（20℃）

Ω

Phase inductance

mH

2.5

(without brake)

GD2/4

kg･m2

0.23

0.58

0.91

1.3

2.3

J

kgf･cm･s2

2.4

6.0

9.3

13

24

GD2/4

kg･m2

0.26

0.65

1.0

1.4

2.6

J

kgf･cm･s2

2.6

6.6

10

15

26

Reduction ratio

51:1

81:1

101:1

121:1

161:1

moment load

Nm

187

kgf･m

19.1

Nm/rad

25.2×104

kgf･m/arc min

7.5

One-way positional

accuracy

Encoder type

Absolute encoder

Single motor revolution

Encoder resolution

Motor multi revolution

counter

Output resolution

Pulse/rev

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

Mass

(without brake)

Mass (with brake)

kg

2.1

Environmental conditions

Operating temper ature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: les s than 1,000 m above sea level

Motor insulation

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Insulation cl ass: A

Mounting direction

Can be installed in any di rection.

Protection structure

Totally enclosed self-cooled type (IP54)

1-4 Specifications

SG type

Servo Drive

Max. torque*1

*1*2

Torque constant*1

A

2.1 2.0 2.0 1.9 1.6

*1*2

rms

1-4 Specifications

Inertia moment

(with brake)

Moment stiffness

Permissible

arc-sec

kg 2.0

60 50 50 50 50

Operating humidity/storage humidity: 20 to 80%RH (no condensation) Resistance to vibr ation: 25 m/s 300 m/s No dust, no metal powder, no corrosive gas, no inflammable gas , no oil mist To be used indoors, no direct sunlight

2 *4

1.4

217（131,072）

216（65,536）

2

(frequenc y: 10 to 400Hz)/Shock resistance:

Dielectric strength: AC1,500V/1 min

The table shows typical output values of actuators. *1: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *2: Value after temperature rise and saturation when the 320 x 320 x 16 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

16

1-4 Specifications

Outline

SHA25A

(Motor input voltage 100V)

51

81

101

121

161

11

51

81

101

121

161

REL-230-18

HA-800□-3D/E-200

Nm

127

178

204

217

229

26

127

178

204

217

229

kgf･m

13

18.2

20.8

22.1

23.4

2.7

13

18.2

20.8

22.1

23.4

Allowable

torque

Nm

35

58

73

81

9.0

41

67

81

Max. rotational

speed*1

Nm/A

rms

11.1

17.9

22

27

36

4.2

19

31

39

46

62

kgf･m/A

1.1

1.8

2.3

2.7

3.6

0.43

2.0

3.2

4.0

4.7

6.3

Max. current*1

A

rms

14.9

13.0

12.1

10.9

9.0

8.9

8.6

7.5

7.0

6.3

5.2

Allowable current

EMF constant*3

V/(rpm)

1.3

2.0

2.5

3.0

4.0

0.47

2.2

3.5

4.3

5.2

6.9

Phase resistance

（20℃）

Phase inductance

mH

1.0

3

GD2/4

kg･m2

0.56

1.4

2.2

3.2

5.6

0.029

0.56

1.4

2.2

3.2

5.6

kgf･cm･

s2

GD2/4

kg･m2

0.66

1.7

2.6

3.7

6.6

0.034

0.66

1.7

2.6

3.7

6.6

kgf･cm･

s2

Reduction ratio

1:51

1:81

1:101

1:121

1:161

1:11

1:51

1:81

1:101

1:121

1:161

Permissible

moment load

Nm

258

410

258

kgf･m

26.3

41.8

26.3

37.9

x 104

kgf･

min

One-way positional

accuracy

Encoder type

Magnetic absol ute encoder

Single motor revolution

Encoder resolution

Motor multi revolution counter

2

16

65,536）

10,61

832

Mass

(without brake)

Mass (with brake)

kg

3.1

5.1

3.1

Environmental conditions

Operating temper ature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: les s than 1,000 m above sea level

Motor insulation

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Insulation cl ass: A

Mounting direction

Can be installed in any direction.

Protection structure

Totally enclosed self-cooled type (IP54)

SG/HP type

Item

Model

SHA25A (Motor input voltage 200V)

Servo Drive

Max. torque*1

continuous

*1*2

Torque constant*1

continuous

*1*2

Inertia moment (without brake)

Inertia moment

(with brake)

REL-230-18

HA-800□-6D/E-100

kgf･m

rpm

A

rms

Ω

J

3.6 5.9 7.4 8.2 8.2 0.92 4.2 6.8 8.2 8.2 8.2

94.1 59.3 47.5 39.7 29.8 509.1 109.8 69.1 55.4 46.3 34.8

4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.9 2.6 2.1

0.4 1.2

5.7 14 22 32 57 0.30 5.7 14 22 32 57

6.7 17 26 38 67 0.35 6.7 17 26 38 67

REL-230-36

Nm/rad

Moment stiffness

m/arc

50 40 40 40 40 120 50 40 40 40 40

6,684,

672

6,

Output resolution

arc-sec

Pulse/rev

kg

Operating humidity/storage humidity: 20 to 80%RH (no condensation) Resistance to vibration: 25 m/s No dust, no metal powder, no corrosive gas, no inflammable gas , no oil mist To be used indoors, no direct sunlight

Dielectric strength: AC1,500V/1 min

The table shows typical output values of actuators. *1: When combined with a HA-800 driver. *2: Value after temperature rise and saturation when the 350 x 350 x 18 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditio ns, ref er to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

17

39.2 x 104

11.6 11.3 11.6

217（131,072）

（

13,238,

272

15,859,

712

21,102,

592

1,441,

792

6,684,

672

10,616,

832

2.95 5.0 2.95

2

(

frequency: 10 to 400Hz

)/Shock r esistance: 300 m/s

39.2 x 104

13,238,

272

15,859,

712

2 *4

21,102,

592

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SG/HP type

Model

Item

SHA32A

11

51

81

101

121

161

Nm

62

281

395

433

459

484

kgf･m

6.3

28.7

40.3

44.2

46.8

49.4

Allowable

torque

Nm

20

92

153

178

Max. rotational

speed*1

Nm/A

rms

4.5

21

33

42

50

66

kgf

･

m/A

rms

Max. current*1

A

rms

19

17.3

15.2

13.5

12.2

9.9

Allowable current

EMF constant*3

V/(rpm)

0.51

2.3

3.7

4.7

5.6

7.4

Phase resistance

（20℃）

Phase inductance

mH

1.4

Inertia

brake)

GD2/4

kg･m2

0.091

2.0

5.1

8.0

11

20

･

Inertia

brake)

GD2/4

kg･m2

0.11

2.3

5.9

9.2

13

23

･

Reduction ratio

1:11

1:51

1:81

1:101

1:121

1:161

Permissible

moment load

Nm

932

580

kgf･m

95

59.1

Nm/rad

86.1 x 104

100 x 104

kgf･

min

Encoder type

Magnetic absol ute encoder

Single motor

Encoder resolution

Motor multi

revolution counter

Output resolution

Pulse/rev

1,441,792

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

Mass

(without brake)

Mass (with brake)

kg

9.7

6.2

Environmental conditions

Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: less than 1,000 m above sea level

Motor insulation

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Insulation class: A

Mounting direction

Can be installed in any direction.

Protection structure

Totally enclosed self-cooled type (IP54)

1-4 Specifications

Servo Drive

Max. torque*1

continuous

Torque constant*1

continuous

moment (without

moment

(with

*1*2

J

REL-230-18, REL-230-36

HA-800□-6D/E-200

kgf･m

rpm 436.4 94.1 59.3 47.5 39.7 29.8

A

6.0 6.0 6.0 5.7 5.0 4.1

rms

Ω 0.33

kgf

cm･s2

kgf

cm･s2

2.1 9.4 15.6 18.2 18.2 18.2

0.46 2.1 3.4 4.2 5.1 6.8

0.93 21 52 81 117 207

1.1 24 60 94 135 238

Moment stiffness

One-way positional

accuracy

revolution

m/arc

arc-sec 120 50 40 40 40 40

217（131,072）

216（65,536）

kg 9.4 5.9

25.7 29.6

Operating humidity/storage humidity: 20 to 80%RH (no cond en sation) Resistance to vibration: 25 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight

Dielectric strength: AC1,500V/1 min

The table shows typical output values of actuators. *1: When combined with a HA-800 driver. *2: Value after temperature rise and saturation when the 400 x 400 x 20 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditio ns, ref er to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P 52).

2

(frequency: 10 to 400Hz)/Shock resistanc e: 300 m/s

2 *4

18

1-4 Specifications

Outline

Model

Item

SHA40A

51

81

101

121

161

51

81

101

121

161

Nm

340

560

686

802

841

523

675

738

802

841

kgf･m

34.7

57.1

70

81.8

85.8

53.4

68.9

75.3

81.8

85.8

Allowable continuous

torque

Nm

94

158

198

237

317

160

263

330

382

kgf･m

9.6

16.1

20.2

24.2

32.3

16.3

26.8

33.7

39

Max. rotational speed*2

rpm

78.4

49.4

39.6

33.1

24.8

78.4

49.4

39.6

33.1

24.8

Nm/A

rms

25

41

51

61

81

25

41

51

61

81

kgf

･

m/A

rms

Max. current*2

A

rms

18

17.9

14.6

26.7

21.8

19.4

17.9

14.6

Allowable continuous

current

EMF constant*4

V/(rpm)

2.9

4.6

5.7

6.8

9.1

2.9

4.6

5.7

6.8

9.1

Phase resistance

（20℃）

Phase inductance

mH

1.2

GD2/4

kg･m2

5.0

13

20

28

50

5.0

13

20

28

50

kgf･cm･

s2

GD2/4

kg･m2

6.1

15

24

34

61

6.1

15

24

34

61

kgf･cm･

s2

Reduction ratio

1:51

1:81

1:101

1:121

1:161

1:51

1:81

1:101

1:121

1:161

Permissible

moment load

Nm

849

kgf･m

86.6

Nm/rad

179 x 104

kgf･

min

One-way positional

accuracy

Encoder type

Magnetic absol ute encoder

Single motor revolution

Encoder resolution

Motor multi revolution counter

2

16

65,536）

Mass

(without brake)

Mass (with brake)

kg

10.7

Environmental conditions

Operating temper ature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: les s than 1,000 m above sea level

Motor insulation

Insulation resistance: 100MΩ or more ( by D C 500V insulation tester) Insulation cl ass: A

Mounting direction

Can be installed in any di rection.

Protection structure

Totally enclosed self-cooled type (IP54)

SG type

Servo Drive HA-800□-6D/E-200*1

Max. torque*2

*2*3

Torque constant*2

*2*3

Inertia moment (without brake)

Inertia moment

(with brake)

REL-230-36, REL-230-40

HA-800□-24D/E-200

2.6 4.1 5.2 6.2 8.2 2.6 4.1 5.2 6.2 8.2

A

6.0 6.0 6.0 6.0 6.0 9.0 9.0 9.0 8.8 7.2

rms

Ω 0.19

J

51 130 202 290 513 51 130 202 290 513

62 157 244 350 619 62 157 244 350 619

Moment stiffness

m/arc

53.2

arc-sec 50 40 40 40 40 50 40 40 40 40

217（131,072）

（

Output resolution

Pulse/rev

6,684,

672

10,616,

832

13,238,

272

15,859,

712

21,102,

592

6,684,

672

10,616,

832

13,238

,272

15,859,

712

21,102,

592

kg 9.9

Operating humidity/storage humidity: 20 to 80%RH (no condensati on) Resistance to vibration: 25 m/s

2

(

frequency: 10 to 400Hz

)/Shock r esistance: 300 m/s

2 *5

No dust, no metal powder, no corrosive gas, no inflammable gas , no oil mist To be used indoors, no direct sunlight

Dielectric strength: AC1,500V/1 min

The table shows typical output values of actuators. *1: If a HA-800□-6D/E driver is combined with a SHA40A actuator, the maximum torque and allowable continuous torque are limited. *2:

When combined with HA-800 driver.

*3: Value after temperature rise and saturation when the 500 x 500 x 25 [mm] aluminum radiation plate is installed. *4: Value of phase induced voltage constant multiplied by 3. *5: For testing conditio ns, ref er to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P 52).

19

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SG type

Model

Item

SHA58A

SHA65A

81

101

121

161

81

101

121

161

Servo Drive

HA-800□-24D/E-200

Nm

1924

2067

2236

2392

2400

2990

3263

3419

kgf･m

196

211

228

244

245

305

333

349

Allowable torque

Nm

714

905

969

921

1149

1236

Max. rotational

speed*1

Nm/A

rms

54

68

81

108

54

68

81

108

kgf

･

m/A

rms

Max. current*1

A

rms

45

39

36

30

55

51

41

Allowable

current

EMF constant*3

V/(rpm)

6.1

7.6

9.1

12.1

6.1

7.6

9.1

12.1

Phase resistance

（20℃）

Phase inductance

mH

0.29

Inertia

brake)

GD2/4

kg･m2

96

149

214

379

110

171

245

433

･

Inertia

brake)

GD2/4

kg･m2

106

165

237

420

120

187

268

475

･

Reduction ratio

1:81

1:101

1:121

1:161

1:81

1:101

1:121

1:161

Permissible

moment load

Nm

2180

2740

kgf･m

222

280

Nm/rad

531 x 104

741 x 104

kgf･

min

One-way positional

accuracy

Encoder type

Magnetic absol ute encoder

Single motor revolution

Encoder resolution

Output resolution

Pulse/rev

Mass

(without brake)

Mass (with brake)

kg

32

40

Environmental conditions

Operating temper ature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: les s than 1,000 m above sea level

Motor insulation

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Insulation cl ass: A

Mounting direction

Can be installed in any di rection.

Protection structure

Totally enclosed self-cooled type (IP54)

Max. torque*1

1-4 Specifications

continuous

Torque constant*1

continuous

moment (without

moment

(with

Moment stiffness

*1*2

J

kgf･m 73 92 99 99 94 117 126 126

rpm

A

rms

Ω

kgf

cm･s2

kgf

cm･s2

m/arc

37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4

5.5 6.9 8.3 11.0 5.5 6.9 8.3 11.0

17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3

0.028 0.028

980 1520 2180 3870 1120 1740 2500 4420

1090 1690 2420 4290 1230 1910 2740 4850

158 220

arc-sec

kg

The table shows typical output values of actuators. *1: When combined with HA-8 00 driver. *2: Value after temperature rise and saturation when the 650 x 650 x 30 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditio ns, ref er to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P 52).

40 40 40 40 40 40 40 40

10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592

Operating humidity/storage humidity: 20 to 80%RH (no condensati on) Resistance to vibr ation: 25 m/s

2 *4

m/s No dust, no metal powder, no corrosive gas, no inflammable gas , no oil mist To be used indoors, no direct sunlight

Dielectric strength: AC1,500V/1 min

217（131,072）

29.5 37.5

2

(frequency: 10 to 400Hz)/Shock res istance: 300

20

1-4 Specifications

Outline

Actuator Model

Item

SHA20A

50

80

100

120

160

REL-230-18

HA-800□-3D/E-200

Nm

73

96

107

113

120

kgf･m

7.4

9.8

10.9

11.5

12.2

Allowable continuous

torque

Nm

21

35

43

48

kgf･m

2.1

3.6

4.4

4.9

Max. rotational speed*1

rpm

120

75

60

50

37.5

Nm/A

rms

16

26

33

39

53

kgf･m/A

rms

1.7

2.7

3.4

4.0

5.4

Max. current*1

A

rms

6.1

5.0

4.6

4.1

3.4

Allowable continuous

current

EMF constant*3

V/(rpm)

Phase resistance

（20℃）

Ω

Phase inductance

mH

2.5

Inertia

brake)

GD2/4

kg･m2

0.21

0.53

0.82

1.2

2.1

Inertia

brake)

GD2/4

kg･m2

0.23

0.60

0.94

1.3

2.4

Reduction ratio

1:50

1:80

1:100

1:120

1:160

Permissible moment

load

Nm

187

kgf･m

19.1

Nm/rad

25.2×104

kgf･m/arc

min

One-way positional

accuracy

Repeatability

arc-sec

5

Bi-directional

repeatability

Encoder type

Magnetic absolut e encoder

Single motor revolution

Encoder resolution

Motor multi revolution counter

2

16

65,536）

Output resolution

Pulse/rev

6,553,600

10,485,760

13,107200

15,728,640

20,971,520

Mass

(without brake)

Mass (with brake)

kg

2.7

Environmental conditions

Operating temper ature: 0 to 40℃/Storage temperature: -20 to 60℃

Altitude: les s than 1,000 m above sea level

Motor insulation

Mounting direction

Can be installed in any di rection

Protection structure

Totally enclosed self-cooled type (IP54)

CG type

Servo Drive

Max. torque*1

*1*2

Torque constant*1

*1*2

moment (without

moment

(with

A

2.1 2.1 2.1 2.0 1.7

rms

1.8 2.9 3.7 4.4 5.9

1.4

J kgf･cm･s2 2.1 5.4 8.0 12 22

J kgf･cm･s2 2.4 6.1 9.6 14 24

Moment stiffness

arc-sec 60 50 50 50 50

arc-sec 75 30 30 30 30

kg 2.6

Operating humidity/storage humidity: 20 to 80%RH (no condensati on) Resistance to vibrat ion: 25 m/s 300 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Dielectric strength: AC1,500V/1 min Insulation cl ass: A

The table shows typical output values of actuators. *1: Typical characteristics when combined with our HA-800 driver. *2: Value after temperature rise and saturation when the 350 x 350 x 18 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

21

2 *4

7.5

±

217（131,072）

（

2

(frequency: 10 to 400H z)/Shock resistance:

1

2

3

4

5

6

7

8

9

10

11

付

Outline

CG type

Item

SHA25A(Motor input voltage 100V)

SHA25A(Motor input voltage 200V)

50

80

100

120

160

50

80

100

120

160

REL-230-18

HA-800□-6D/E-100*1

REL-230-18

HA-800□-3D/E-200

Nm

127

178

204

217

229

127

178

204

217

229

kgf･m

13

18.2

20.8

22.1

23.4

13

18.2

20.8

22.1

23.4

Allowable continuous

torque

Nm

34

57

72

81

40

66

81

kgf･m

3.5

5.8

7.3

8.2

4.1

6.8

8.2

Max. rotational speed*1

rpm

96

60

48

40

30

112

70

56

46.7

35

Nm/A

rms

10.9

17.7

22

27

35

19

31

38

46

61

kgf･

m/A

rms

Allowable continuous

current

EMF constant*3

V/(rpm)

1.2

2.0

2.5

3.0

4.0

2.1

3.4

4.3

5.2

6.9

Phase resistance

（20℃）

Ω

Phase inductance

mH

1.0

3.0

Inertia

brake)

GD2/4

kg･m2

0.50

1.3

2.0

2.9

5.1

0.50

1.3

2.0

2.9

5.1

･

Inertia

(with brake)

GD2/4

kg･m2

0.60

1.5

2.4

3.4

6.1

0.60

1.5

2.4

3.4

6.1

kgf･cm･

s2

Reduction ratio

mH

50:1

80:1

120:1

1:120

160:1

50:1

80:1

120:1

1:120

160:1

Nm

258

kgf･m

26.3

Nm/rad

39.2×104

kgf･m/arc

min

One-way positional

accuracy

Repeatability

arc-sec

5

Bi-directional positional

accuracy

Encoder type

Magnetic absolute encoder

Single motor revolution

Encoder resolution

Motor multi revolution counter

2

16

65,536）

6,553,

600

10,485,

760

13,107,

200

15,728,

640

20,971,

520

6,553,

600

10,485,

760

13,107,

200

15,728,

640

20,971,

520

Mass

(without brake)

Mass (with brake)

kg

4.1

Environmental conditions

Motor insulation

Mounting direction

Can be installed in any direction

Protection structure

Totally enclosed self-cooled type (IP54)

1-4 Specifications

Model

Servo Drive

Max. torque*1

*1*2

Torque constant*1

Max. current*1

*1*2

moment (without

moment

Permissible moment load

Moment stiffness

J

REL-230-36

1.1 1.8 2.3 2.7 3.6 1.9 3.1 3.9 4.7 6.3

A

rms

A

rms

kgf･cm

s2

15.1 13.2 12.2 11.0 9.0 8.7 7.6 7.0 6.3 5.2

4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.6 2.1

0.4 1.2

5.1 13 20 29 52 5.1 13 20 29 52

6.1 16 24 35 62 6.1 16 24 35 62

11.6

REL-230-36

arc-sec

Output resolution

Pulse/rev

kg 3.95

The table shows typical output values of actuators. *1: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *2: Value after temperature rise and saturation when the 350 x 350 x 18 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

50 40 40 40 40 50 40 40 40 40

±

60 25 25 25 25 60 25 25 25 25

217（131,072）

（

Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃ Operating humidity/storage humidity: 20 to 80%RH (no condensation) Resistance to vibration: 25 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than 1,000 m above sea level

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Dielectric strength: AC1,500V/1 min Insulation class: A

2

(frequency: 10 to 400Hz)/Shock resistance: 300 m/s

2 *4

22

1-4 Specifications

Outline

Model

Item

SHA32A

50

80

100

120

160

REL-230-18

HA-800□-6D/E-200

Nm

281

395

433

459

484

kgf･m

28.7

40.3

44.2

46.8

49.4

Allowable continuous

torque

Nm

90

151

178

kgf･m

9.2

15.4

18.2

Max. rotational speed*1

rpm

96

60

48

40

30

Nm/A

rms

20

33

41

49

66

kgf･

m/A

rms

Max. current*1

A

rms

17.7

15.4

13.7

12.2

10

Allowable continuous

current

Ω

Max. current*1

mH

1.4

Inertia

brake)

GD2/4

kg･m2

1.7

4.3

6.7

9.7

17

･

Inertia

brake)

GD2/4

kg･m2

2.0

5.1

7.9

11

20

･

Reduction ratio

50:1

80:1

100:1

120:1

160:1

Nm

580

kgf･m

59.2

Nm/rad

100×104

kgf･

min

One-way positional

accuracy

Repeatability

arc-sec

4

Bi-directional

repeatability

Encoder type

Magnetic absolute encoder

Single motor rev olution

Encoder resolution

Motor multi revolution

counter

Output resolution

Pulse/rev

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

Mass

(without brake)

Mass (with brake)

kg

8.0

Environmental conditions

Motor insulation

Mounting direction

Can be installed in any direction.

Protection structure

Totally enclosed self-cooled type (IP54)

CG type

Servo Drive

REL-230-36

Max. torque*1

*1*2

Torque constant*1

*1*2

A

rms

2.1 3.4 4.2 5.0 6.7

6.0 6.0 5.7 5.0 4.1

EMF constant*3 V/(rpm) 2.3 3.7 4.6 5.5 7.4

Phase resistance（20℃）

moment (without

J

moment

(with

J

0.33

kgf･cm

s2

kgf･cm

s2

17 44 68 99 175

20 52 81 116 207

Permissible moment load

The table shows typical output values of actuators. *1: Typical characteristics when used with HA-800. *2: Value after temperature rise and saturation when the 400 x 400 x 20 [mm] aluminum radiation plate is installed. *3: Value of phase induced voltage constant multiplied by 3. *4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

23

Moment stiffness

m/arc

arc-sec

40 30 30 30 30

60 25 25 25 25

29.6

217（131,072） 216（65,536）

kg 7.7

Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃ Operating humidit y/storage humidity: 20 to 80%RH (no condensation) Resistance to vibration: 25 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than 1,000 m above sea level

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Dielectric strength: AC1,500V/1 min Insulation class: A

2

(frequency: 10 to 400Hz)/Shock resistance: 300 m/s

±

2 *4

1

2

3

4

5

6

7

8

9

10

11

付

Outline

CG type

Model/Ratio

Item

SHA40A

50

80

100

120

160

50

80

100

120

160

REL-230-36, REL-230-40

HA-800□-6D/E-200

REL-230-36, REL-230-40

HA-800□-24D/E-200

Nm

333

548

686

802

841

523

675

738

802

841

kgf･m

34.0

55.9

70.0

81.8

85.8

53.4

68.9

75.3

81.8

85.8

Allowable continuous

torque

Nm

92

156

196

235

315

157

260

327

382

kgf･m

9.4

15.9

20.0

24.0

32.1

16.0

26.5

33.3

39

Nm/A

rms

25

40

50

60

80

25

40

50

60

80

kgf･

m/A

rms

A

Allowable continuous

current

EMF constant

V/(rpm)

2.8

4.5

5.6

6.7

9.0

2.8

4.5

5.6

6.7

9.0

Phase resistance

（20℃）

Phase inductance

mH

1.2

Inertia

brake)

GD2/4

kg･m2

4.8

12

19

27

49

4.8

12

19

27

49

･

Inertia

(with brake)

GD2/4

kg･m2

5.8

15

23

33

59

5.8

15

23

33

59

kgf･cm･

s2

Permissible moment

load

Nm

849

kgf･m

86.6

Nm/rad

179×104

kgf･

min

One-way positional

accuracy

Repeatability

arc-sec

4

Bi-directional

repeatability

Encoder type

Magnetic absolute encoder

Single motor

Encoder resolution

Motor multi revolution

count

6,553,

600

10,485,

760

13,107,

200

15,728,

640

20,971,

520

6,553,

600

10,485,

760

13,107,

200

15,728,

640

20,971,

520

Mass

(without brake)

Mass (with brake)

kg

13.8

Environmental conditions

Altitude: less than 1,000 m above sea level

Motor insulation

Mounting direction

Can be installed in any direction.

Protection structure

Totally enclosed self-cooled type (IP54)

1-4 Specifications

Combined driver

Max. torque*2

*2*3

Max. rotational speed*2 rpm 80 50 40 33.3 25 80 50 40 33.3 25

Torque constant*2

Max. current*1

*1*2

moment (without

moment

Moment stiffness

rms

A

rms

Ω 0.19

kgf･cm

J

s2

m/arc

2.5 4.1 5.1 6.1 8.2 2.5 4.1 5.1 6.1 8.2 18 18 18 17.6 14.3 27.2 22 19.6 18 14.7

6.0 6.0 6.0 6.0 6.0 9.0 9.0 9.0 8.8 7.2

49 124 194 280 497 49 124 194 280 497

59 150 235 338 601 59 150 235 338 601

*1

53.2

arc-sec

revolution

Output resolution

217（131,072）

216（65,536）

Pulse/rev

kg 13.0

The table shows typical output values of actuators. *1: If a HA-800□-6D/E driver is combined with a SHA40A actuator, the maximum torque and allowable continuous torque are limited. *2: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *3: Value after temperature rise and saturation when the 500 x 500 x 25 [mm] aluminum radiation plate is installed. *4: Value of phase induced voltage constant multiplied by 3. *5: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

40 30 30 30 30 40 30 30 30 30

±

50 20 20 20 20 50 20 20 20 20

Operating temperature: 0 to 40℃/Storage temperature: -20 to 60℃ Operating humidity/storage humidity: 20 to 80%RH (no condensation) Resistance to vibration: 25 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight

Insulation resistance: 100MΩ or more (by DC500V insulation tester) Dielectric strength: AC1,500V/1 min Insulation class: A

2

(frequency: 10 to 400Hz)/S hock resistance: 300 m/s

2 *4

24

1-5 Motor shaft brake

Outline

Model

51

81

101

121

161

Dry non-excitation actuation type (without power-

saving control)

Brake excitation

voltage

Current

(at 20℃)

Current

(at 20℃)

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Allowable number

of normal stops*5

Allowable number

stops*6

11

51

81

101

121

161

11

51

81

101

121

161

Brake excitation

voltage

Current

(at 20℃)

Current

(at 20℃)

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Allowable number

of normal stops*5

Allowable number

stops*6

1-5 Motor shaft brake

The brake is used to hold the motor shaft in place when the power is turned off. With smaller sizes (SHA25A, 32A), the actuator's built-in circuit controls the voltage supplied to the brake in order to reduce the power consumption while the brake is actuated. Be sure to use a DC power supply having proper brake excitation voltage and capable of outputting enough current for the brake actuation (release).

Specifications

SG/HP type

Item

Type

V DC24V ± 10% (no polarity)*1

SHA20A

consumption

during suction

consumption

during holding

Holding torqu e*3

Inertia moment*3

(Actuator total)

(with brake)

Mass (with brake)*4 kg 2.1

of emergency

A

0.37

rms

A

Sam e as curre nt consumption during suctio n

rms

Nm 31 49 61 73 97

kgf·m 3.1 5.0 6.2 7.4 9.9

0.26 0.65 1.0 1.4 2.6

2.7 6.6 10 15 26

100,000 times

200 times

Item

Type Dry non-excitation actuation type (with power-saving control)

consumption

during suction

consumption

during holding

Model

V DC24V ± 10% (no polarity)*1

A

0.8*2 0.8*2

rms

A

0.3 0.3

rms

SHA25A SHA32A

Holding torqu e*3

Inertia moment*3

(Actuator total)

(with brake)

Mass (with brake)*4 kg 5.1 3.1 9.7 6.2

of emergency

25

Nm 11 51 81 101 121 161 22 102 162 202 242 322

kgf·m 1.1 5.2 8.3 10 12 16 2.2 10 17 21 25 33

0.034 0.66 1.7 2.6 3.7 6.6 1.7 2.3 5.9 9.2 13 23

0.35 6.7 17 26 38 67 17 24 60 94 135 238

100,000 times

200 times

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SG

Model

Item

SHA40A

SHA58A

51

81

101

121

161

81

101

121

161

Type Dry non-excitation actuation type (without power-saving control)

Brake excitation voltage

V

DC24V ± 10% (no polarity)*1

Current consumption

during suction (at 20℃)

Current consumption

during holding (at 20℃)

Nm

204

324

404

484

644

1220

1520

1820

2420

kgf·m

21

33

41

49

66

124

155

185

246

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Mass (with brake)*4

kg

10.7

32

Allowable number of

normal stops*5

Allowable number of

emergency stops*6

Model

Item

SHA65A

81

101

121

161

Dry non-excitation actuation type (wi tho ut

power-saving control)

Brake excitation voltage

V

DC24V±10% (no polarity)*1

Current consumption

during suction (at 20℃)

Current consumption

during holding (at 20℃)

Same as current consumption during

suction

Nm

1220

1520

1820

2420

kgf·m

124

155

185

246

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Mass (with brake)*4

kg

40

Allowable number of

normal stops*5

Allowable number of

emergency stops*6

Model

50

80

100

120

160

50

80

100

120

160

Dry non-excitation actuation type (without power-

saving control)

Dry non-excitat ion actuation type (with power-

saving control)

Brake excitation

voltage

Current consumption

20℃)

Current consumption

20℃)

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Allowable number of

normal stops*5

Allowable number of

emergency stops*6

Holding torqu e*3

Inertia moment*3

(Actuator total)

(With brake)

Type

A

0.7 0.9

rms

A

Same as current consumption during suct io n

rms

6.1 15 24 34 61 106 165 237 420 62 157 244 350 619 1090 1690 2420 4290

100,000 times 200 times

A

0.9

rms

1-5 Motor shaft brake

A

rms

Holding torqu e*3

Inertia moment*3

(Actuator total)

(With brake)

100,000 times 200 times

120 187 268 475

1230 1910 2740 4850

CG

type

Item

Type

V

during suction (at

during holding (at

Holding torqu e*3

Inertia moment*3

(Actuator total)

(With brake)

Mass (with brake)*4 kg 2.7 4.1

A

0.37 0.8 *2

rms

A

Same as current consum pt io n during suction 0.3

rms

Nm

kgf·m

30 48 60

3.1 4.9 6.1

0.23 0.6 0.94

2.4 6.1 9.6

100,000 times 200 times

SHA20A SHA25A

DC24V±10%(no polarity)*1

72 96 50 80 100 120 160

7.3 9.8 5.1 8.2 10 12 16

1.3 2.4 0.60 1.5 2.4 3.4 6.1 14 24 6.1 16 24 35 62

26

1-5 Motor shaft brake

Outline

Model

50

80

100

120

160

50

80

100

120

160

Dry non-excitation actuation type (with power-

saving control)

Dry non-excitat ion actuation type (without

power-saving control)

Brake excitation

voltage

Current consumption

20℃)

Current consumption

20℃)

(GD2/4)

kg·m2

(J)

kgf·cm·s2

Allowable number of

normal stops*5

Allowable number of

emergency stops*6

WARNING

Item

SHA32A SHA40A

Type

during suction (at

during holding (at

Holding torqu e*3

Inertia moment*3

(Actuator total)

(With brake)

Mass (with brake)*4 kg 8.0 13.8

V DC24V±10%(no polari t y)*1

A

0.8 *2 0.7

rms

A

0.3 Sam e as cur re nt cons um pt io n during suction

rms

Nm 100 160 200 240 320 200 320 400 480 640

kgf·m 10 16 20 24 33 20 33 41 49 65

2.0 5.1 7.9 11 20 5.8 15 23 33 59 20 52 81 116 207 59 150 235 338 601

100,000 times 200 times

*1: Power supply is user’s responsibility. Use a power supply capable of outputting enough current consumption during suction for the brake. *2: The durat i on for current c onsum ption during suction is 0.5 second or less for the power supply of DC24V ± 10%. *3: The values are converted for the output shaft of the actuator. *4: The values present total mass of the actuator. *5: The s ervice tim e for normal holdi ng is assured when the brake activates at motor shaft rotation speed of 150 rpm or less. *6: The s ervice time for emergency stop is assured when the brake activates at motor speed of 3,000 rpm or less provided the load inertia

moment is 3 times of less than that of the actuator.

The motor shaft holding brake cannot be used for deceleration.

Do not use the holding brake more than the allowable number of normal brakings (100,000

times at the motor shaft rotation speed of 150 rpm or less) or allowable number of emergency stops (200 times with the motor shaft rotation speed of 3,000 rpm, provided the load inertia moment is 3 times or less than that of the actuator).

Exceeding the allowable number of normal stops or allowable number of emergency stops

may deteriorate holding torque, and may co nsequently fail to properly serve as a brake.

27

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Note: The dimension toleranc es that are not specified vary depending on the manufacturing method. Pleas e ch eck t he

confirmation drawing or contact us

1-6 External dimensions

 SHA20A-SG

Unit: mm

1-6 External dimensions

for dimension tolerances not shown

28

1-6 External dimensions

Outline

Encoder cable

AWG28 x 3 sets

with shield

Cable outer

diameter

Motor connector

Housing

Pin contact (Motor

Encoder connector

Housing

Tab contact

Motor cable

Cable outer

diameter

4-core

Output rotary unit

Jacking

holes

Note: The dimension toleranc es that are not specified vary depending on the manufacturing method. P leas e chec k t he

confirmation drawing or contact us for dimension tolerances not shown

LipC0.5 chamfering

Depth 7

or less

 SHA20A-CG

Unit: mm

29

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension toleranc

 SHA25A-HP Unit: mm

1-6 External dimensions

es not shown

30

1-6 External dimensions

Outline

Note: The dimension tolerances that are not specifi ed vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

 SHA25A-SG

Unit: mm

31

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Encoder cable

Motor cable

AWG24 x 3 sets + shield

(Cable Outer diameter:φ7.7)

AWG20x4 core

(Cable outer dia

AWG24 x 3 sets + shield

(Cable Outer diameter:φ7.7)

or less

R0.4 or less

Output rotary unit

Encoder connector Motor connector

Housing

Tab contact

Housing

contact

Pin contact Motor

Depth 8

Lip C1 chamfering

(Jacking holes)

R0.4 or less

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us f

SHA25A-CG

Unit: mm

1-6 External dimensions

.:φ5.6)

or dimension tolerances not shown

Motor

32

1-6 External dimensions

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

 SHA32A-HP

Unit: mm

33

1

2

3

4

5

6

7

8

9

10

11

付

Outline

 SHA32A-SG

Note: The dimension tolerances that are not specified vary depending on t he manufacturing m ethod. Please check t he

confirmation drawing or contact us for dimension tolerances not shown

Unit: mm

1-6 External dimensions

34

1-6 External dimensions

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

nfirmation drawing or contact us for dimension tolerances not shown

 SHA32A-CG

Unit: mm

co

35

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

 SHA40A-SG

Unit: mm

1-6 External dimensions

36

1-6 External dimensions

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

Encoder cable

Motor cable

or less

Or

Encoder connector

Housing

Tab contact

Motor connector

Pin contact (Motor

Lip C1 chamfering

Jacking holes AWG24 x 3 sets + shield

(Cable Outer diameter:φ7.7)

AWG16 x 4 core

(Cable outer dia.:φ

Output rotary unit

Deapth 10

 SHA40A-CG

Unit: mm

7.8)

less

37

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Note: The dimension toleranc es that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

 SHA58A-SG

1-6 External dimensions

Unit: mm

38

1-6 External dimensions

Outline

Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the

confirmation drawing or contact us for dimension tolerances not shown

 SHA65A-SG

Unit: mm

39

1-7 Mechanical accurac y

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Accuracy items

SHA20A

SHA25A

SHA32A

SHA40A

SHA58A

SHA65A

0.035

0.020）

0.040

0.020）

2. Output shaft radial run-out

0.030

0.035

0.040

0.045

0.050

3. Parallelism between the output shaft and actuator mounting surface

4. Parallelism between the output shaft and actuator mounting surface

5. Concentricity between the output shaft and actuator mounting diameter

6. Concentricity between the output shaft and actuator mounting diameter

Accuracy items

SHA20A

SHA25A

SHA32A

SHA40A

1. Output shaft surface runout

0.010

2-1. Output sh a ft r a dial run-out (Outside

inlay)

2-2. Output shaft radial run-out (Inside

inlay)

3. Parallelism between the output shaft and actuator mounting surface

4. Parallelism between the output shaft and actuator mounting surface

5. Concentricity between the output shaft and actuator mounting diameter

6. Concentricity between the output shaft and actuator mounting diameter

A 5 ◎ 2 A B 1

A 6 ◎

3

B

4

B

2-1 A B 1 A 6 ◎

4

B

2-2 A 5

◎

CG type

SG/HP type

1-7 Mechanica l accuracy

SHA series mechanical accuracy of the output shaft and mounting flange:

SG/HP type unit: mm

1. Output shaft surface runout 0.030

0.030 0.035 0.040 0.045 0.050 0.050

0.055 0.050 0.055 0.060 0.070 0.070

0.030 0.035 0.040 0.045 0.050 0.050

0.045 0.060 0.065 0.070 0.080 0.080

Note: All values are T.I.R. (Total Indicator Reading). The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer

CG type

Note: All values are T.I.R. (Total Indicator Reading).

unit: mm

0.010 0.010 0.010 0.010

0.015 0.015 0.015 0.015

0.030 0.030 0.035 0.035

0.040 0.040 0.045 0.045

0.050 0.050 0.055 0.060

0.060 0.060 0.065 0.070

（

0.045 0.050 0.050

40

1-7 Mechanical accurac y

Outline

(1)

(2) (3)

(5)

(6)

(4)

The reported values are measured as follows:

1 Output shaft surface runout

The indicator is fixed and measures the axial run-out (T.I.R.) of the outermost circumference of the output shaft for one revolution.

2 Output shaft radial run-out

The indicator is fixed and measures the radial run-out (T.I.R.) of the output shaft for one revolution.

3,4 Concentricity between the output shaft and actuator

mounting diameter

The indicator is mounted on the output shaft and measures the axial run-out (T.I.R.) of the outermost circumference of the mounting surface (on both the output shaft side and opposite side) for one revolution.

5,6 Concentricity between the output shaft and actuator

mounting diameter

The indicator on the output rotary unit measures the radial runout ( maximum runout width) of the fitting par t (both on the outp ut shaft side and op posite side) of th e output rotary unit per revolution.

41

1-8 One-Way Positional accuracy

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Size

Reduction ratio

11:1

120

－－

51:1

60

50

－

81:1 or more

50

40

Size

Reduction ratio

50:1

60

50

40

80:1 or more

50

40

30

1-8 One-Way Positional accuracy

The one-way positioning accuracy is defined as the maximum positional difference between the commanded position and the actual stop position when a series of positioning moves are performed in the same rotation direction. (Refer to JIS B-6201-1987).

The SHA actuator incorporates a Harmonic Drive gear which inherently has high rotational position accuracy. Because of the gearing’s high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (1/ratio) and typically becomes negligible at the output. Therefore most of the error is represented by the transmission error of the Harmonic Drive gear itself.

The one-way positional accuracy is shown in the table below:

SG/HP （Unit: arc-sec）

CG (Unit: arc-sec)

SHA20A SHA 25A SHA32A SHA40A SHA58A SHA65A

－

SHA20A SHA25A SHA32A SHA40A

－

42

1-8 One-Way Positional accuracy

Outline

Model

Reduction ratio

Ratio to full speed

5 ±5 ±4 ±4

Model

Reduction ratio

50:1

75

60

50

80:1 of more

30

25

20

P1

P2

Stop position

X

Repeatability

X/2

P1

P1’

Stop position after forward rotation

X1 X2

P2

P2’

P7’ P7

X7

Repeatability (CG type)

The repeatability is measured by moving to a given theoretical position seven times, each time approaching from the same direction. The actual po sit ion o f the output shaft is mea sur ed each time and repeatability is calculated as the 1/2 of the maximum difference of the seven data points. Measured values are indicated in angles (arc-sec) prefixed with "±"..

CG type (Unit: arc-sec)

SHA20A SHA25A SHA32A SHA40A

±

＊P1～P7：

X：Maximum error

：±

Bi-directional repeatability (CG type)

For the "bi-directional repeatability", the shaft is rotated beforehand in the forward (or reverse) direction and the stop position for that rotation is set as the reference position. An instruction is given to rotate the shaft in the same direction and from the stopped position, the same instruction is given in the reverse (or forward) direction and the difference between the stop position after this rotation and the reference position is measured. The average value from repeating this 7 times in each direction is shown and the maximum value measured at the 4 locations on the output shaft is shown.

CG type (Unit: arc-sec)

SHA20A SHA25A SHA32A SHA40A

＊P1～P7：

P1’～P7’：Stop position after reverse rotation X1～X7：Difference between the stop positions

after forward and reverse rotations Reverse positional accuracy：|X1+X2+・・・+X7|/7

43

1-9 Encoder specifications (Absolute encoder)

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Magnetic sensor/electronic battery backup type type)

Resolution per motor revolution

17 bits (217: 131,072 pulses)

Maximum cumulative motor shaft

revolutions

Maximum permissible motor shaft

rotational speed

Check method in which two identical single revolution detectors are compared Check method in which two identical cumulative revolution counters are compared

Backup time by external battery*2

1 year (when power is not supplied)

30 minutes (after 3 hours of charge, ambient temperature of 25℃, axis stopped) (For backup while the driver and encoder are disconnected briefly)

Encoder resolution

2

131,072）

Reduction ratio

11:1

51:1

81:1

101:1

121:1

161:1

Resolvable angle per

pulse (approximate)

Approx.

0.9

Approx.

0.2

Approx.

0.082

Approx.

0.061

Resolution at the

output shaft

Resolvable angle per

pulse (approximate)

Approx.

0.2

Approx.

0.12

Approx.

0.082

Approx.

0.062

1-9

The absolute encoder used in the SHA series is a multi-turn magnetic absolute en code r. This encoder consists of 17 bit single turn absolute encoder and a 16 bit cumulative counter for detecting the number of total revolutions.

This encoder constantly monitors the absolute machine position and, by means of an external backup battery*2, stores the position regardless of whether the driver or external controller power is turned ON or OFF. Accordingly, once the origin is detected when the machine is first installed, homing is not required for subsequent power ON operation. This facilitates an easy recovery after a power failure or machine breakdown.

Additionally, when the power is ON, the single revolution absolute position and the number of revolutions is calculated with dual-redundant systems and comparison checks are continually performed on the data. This highly reliable design allows for encoder errors to be self-detected should they ever occur.

In addition, a backup capacitor is installed in the encoder to retain the absolute position data even when the actuator is disconnected from the driver for the purpose of maintenance, etc. (Internal backup). It is recommended that you replace the backup battery in the HA-800 driver while the driver is receiving power.

Encoder specifications (Absolute encoder)

Specifications

Type*1

Safety/redundancy

(Single rotation optic, multiple revolution magnetic sens or/electronic battery backup

16 bits (216: 65,536 revolutions cumulatively) 7000rpm

・・

Internal backup time

*1: Size 20 is equipped with an optical encoder; other models are equipped with a magnetic encoder. *2 : Battery box is sold separately (Recommended battery is Maxell ER 17/33 battery)

Resolution at the output shaft

17

（

Resolution at the

output shaft

Reduction ratio

Pulse/rev 1,441,792 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592

Sec.

Pulse/rev

Sec

50:1 80:1 100:1 120:1 160:1

6,553,600 10,485,760 13,107,200 15,728,640 20,971,520

Approx. 0.12 Approx. 0.1

Approx. 0.1

Absolute position data

[Absolute position] indicates the absolute position within one motor shaft revolution, while [multi revolution] indicates the num ber of motor revolutions. The pos ition of the actuator output s haft is obtained by the following formula: Position of actuator ou tput shaft = (Absolute position + Multi re volution data x Encoder resolution) / Reduction ratio

44

1-9 Encoder specifications (Absolute encoder)

Outline

Transfer of encoder data

Data is transferred via bi-directional communication in a normal condition while power is supplied. When the driver control power supply is turned OFF and the driver enters the battery backup mode, communication stops.

Output shaft single revolution absolute model (Option)

With the standard actuator, when it continues to rotate in just one direction, the absolute encoder eventually exceeds the number of revolutions that can be detected with multi-revolution detection and it becomes impossible to manage position information accurately. With the output s haft singl e revol ution abs olute m odel, each time th e outp ut shaf t turns thr ough sing le re volution, the cumulative multi rev olution counter is cleared to 0. This is how position inform ation is accurately managed when the shaft continuously turns in just one direction.

45

1-10 Output Stiffness

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Model

Item

Reduction ratio

50:1 or more

11:1

50: 1 or more

11:1

50:1 or more

Nm/rad

25.2×104

37.9×104

39.2×104

86.1×104

100×104

38.7×103

kgf･m/arc-min

7.5

11.3

11.6

25.7

29.6

Model

Item

Reduction ratio

50:1 or more

80:1 or more

Nm/rad

179×104

531×104

741×104

kgf･m/rad

183×103

542×103

756×103

kgf･m/arc-min

53.2

158

220

Gradient

CAUTION

Sleeve (hollow shaft)

Output shaft

1-10 Output Stiffness

Moment stiffness

The moment stiffness refers to the torsional stiffness when a moment load is applied to the output shaft of the actuator (shown in the figure). For example, whe n a load is app lied to th e end of a n arm attached o n the ou tput shaft of the ac tuator, the face of the output shaft of the actuator tilts in proportio n to the moment loa d. The moment stiff ness is expressed as the load/gradient angle.

SHA20A SHA25A SHA32A

Load

Moment

stiffness

Moment

stiffness

kgf･m/rad 25.7×103

SHA40A SHA58A SHA65A

40×103 87.9×103 102×103

Do not apply torque, load or thrust to the sleeve (hollow shaft) directly.

The sleeve (hollow shaft) is adhered to the output rotary shaft. Accordingly, the adhered

sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve (hollow shaft).

Do not apply any torque, moment load or thr ust load directly to the sleeve (hollow shaft).

46

1-10 Output Stiffness

Outline

Model

SHA20A

SHA25A

SHA32A

SHA40A

50:1 51:1

80:1 or

more

50:1 51:1

80:1 or

more

50:1 51:1

80:1 or more

50:1 51:1

80:1 or

more

Nm

7.0

14

29

54

kgf･m

0.7

1.4

3.0

5.5

x104 Nm/rad

1.3

1.6

2.5

3.1

5.4

6.7

10

13

kgf･m/arc min

0.38

0.47

0.74

0.92

1.6

2.0

3.0

3.8

θ

x10-4 rad

5.2

4.4

5.5

4.4

5.5

4.4

5.2

4.1

arc min

1.8

1.5

1.9

1.5

1.9

1.5

1.8

1.4

Nm

25

48

108

196

kgf･m

2.5

4.9

11

20

X104 Nm/rad

1.8

2.5

3.4

5.0

7.8

11

14

20

kgf･m/arc min

0.52

0.75

1.0

1.5

2.3

3.2

4.2

6.0

θ

x10-4 rad

15.4

11.3

15.7

11.1

15.7

11.6

15.4

11.1

arc min

5.3

3.9

5.4

3.8

5.4

4.0

5.3

3.8

x104 Nm/rad

2.3

2.9

4.4

5.7

9.8

12

18

23

kgf･m/arc min

0.67

0.85

1.3

1.7

2.9

3.7

5.3

6.8

3

2

K

TT −

+θ=ϕ

2

1

K

TT −

+θ

=ϕ

1K

T

=ϕ

angle

Torsional

* :ϕ

Torsional Stiffness

 The speed reducer uses (1) s peed ratio 50 or more for the HarmonicDrive® gear and (2) speed

ratio 11 for the HPF hollow shaft planetary series. The structures of the speed reducers are different, so their rotation direction torsional stiffness are different. Refer to individual

If a torque is applied t o the outp ut shaft of the actuato r with the input lock ed, the output shaft will torsio nal def lect roughly in proportion to the torque. The upper right figure shows the torsional angle of the output shaft when a torque, starting from zero and increased to positi ve side [+T applied to the out put shaft. This [tor que vs. tor sional angle] diagram, typically follows a loop of 0-A-B-A’-B’-A. The torsional stiffness of the SHA series actuator is expres sed by the slope of this [torque vs. torsional angle diagram] representing a spring constant (unit: Nm/rad). As shown by lower right figure, this [torque vs. torsional angle] diagram is divid ed into three regions a nd the spring constants in these regions are expressed by K respectively.

1：Spring constant for torque region 0 to T1

K K

2：Spring constant for torque region T1 to T2

K

3：Spring constant for torque region over T2

The torsional angle for each region is expressed as follows:

 Range where torque T is T1 or below:  Range where torque T is T  Range where torque T is T

The table below shows the averages of T

characteristics shown on the graphs and tables.

0] and negative side [ –T0], is

1, K2, and K3,

1 to T2: 2 to T3:

1 to T3, K1 to K3, and θ1 to θ2 for each actuator.

Reduction ratio

T1

K1

1

T2

K2

2

K3

47

1-10 Output Stiffness

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Model

SHA58A

SHA65A

Reduction ratio

81:1 or more

Nm

168

235

kgf･m

17

24

x104 Nm/rad

40

54

kgf･m/arc min

12

16

θ

x10-4 rad

4.1

4.4

arc min

1.4

1.5

Nm

598

843

kgf･m

61

86

X104 Nm/rad

61

88

kgf･m/arc min

18

26

θ

x10-4 rad

11.1

11.3

arc min

3.8

3.9

x104 Nm/rad

71

98

kgf･m/arc min

21

29

Model

SHA20A

SHA25A

SHA32A

SHA40A

Reduction

ratio

50:1 51:1

80:1

or more

50:1 51:1

80:1

or more

50:1 51:1

80:1

or more

50:1 51:1

80:1

or more

2 arc min

8

11

15

21

31

45

63

88

4 arc min

19

25

35

51

77

108

144

208

6 arc min

30

43

56

84

125

178

233

342 Model

SHA58A

SHA65A

Reduction

ratio

81:1

or more

81:1

or more

2 arc min

273

360

4 arc min

636

876

6 arc min

1050

1450

T1

K1

1

T2

K2

2

K3

The table below shows reference torque values calculated for different torsional angle. (Unit: N･m)

48

1-10 Output Stiffness

Outline

Size • ratio

Item

SHA25A

SHA32A

11

arc-min

3 3 10-4rad

8.7

Rated torque (TR)

Nm

21

44

Torsional quantity by TR x 0.15 (D)

arc-min

2.0

1.7

Torsional stiffness (A/B)

kgf･m/arc-min

1.7

3.5

x10-4Nm/rad

5.70

11.7

T－TL

: total torsional quantity

A/B: torsional stiffness

Fig. 1 Torque vs. torsional angle diagram

Torsional angle

Torque

Hysteresis loss = backlash

TR: rated output torque A/B D: torsional quantity o side given by T

(1) (5)

(2)

(4)

(3)

Torsional Stiffness (Ratio 11: HPF)

If a torque is applied t o the outp ut shaft of the ac tuator with the inp ut lock ed, the outp ut shaft will tor sional def lect roughly in proportion to the torque. When the values for torque are gradually changed in sequence from (1) Rated output torqu e in the positive r otation direction→(2) zero→(3) Rated output torque in the negative rotation

direction→(4) zero→( 5) Rated output torqu e in the positive rotati on direction, the values follow a l oop (1)→(2)→ (3)→(4)→(5) (returns to (1)) shown in Fig.1 [torque vs. torsional angle diagram]. The gradient of the region [Rated output torque] from [0.15 x rated output torque] is small, and the torsional stiffness of the HPF series is the average of this gradient. T he gradient of the region [ 0.15 x rated output torque]

from [zero torque] is l arge. This gradient is cause d b y sem i-partial contact in the m eshing region an d un even lo ad distribution from light loads and so forth on the planet gears.

An explanation is pro vided below on ho w to calcul ate the total tor sional qua ntity o n one side f rom a no-load state after a load has been applied by the speed reducer.

θ＝D＋

A B

θ

D: torsional quantity on one side given by rated output torque x

0.15 torque T: load torque TL: rated output torque x 0.15 torque (= T

R x 0.15)

The zero torque part widths of (2) and (4) in the figure on the right [torque vs. torsional angle diagram] is called the hysteresis loss. For the HPF series, backlash is defined as hysteresis loss [rated output torque in the negative rotation direction] from [rated output torque in the positive rotation direction]. The HPF series has a backlash of less than 3 minutes (less than 1 minute with special products) with factory settings.

Backlash

on one side given

: torsional stiffness

10-4rad 5.8 4.9

x 0.15

R

n one

49

1-11 Direction of rotation

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Set

value

FWD command

pulse

REV command

pulse

CCW

direction

CCW

direction

Set

value

FWD command

pulse

REV command

pulse

CCW

direction

CCW

direction

Counterclockwise rotat ion direction

1-11 Direction of rotation

SG/HP

As a default, Forward rotation direction of the actuator is defined as counterclockwise (CCW) rotation as viewed from the load shaft when a Forward command (FWD command pulse) is given to a SHA series actuator from a HA-800 driver This rotation direction can be changed on the HA-800 driver by selecting [SP50: Command polarity setting] under [System parameter mode 3].

Setting of [SP50: Command polarity setting]

Setting

0

1

(counterclockwise)

CW (clockwise)

direction

CW (clockwise)

direction

(counterclockwise)

Default

CG

As a default, the r otation direction is defined as cloc kwise (CW ) rotation as viewed from the output shaft when a FWD command pulse is given from a HA-800 driver. This rotation direction c an be cha nge d on the HA-800 driver by selecting [SP 50: Com m and polarit y setti ng] unde r [System parameter mode 3].

Setting of [SP50: Command polarity setting]

Setting

0

1

(clockwise) direction

CW

(counterclockwise)

CW

(clockwise) dire ct i on

Default

50

1-12 Shock resistance

Outline

Shock resistance test

Right

Left

Up

Do wn

Rear

Front

1-12 Shock resistance

The actuator can withstand a 300 m/s2 shock in all directions (up/down, left/right, and front/rear):

Impact acceleration: 300 m/s2 In our shock resistance tes t, the actuat or is tested 3 times in e ach direct ion. Actu ator operati on is not g uarantee d in applications where impact exceeding the above value is constantly applied.

51

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Vibration

Right

Left

Up

Do wn

Rear

Front

1-13 Vibration resistance

The actuator can withstand a 25 m/s (up/down, left/right, and front/rear): Vibration acceleration: 25 m/s In our test, the actuator is tested for 2 hours in each direction at a vibration frequency sweep period of 10 minutes.

resistance test

2

vibration acceleration (frequency 10 to 400 Hz) in all directions

2

(frequency: 10 to 400Hz)

52

1-14 Operable range

Outline

1-14 Operable range

The graph on the next page indicates the torque/s peed operating ra nge for the SHA actuators (combined wi th a HA-800 driver) is selected. For details, refer to [Chapter 2 SHA series selection].

1. Continuous motion range

The range allows continuous operation of the actuator.

2. 50% duty range

range indicates the torque/s peed where 50% dut y cycl e operation is permitted (the ratio of oper ati ng t ime and idle time is 50:50). Limit the operation c ycle to a period of several minutes , and keep it within a range where the o verload alarm of the driver does not sound.

3. Acceleration and deceleration range

This range indicates the torque/speed which the actuator can be operated momentarily. The range allows instantaneous operation like acceleration and deceleration.

The continuous and 50% duty motion ranges in each graph are m easured when the actuator is mounted to an aluminum heatsink as specified in the graph.

 When the SHA SG is operated at a constant speed (motor shaft speed of 1,000 rpm or less) in the

same direction under a constant load torque in a condition where the output shaft is facing up (output shaft is facing down with CG type), improper lubrication of the bu ilt-in speed reduc er may cause abnormal soun d or wear, leading to a sh or ter lif e. Improper lubrication can be prevented by changing the speed in the operation pattern, such as by periodically stopping the actuator. However, the planetary speed reducer (11:1) is not included.

53

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA20A51SG

SHA20A81SG

SHA20A101SG

SHA20A121SG

SHA20A161SG

SHA20A SG

■

1-14 Operable range

■

54

1-14 Operable range

Outline

SHA25A51SG

SHA25A81SG

SHA25A101SG

SHA25A121SG

SHA25A161SG

　　　　　　　　　　　　　　　　放熱板：350*350*18

0

25

50

75

100

125

150

0 20 40 60 80 100

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

　　　　　　　　　　　　　　　　放熱板：350*350*18

0

25

50

75

100

125

150

175

200

0 20 40 60 80

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

　　　　　　　　　　　　　　　放熱板：350*350*18

0

50

100

150

200

250

0 10 20 30 40 50

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

　　　　　　　　　　　　　　　放熱板：350*350*18

0

50

100

150

200

250

0 10 20 30 40 50

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

放熱板：350*350*18

0

50

100

150

200

250

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

Radiation plate: 350*350*18 mm

Motion range during deceleration

50% duty motion range

Continuous motion range

Rotation speed [r/min]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during 50% duty motion range

Continuous

Rotation speed [r/min]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [r/min]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during

50% duty motion range

Continuous

Rotation speed [r/min]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [r/min]

Torque [Nm]

SHA25A SG (Specifications for motor input voltage of 100V)

■

acceleration and

acceleration and deceleration

■

acceleration and deceleration

motion range

acceleration and deceleration

55

■

acceleration and deceleration

motion range

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SG/HP

SHA25A11HP

SHA25A51SG

　　　　　　　　　　　　　　　　　　放熱板：350 *350* 18

0

25

50

75

100

125

150

0

20 40 60 80 100 120

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA25A101SG

　　　　　　　　　　　　　　　　　放熱板： 350*3 50*18

0

50

100

150

200

250

0 10 20 30 40 50 60

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA25A81SG

　　　　　　　　　　　　　　　　　　放熱板：350 *350* 18

0

25

50

75

100

125

150

175

200

0 20 40 60 80

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA25A121SG

放熱板：350*350*18

0

50

100

150

200

250

0 10 20 30 40 50

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA25A161SG

放熱板：350*350*18

0

50

100

150

200

250

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

放熱板：350*350*18 mm

トルク　[Nm]

Radiation plate: 350*350*18 mm

Motion range during 50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during deceleration

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during 50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during deceleration

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 350*350*18 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

SHA25A (Specifications for motor input voltage of 200V)

■

acceleration and deceleration

1-14 Operable range

■

acceleration and

■

acceleration and

■

acceleration and deceleration

56

1-14 Operable range

Outline

SHA32A11HP

SHA32A51SG

放熱板：400*400*20

0

50

100

150

200

250

300

0

20 40 60 80 100

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA32A81SG

　　　　　　　　　　　　　　　　　　放熱板：400 *400* 20

0

50

100

150

200

250

300

350

400

450

0 10 20 30 40 50 60 70

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA32A101SG

　　　　　　　　　　　　　　　　　　放熱板：400 *400* 20

0

50

100

150

200

250

300

350

400

450

500

0 10 20 30 40 50

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA32A121SG

　　　　　　　　　　　　　　　　　　放熱板：400*400*20

0

50

100

150

200

250

300

350

400

450

500

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA32A161 SG

　　　　　　　　　　　　　　　　　　放熱板：400*400*20

0

100

200

300

400

500

600

0 5 10 15 20 25 30 35

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

放熱板：400*400*20 mm

トルク　[Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

Radiation plate: 400*400*20 mm

Motion range during

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

SG/HP SHA32A

■

57

acceleration and deceleration

■

acceleration and deceleration

■

acceleration and deceleration

■

acceleration and deceleration

motion range

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA40A51SG /HA-800-6D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

0

20 40 60 80

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

SHA40A101SG/HA-800-6D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

SHA40A81SG/HA-800-6D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

0 10 20 30 40 50 60

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

SHA40A121SG/HA-800-6D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

900

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

SHA40A161SG/HA-800-6D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

900

0 5 10 15 20 25 30

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

Radiation plate: 500*500*25

Motion range during acceleration and deceleration

50% duty motion range

50% duty motion

Motion range during acceleration and deceleration

Motion range during acceleration and

Motion range during acceleration and deceleration

Continuous motion range

Continuous motion

Rotation speed [rpm]

Torque [Nm]

SHA40A SG

■

1-14 Operable range

■

deceleration

range

58

1-14 Operable range

Outline

SHA40A51SG/HA-800-24D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

0 20 40 60 80

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA40A81SG/HA-800-24D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

0 10 20 30 40 50 60

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA40A101SG/HA-800-24D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA40A121SG/HA-800-24D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

900

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA40A161SG/HA-800-24D/E

　　　　　　　　　　　　　　　　　　放熱板：500 *500* 25

0

100

200

300

400

500

600

700

800

900

0 5 10 15 20 25 30

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

Radiation plate: 500*500*25 mm

Motion range during acceleration and deceleration

Radiation plate: 500*500*25 mm

Motion range during acceleration and deceleration

50% duty motion range

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion range

Continuous motion

Continuous motion range

Continuous motion

Radiation plate: 500*500*25 mm

Rotation speed [rpm]

Torque [Nm]

SHA-40A SG

■

range

59

■

range

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA58A81SG

　　　　　　　　　　　　　　　　　　放熱板：650*650*30

0

250

500

750

1000

1250

1500

1750

2000

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA58A101SG

　　　　　　　　　　　　　　　　　放熱板：65 0*650 *30

0

500

1000

1500

2000

2500

0 5

10 15 20 25 30

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA58A121SG

　　　　　　　　　　　　　　　　　　放熱板：650 *650* 30

0

500

1000

1500

2000

2500

0

5 10

15 20 25 30

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA58A161SG

　　　　　　　　　　　　　　　　　　放熱板：650 *650* 30

0

500

1000

1500

2000

2500

0 5 10 15 20

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

Radiation plate: 650*650*30 mm

Motion range during acceleration

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion range

Continuous motion

Torque [Nm]

Rotation speed [rpm]

SHA58A SG

1-14 Operable range

■

and deceleration

■

and deceleration

■

range

60

1-14 Operable range

Outline

SHA65A81SG

　　　　　　　　　　　　　　　　　　放熱板：650 *650* 30

0

500

1000

1500

2000

2500

3000

0 10 20 30 40

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用

領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA65A101SG

　　　　　　　　　　　　　　　　　放熱板： 650*6 50*30

0

500

1000

1500

2000

2500

3000

3500

0 5 10 15 20 25 30

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用

領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA65A121SG

　　　　　　　　　　　　　　　　　　放熱板：650 *650* 30

0

500

1000

1500

2000

2500

3000

3500

0 5 10 15 20 25

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用

領域

50%ﾃﾞｭｰﾃｨ領域

mm

SHA65A161SG

　　　　　　　　　　　　　　　　　　放熱板：650*650*30

0

500

1000

1500

2000

2500

3000

3500

0 5

10 15 20

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

mm

Radiation plate: 650*650*30 mm

Motion range during acceleration and deceleration

Motion range during acceleration

Motion range during acceleration and deceleration

50% duty motion range

50% duty motion

Continuous Continuous

motion range

Continuous motion range

Continuous

Rotation speed [rpm]

Rotation speed rpm]

Rotation speed [rpm]

Torque [Nm]

SHA65A SG

■

and deceleration

■

motion range

■

61

motion range

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA20A50CG

SHA20A80CG

SHA20A100CG

SHA20A120CG

SHA20A160CG

Radiation plate: 320*320*16 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous

Rotation speed [rpm]

Radiation plate: 320*320*16 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous

Rotation speed [rpm]

Motion range during acceleration and deceleration

Radiation plate: 320*320*16 mm

50% duty motion range

Continuous motion range

Torque [Nm]

SHA20A CG

■

motion range

■

1-14 Operable range

■

motion range

62

1-14 Operable range

Outline

SHA25A50CG

SHA25A80CG

SHA25A100CG

SHA25A120CG

SHA25A160CG

連続使用領域

連続使用領域連続使用領域

連続使用領域

Radiation plate: 350*350*18mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Continuous motion range

Continuous motion r

Continuous

Continuous motion range

Motion range during acceleration and deceleration

Motion range during acceleration

Motion range during acceleration and deceleration

50% duty motion range

Rotation speed [rpm]

Radiation plate: 350*350*18 mm

Radiation plate: 350*350*18mm

Torque [Nm]

SHA25A CG (Motor input voltage 100V)

■

and deceleration

■

ange

■

motion range

63

■

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA25A50CG

SHA25A80CG

SHA25A100CG

SHA25A120CG

使用

連続使用領域

Radiation plate: 350*350*18 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion

Rotation speed [rpm]

Radiation plate: 350*350*18 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion

Rotation speed [rpm]

Torque [Nm]

SHA25A CG (Motor input voltage 200V)

■

1-14 Operable range

■

range

■

range

■SHA25A160CG

range

64

1-14 Operable range

Outline

SHA32A50CG

SHA32A80CG

SHA32A120CG

SHA32A160CG

連続使用領域

使用

SHA32A100CG

連続使用領域

Radiation plate: 400*400*20 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion range

Rotation speed [rpm]

Radiation plate: 400*400*20 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion

Continuous motion range

Continuous motion

Rotation speed [rpm]

Torque [Nm]

SHA32A CG

■

range

■

65

■

range

1

2

3

4

5

6

7

8

9

10

11

付

Outline

SHA40A50CG/HA-800-6D/E

SHA40A80CG/HA-800-6D/E

SHA40A100CG/HA-800-6D/E

SHA40A120CG/HA-800-6D/E

SHA40A160CG/HA-800-6D/E

連続使用領域

Radiation plate: 500*500*25 mm

Motion range during acceleration and dec

50% duty motion range

Continuous motion

Rotation speed [rpm]

Radiation plate: 500*500*25 mm

Motion range during acceleration and deceleration

Motion range during acceleration

Motion range during acceleration and deceleration

50% duty motion range

Rotation speed [rpm]

Continuous motion range

Continuous motion

Torque [Nm]

SHA40A CG

■

1-14 Operable range

■

range

■

eleration

and deceleration

range

66

1-14 Operable range

Outline

SHA40A50CG/HA-800-24D/E

SHA40A80CG/HA-800-24D/E

SHA40A100CG/HA-800-24D/E

SHA40A120CG/HA-800-24D/E

SHA40A160CG/HA-800-24D/E

連続使用領域

Radiation plate: 500*500*25 mm

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion

Rotation speed [rpm]

Radiation plate: 500*500*25 mm

Motion range during acceleration and

Motion range during acceleration and deceleration

50% duty motion range

Continuous motion range

Continuous

Continuous motion range

Rotation speed [rpm]

Torque [Nm]

SHA40A CG

■

deceleration

■

motion range

■

range

■

67

1-15 Cable specifications

1

2

3

4

5

6

7

8

9

10

11

付

Outline

Name

Without brake

With brake

1

Red

Motor phase-U

2

White

Motor phase-V

3

Black

Motor phase-W

4

Green/yellow

PE

5

Blue

No connection

Brake

6

Yellow

No connection

Brake

Name

Color

(Extension cables)

Without brake

With brake

A

No connection

Brake

Blue

B

No connection

Brake

Yellow

C

No connection

D

Motor phase-U

Red

E

Motor phase-V

White

F

Motor phase-W

Black

G

PE

Green/yellow

H

PE

I

No connection

Connector model: 350715-1

Size 20, 25

Size 32, 40

Motor UVW

350690-1

350547-1

Brake

350690-1

Motor PE

350669-1

1-15 Cable specif i cations

The following tables show specifications of the motor and encoder cables of the SHA series actuators.

Motor cable specifications

 Size 20, 25, 32, 40

Pin number Color

 Connector pin layout

Pin model:

by AMP

 Size 58, 65

Pin number

－

－－

 Connector pin layout

Connector model: CE05-2A24-11PGHS-D (by DDK)

68

1-15 Cable specifications

Outline

Pin number

Color

Signal name

Remarks

1A

Red

Vcc

Power supply input +5V

1B

Black

GND(Vcc)

Power supply input 0V (GND)

2A

Yellow

SD+

Serial signal differential output (+)

2B

Blue

SD-

Serial signal differential output (-)

3A

No connection

3B

Shield

FG 4A

Orange

Vbat

Battery +

4B

Gray

GND(bat)

Battery - (GND)

Pin number

Signal name

Remarks

1

Vbat

Battery +

2

GND(bat)

Battery - (GND)

3

No connection

4

Vcc

Power supply input +5V

5

GND(Vcc)

Power supply input 0V (GND)

6

No connection

7

No connection

8

SD+

Serial signal differential output (+)

9

SD-

Serial signal differential output (-)

10

FG

Connector model: 1-1903130-4

1B

1A

4A

4B

Encoder cable specifications

 Size 20, 25, 32, 40

 Connector pin layout

 Size 58, 65

－

Pin model: 1903111-2, 1903116-2 or 1903117-2 by AMP

 Connector pin layout

Connector model: CM10-R10P (D3)-01 (by DDK)

69

Chapter 2

Selection guidelines

This chapter explains how to select the right SHA series actuator.

2-1 SHA series selection ······························································ 71 2-2 Change in load inertia moment ················································ 75 2-3 Verifying and examining load weights ········································ 76 2-4 Examining operating status ····················································· 80

2-1 SHA series selection

Selection guidelines

2-1 SHA series selection

Allowable load moment of inertia

To achieve high accurac y performance, select a SHA series actuator where the allowable moment of inertia for the actuator is not exceeded. Note: The recommended values in the graphs below should be followed if you wish to shorten the transient vibration per iod during positioning m oves or operate the actuator at a constant speed in a stable manner. It is possible to operate the ac tuator when exc eeding the a llowa ble val ue if the ac tuator is acceler ated and decelerated gradually, commands given from the host to the servo driver are adjusted, or the servo driver's vibration suppression function is used.

Refer to [A-2 Calculating moment of inertia ] (P103) for the calculation of inertia moment.

SG type

71

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

Allowable load inertia moment

Max rotational speed (r/min)

Allowable load inertia moment

CG type

2-1 SHA series selection

When making a preliminary selection of the actuator, make certain that the moment of inertia and maximum speed do not exceed the allowable values shown on the following page. When a load with a large inertia moment is stopped and started frequently, a greater regenerative energy will be pro duced during braking. If the regenerative energy produced ex ceeds the absorption capacity of the built-in regenerative resistor of the servo driver, an additional regenerative resistor must be connected externally to the driver. For details, refer to the manual of your driver.

72

2-1 SHA series selection

Selection guidelines

SHA20A

51

81

101

121

161

Reduction ratio

51:1

81:1

101:1

121:1

161:1

Max. speed

(rpm)

117.6

74.1

59.4

49.6

37.3

Actuator

(without brake)

kg･m2

0.23

0.58

0.91

1.3

2.3

Actuator

brake)

kg･m2

0.26

0.65

1.0

1.4

2.6

Max allowable

load inertia

kg･m2

2.4

3.8

4.8

5.8

7.7

kgf･cm･s2

25

39

49

59

78

SHA25A

11

51

81

101

121

161

Reduction ratio

11:1

51:1

81:1

101:1

121:1

161:1

Max. speed

(rpm)

509.1

109.8

69.1

55.4

46.3

34.8

Actuator

(without brake)

kg･m2

0.029

0.56

1.4

2.2

3.2

5.6

Actuator

brake)

kg･m2

0.034

0.66

1.7

2.6

3.7

6.6

kg･m2

0.32

5.6

8.8

11

14

20

kgf･cm･s2

3.3

57

90

112

144

201

SHA32A

11

51

81

101

121

161

Reduction ratio

11:1

51:1

81:1

101:1

121:1

161:1

Max. speed

(rpm)

436.4

94.1

59.3

47.5

39.7

29.8

Actuator

(without brake)

kg･m2

0.091

2.0

5.1

8.0

11

20

Actuator

brake)

kg･m2

0.11

2.3

5.9

9.2

13

23

load inertia

kg･m2

0.99

20

32

40

50

70

kgf･cm･s2

10

200

320

400

510

710

SHA40A

SHA58A

51

81

101

121

161

81

101

121

161

Reduction ratio

51:1

81:1

101:1

121:1

161:1

81:1

101:1

121:1

161:1

Max. speed

(rpm)

78.4

49.4

39.6

33.1

24.8

37.0

29.7

24.8

18.6

Actuator

(without brake)

kg･m2

5.0

13

20

28

50

96

149

214

379

Actuator

brake)

kg･m2

6.1

15

24

34

61

106

165

237

420

load inertia

kg･m2

58

92

114

137

182

290

450

640

1140

kgf･cm･s2

590

930

1170

1400

1860

2900

4600

6500

11600

SG/HP

Model

inertia

inertia (with

inertia

inertia (with

Max allowable

load inertia

inertia

Model

kgf･cm･s

2

2.4 6.0 9.3 13 24

2

2.6 6.6 10 15 26

2

0.30 5.7 14 22 32 57

2

0.35 6.7 17 26 38 67

2

0.93 21 52 81 117 207

inertia (with

kgf･cm･s

2

1.1 24 60 94 135 238

Max allowable

Model

inertia

inertia (with

kgf･cm･s2

51 130 202 290 513 980 1520 2180 3870

62 157 244 350 619 1090 1690 2420 4290

Max allowable

73

2-1 SHA series selection

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

SHA65A

81

101

121

161

Reduction ratio

81:1

101:1

121:1

161:1

Max. speed

(rpm)

34.6

27.7

23.1

17.4

Actuator

(without brake)

kg･m2

110

171

245

433

kgf･cm･

s2

Actuator

brake)

kg･m2

120

187

268

475

kgf･cm･

s2

kg･m2

360

560

810

1420

kgf･cm･

s2

SHA20A

50

80

100

120

160

Reduction ratio

50:1

80:1

100:1

120:1

160:1

Max. speed

(rpm)

120

75

60

50

37.5

Actuator

(without brake)

kg･m2

0.21

0.53

0.82

1.2

2.1

Actuator

brake)

kg･m2

0.23

0.60

0.94

1.3

2.4

Max allowable

load inertia

kg･m2

2.4

3.8

4.8

5.8

7.7

kgf･cm･s2

25

39

49

59

78

SHA25A

SHA32A

50

80

100

120

160

50

80

100

120

160

Reduction ratio

50:1

80:1

100:1

120:1

160:1

50:1

80:1

100:1

120:1

160:1

Max. speed

(rpm)

112

70

56

46.7

35

96

60

48

40

30

Actuator

(without brake)

kg･m2

0.50

1.3

2.0

2.9

5.1

1.7

4.3

6.7

9.7

17

Actuator

brake)

kg･m2

0.60

1.5

2.4

3.4

6.1

2.0

5.1

7.9

11

20

Max allowable

load inertia

kg･m2

5.6

8.8

11

14

20

32

40

50

70

kgf･cm･s2

57

90

112

144

201

200

320

400

510

710

SHA40A

50

80

100

120

160

Reduction ratio

50:1

80:1

100:1

120:1

160:1

Max. speed

(rpm)

80

50

40

33.3

25

Actuator

(without brake)

kg･m2

4.8

12

19

27

49

Actuator

brake)

kg･m2

5.8

15

23

33

59

Max allowable

load inertia

kg･m2

58

92

114

137

182

kgf･cm･s2

590

930

1170

1400

1860

Model

inertia

inertia (with

Max allowable

load inertia

CG

inertia

inertia (with

Model

kgf･cm･s

1120 1740 2500 4420

1230 1910 2740 4850

3700 5700 8200 14500

2

2.1 5.4 8.0 12 22

2

2.4 6.1 9.6 14 24

inertia

inertia (with

kgf･cm･s

2

5.1 13 20 29 52 17 44 68 99 175

2

6.1 16 24 35 62 20 52 81 116 207

Model

inertia

inertia (with

kgf･cm･s2

49 124 194 280 497

59 150 235 338 601

74

2-2 Change in load moment of inertia

Selection guidelines

(

)

L1JJ M +＝

Ｓ

(

)

NL

1J

'J

M

+＝

Ｓ

L1

NL1

/JsJs'

+

＝













+

2

R

L

1JJ M＝Ｓ













+

2

R

NL

1J

'J M＝Ｓ

2

R

/L

1

R/

NL

1

/JsJs'

+

＝

2-2 Change in load moment of inertia

SHA series actuators include Harmonic Drive® gearing that has a high reduction ratio. Because of this, the effects of changes in the load moment of inertia on the servo performance are minimal. In comparison to direct servo drive mechanisms, this benefit allows the load to be driven with a better servo response.

For example, assum e that the load moment of inertia incr eases by N-times. The total inert ia reflected to the motor shaft, having an effect on servo response, is as follows: The symbols in the formulas are:

: Total inertia moment converted to motor shaft

J

S

: Inertia moment of motor

J

M

R: Reduction ratio of SHA series actuator L: Ratio of load inertia moment to inertia moment of motor N: Rate of change in load inertia moment

 Direct drive

Before: After: Ratio:

 Driven by SHA series

Before: After: Ratio:

With the SHA series, the value of R increases f rom 50 to 161, which means that the value increases

2

substantially from R

= 2,500 to R2 = 25,921. T hen th e rat io is Js'/Js ≒ 1. T his m eans that SH A drive systems are hardly affected by the load variation. Therefore, it is not necessary to take changes of the load mom ent of inertia into consi deration when selecting a SHA actuator or when setting up the initial driver parameters.

75

2-3 Verifying and examining load weights

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

Basic

(C)

mm

kN

Nm

x104 Nm/rad

SHA40A-CG

133

29.5

43.3

81.6

849

179

SHA65A-SG

218

69

130

223

2740

741

2-3

The SHA series actuator incorpor ates a prec ise cros s roller bearin g for d irectly su pporting an extern al load (output flange) . To demonstrate the f ull ability of the actuator, verify the maxim um load moment load as well as the life and static safety coefficient of the cross roller bearing.

Verifying and examining load weights

Checking procedure

1 Verifying the maximum load moment load (Mmax)

Calculating the maximum load moment load (Mmax)

↓

Verifying the maximum load moment load (Mmax) is less than or equal to the permissible moment load (Mc)

2 Verifying life

Calculate the average radial load (Frav) and average axial load (Faav).

↓

Calculate the radial load coefficient (X) and the axial load coefficient (Y).

↓

Calculate the life of the bearing and verify the life is allowable.

3 Verifying the static safety coefficient

Calculate the static equivalent radial load (Po).

↓

Verify the static safety coefficient (fs).

Specifications of the main roller bearing

The following table shows the specifications of the main roller bearings built in SHA actuators. Table 1: Specifications of the cross roller bearings

Circular

Item

Model

SHA20A-SG 70 23.5 14.6 22 187 25.2

SHA20A-CG 70 19.5 14.6 22 187 25.2

SHA25A-SG 85 27.6 21.8 35.8 258 39.2

SHA25A-CG 85 21.6 21.8 35.8 258 39.2

SHA25A-HP 85 15.3 11.4 20.3 410 37.9 SHA32A-SG 111 34.9 38.2 65.4 580 100

SHA32A-CG 111 25.4 38.2 65.4 580 100

SHA32A-HP 111.5 15 22.5 39.9 932 86.1 SHA40A-SG 133 44 43.3 81.6 849 179

SHA58A-SG 195 62.2 87.4 171 2180 531

pitch of the

roller (dp)

Offset

amount

(R)

dynamic

rated load

Basic static

rated load

(Co)

Permissible

moment

load (Mc)

Moment

stiffness

(Km)

76

2-3 Verifying and examining load weights

Selection guidelines

Formula (1): Maximum load moment load

1000

Lamax FaR)(Lrmax

Fr

max

M

⋅++⋅

=

Mmax

Maximum load moment load

Nm

Frmax

Max. radial load

N

Refer to Fig.1.

Famax

Max. axial load

N

Refer to Fig.1.

Lr ,La

mm

Refer to Fig.1.

R

Offset amount

mm

Refer to Fig.1 an d Table 1.

Formula (2): Average radial load (Frav)

nn

10/3

nnn

10/310/3

10/3

tntntn

FrtnFrtnFrtn

Fr

2211

222111

+++

+

=



av

Formula (3): Average axial load (Faav)

nn

10/3

nnn

10/310/3

10/3

tnt

ntn

FatnFatnFatn

Fa

2

211

222111

+++

+

=



av

Formula (4): Average output rotational speed

n

nn

ttt

tntntn

N

21

2211

+++

=



av

Time

+ Radial load -

Fr

Time

+ Axial load -

Fa

Time

+ Output rotational speed -

n

t

Fig. 2: Illustration of load variation

Fr

Fa

La

Lr

R

Load

dp

Fig. 1: External load action

Actuator

Maximum load moment load

The formula below sho ws how to calculate the m aximum load moment load (Mmax). Verify that the maximum load moment load (Mmax) is less than or equal to the allowable load (Mc).

◆

Symbols used in the formula

――――

Verifying life

Calculating average loads (average radial and axial loads, average output rotational speed)

When the radial and/ or axial loads vary durin g motion, calculate a nd verify the life of the c ross roller bearing converting the loads to their average values.

◆

The maximum radial load in section t1 is given by Fr1, while the maximum radial load in section t

.

Fr

3

◆

The maximum axial load in section t while the maximum axial load in section t3 is given by

.

Fa

3

◆

(Nav)

is given by

3

is given by Fa1,

1

2

3

1

2

3

1

2

3

77

2-3 Verifying and examining load weights

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

Formula (5)

Ｙ

5.1

La)/dpFaR)(Lr2(FrFr

Fa

≤

⋅+++

avavav

av

1.5

La)/dpFaR)(Lr2(FrFr

Fa

>

⋅+++

avavav

av

Symbols used in the formulas

Frav

Average radial load

N

Refer to the average load.

Faav

Average axial load

N

Refer to the average load.

Lr ,La

mm

Refer to Fig.1.

R

Offset amount

mm

Refer to Fig.1 a n d Table 1.

dp

Pitch circle diameter of a roller

mm

Refer to Fig.1 a n d Table 1.

Formula (7): Cross roller bearing life

10/3

6

10B

Pcfw

C

N60

10

L

 



 



⋅

×

=

−

av

L

B-10

Life

hour

―

Average output rotational speed

C

Basic dynamic rated load

N

Refer to Table 1.

Dynamic equivalent radial load

fw

Load coefficient

Refer to Table 3.

Formula (6): Dynamic equivalent radial load

av

avav

av

FaY

dp

La)FaR)(Lr2(Fr

FrXPc ⋅+



 





 



⋅++

+⋅=

Dynamic equivalent radial load

Frav

Average radial load

N

Obtained by formula (2).

Faav

Average axial load

N

Obtained by formula (3).

Pitch circle diameter of a roller

X

Radial load coefficient

Refer to Table 2.

Y

Axial load coefficient

Refer to Table 2.

Lr，La

mm

Refer to Fig.1.

R

Offset amount

mm

Refer to Fi g.1 and Table 1.

Table 3: Load coefficient

Loaded state

fw

Smooth operation free from impact/vibration

Normal operation

1.2 to 1.5

Operation subject to impact/vibration

Radial load coefficient and axial load coefficient

Determine the values of r adial load co eff icient (X) and axial lo ad coeff icient ( Y) based on the co ndition below. Table 2: Radial load coefficient (X), axial load coefficient (Y)

◆

――――

Ｘ

1 0.45

0.67 0.67

Dynamic equivalent radial load

◆

Symbols used in the formulas

Pc

dp

Life of cross roller bearing

Calculate the life of cross roller bearing with the formula (7):

◆

Symbols used in the formulas

N

mm Refer to Table 1.

－－

－

Nav

Pc

r/min

N

－

Obtained by formula (4).

1 to 1.2

Obtained by formula (6).

1.5 to 3

78

2-3 Verifying and examining load weights

Selection guidelines

Formula (8): Cross roller bearing life (oscillating)

10/3

6

Pcfw

C90

n60

10

Loc

1

 



 



⋅

×

θ

×

=

Loc

Life

hour

―

Number of reciprocating oscillation per min.

C

Basic dynamic rated load

N

Refer to Table 1.

Pc

Dynamic equivalent radial load

N

Obtained by formula (6).

fw

Load coefficient

Refer to Table 3.

oscillating angle/2

Refer to Fig.3.

Formula (10): Static safety coefficient

Po

Co

fs =

fs

Static safety coefficient

Refer to Table 4.

Co

Basic static rated load

N

Refer to Table 1.

Po

Static equivalent radial load

N

Obtained by formula (9).

Formula (9): Static equivalent radial load

ma x

Fa44.0

dp

2M

FrPo ++=

Frmax

Max. radial load

N

Refer to Fig.1.

Famax

Max. axial load

N

Refer to Fig.1.

Refer to the

methods.

dp

Pitch circle diameter of a roller

mm

Refer to Table 1.

Table 4: Static safety coefficients

Using conditions

fs

High rotational accuracy is required, etc.

Operation subject to impact/vibration

Normal operation

1.5

Oscillating

Fig. 3: Oscillating movement

Cross roller bearing life with oscillating motion

Use formula (8) to calculate the cross roller bearing life against oscillating movement.

◆

Symbols used in the formulas

n1

θ

cpm ―

－－

θ

angle

If the oscillating angle is 5° or less, fretting wear may occur because the oil film does not form effectively on the contact s ur f ac es bet wee n th e r ace and rolling elements of the c r oss r oller b eari ng. In such cases, consult with our engineering staff.

Verifying static safety coefficients

Static equivalent radial load

◆

Symbols used in the formulas

Mmax Max. moment load Nm

Static safety coefficient

Generally, the static equivalent load is lim ited b y the basic static rat ed load( Co). Ho wever, the specific limit should be calculated according to the using conditions and required conditions. In this case, calculate the static safety coefficient (fs) by formula (10). Table 4 shows gener a l valu es r epres e nti ng us in g co nditions. Calculate the s tatic e quivalent radial load (Po) by formula (9).

◆

Symbols used in the formulas

－

maximum load weight calculation

≧3 ≧2

≧

79

2-4 Examining operating conditions

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

100

1000

3000

30

300

1

10

30

3

100r/min

70r/min

50r/min

35r/min

Linear travel speed (mm/min)

Screw pitch (mm)

Rotation speed (r/min)

20r/min

500r/min

(mm) pitch feedScrew

(mm/min) speed travel Linear

(r/min) speed Rotation ＝

2-4 Examining operating conditions

The actuator generates heat if started/stopped repeatedly or operated continuously at high speed. Accordingly, examine whether or not the generated heat can be accommodated. The study is as follows:

Calculate the actuator rotation speed

Calculate the required rotation speed (rpm) of the load driven by the SHA series. For linear operation, use the rotation speed conversion formula below:

Select an appropriate reduction ratio so that the calculated rotation speed does not exceed the maximum rotational speed of the SHA series actuator.

Calculating and examining load moment of inertia

Calculate the load inertia moment of the load driven by the SHA series actuator. Refer to [A-2 Calculating moment of inertia ] (P103) for the calculation. Based on the calculated result, tentatively select an SHA actuator by referring to [Allowable load moment of inertia ] (P71).

80

2-4 Examining operating conditions

Selection guidelines

Mass: W

Pitch: P

Friction: μ

π×

××

µ×=

2

P

W8.9

T

π×

××=

2

P

W8.9T

Pitch: P

Mass: W

r

W8

.9

T

××

µ×

=

Radius: r

Mass: W

Friction: μ

Example of rotary torque calculation (friction coefficient = 0.1)

10

1000

3000

100

Mass W (kg)

10

100

1000

Radius r of friction side (mm)

10000

15 Nm

20 Nm

SHA25A51

SHA65A81

SHA40A51

SHA32A51

30 Nm

40 Nm

50 Nm

200 Nm

300 Nm

10 Nm

500 Nm

600 Nm

700 Nm

800 Nm

5 Nm

Load torque calculation

Calculate the load torque as follows:

 Rotary motion The rotary torque for t he rotating m ass W on the r ing of radius r from the center of rotation is shown in the figure to the right.

T : Rotary torque (Nm) μ : Friction coefficient W : Mass (kg) r : Average radius of friction side (m)

The right graph gives a calculation example

when the friction coefficient μ is assumed as 0.1

and the horizontal axis and vertical axis represent mass and rotational radius of friction side, respectively. The actuator toque value shown in the graph indicates 20% of the maximum torque.

SHA: 20% torque of maximum torque is shown.

 Linear operation (horizontal operation) The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below.

T : Rotary torque (Nm) μ : friction coefficient W : mass (kg) P : Screw feed pitch (m)

 Linear operation (vertical operation) The rotary torque when the mass W moves vertically due to the screw of pitch P is shown below.

81

2-4 Examining operating conditions

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

ta

td N Time

Rotation speed

(

)

LM

LA

a

T

N

60

π2

J

kt

−

×

×+

×

=

( )

LFM

LA

d

TT2T

N

60

π2

J

Jkt

+×+

×

+

×=

Acceleration and dece le ration time

Calculate acceleration and deceleration times for the selected actuator.

Acceleration time:

Deceleration time:

t

a: Acceleration time (s) d: Deceleration time (s)

t k: Acceleration reduction coefficient 1 to 1.5

The total positioning time may become shor t er if the acceleration is lowered for the purpose of reducing the settling time after positioning.

A: Actuator inertia moment (kg･m

J

L: Load inertia moment (kg･m

J N: Actuator rotation speed (r/min)

M: Maximum actuator torque (Nm)

T

F: Actuator friction torque (Nm)

T

TF=KT x IR－TR

KT: Torque constant (Nm/A)

R: Allowable continuous torque (Nm)

T

R: Allow abl e conti nuou s curre nt (A)

I

T

L: Load torque (Nm); The polarity is positive (+) when the torque is applied in the rotation direction, or

negative (-) when it is applied in the opposite direction.

2

)

2

)

 Calculation example 1

Select an actuator that best suits the following operating conditions:

・Rotation speed: 80 rpm ・Load inertia moment: 1.5 kg･m ・Since the load mechanism is mainly inertia, the load torque is negligibly small.

(1) After applying these conditions to the graph in [2-1], SHA25A51SG-B09A200 is tentatively

selected.

(2) From the rated table, the following values ar e obtained: J

41 Nm, K

(3) Based on the ab ove form ula, the ac tuator's friction torque T

Nm.

(4) If k = 1.3, the acceleration time and deceleration time can be obtained as follows from the

above formulas:

t t

(5) If the calculated acceleration/deceleration times are too long, correct the situation by:

・Reducing load inertia moment ・Selecting an actuator with a larger frame size

T = 19 Nm/A, IR = 3A.

a = 1.3 x (0.56+1.5) x 2 x π/60 x 80/127 = 0.177 s d = 1.3 x (0.56+1.5) x 2 x π/60 x 80/(127+2 x 16) = 0.141 s

2

A = 0.56 kg･m

F is calcu lated as 19 x 3 - 41 = 16

2

, TM = 127 Nm, TR =

82

2-4 Examining operating conditions

Selection guidelines

Time

ta

td N tr

Time

Rotation speed

t: Cycle time

ts

Ta

Torque

Td

Tr

ts: Stopped time

Ta, Tr, Td: Output torques

t

tTtTtT

T

d

2

dr

2

ra

2

a

m

×+×+×

=

t

t2NtNt

2N

N

dra

av

×+×+×

=

Nm 53

1

0. 141900. 09100. 17798

T

222

m

=

×+×+×

=

r / mi n20

1

0. 1412800. 091800. 177280

N

av

=

×+×+×

=

Examining effec tive torque and average rotation speed

One way to check if the heat ge nerated f rom the ac tuator dur ing oper atio n would present a prob lem is to determine if the point of operat ion, determ ined by the effective torque and av erage rotation spe ed, is inside the continuous motion range explained in [1-14 Operable range]. Using the following formula, calculate the eff ective torque T the actuator is operated repeatedly in the drive pattern shown to the right.

ta : Acce lerat ion t ime fro m spee d 0 to N （s）

d : Deceleration time from speed N to 0 （s）

t t

r : Operation time at constant speed N （s）

t : Cycle time （s） T

m : Effective torque (Nm) a : Torque during acceleration (Nm)

T

r : Torque at constant speed (Nm)

T Td : Torque during deceleration (Nm)

av : Average rotation speed (rpm)

N N : Rotation speed at constant speed (rpm)

 Calculation example 2

An example of SHA25A51SG-B09A200 is explained. Operating conditions: Accelerate an inertia load and then let it move at a constant speed, followed by deceleration, based on conditions similar to those used in calculation example 1. The travel angle per cycle is 120° and the cycle time is 1 second. (1) T he travel angle is calculated from the area of the rotation speed vs. time diagram shown

above. In other words, the travel angle is calculated as follows:

θ = (N / 60) x {t Accordingly, t When θ= 120°, and t are applied to this formula, t

(2) N ext, calculate the tor que during ac celeration an d torque during dec eleration. B ased on the

acceleration/decelerat ion time formulas in the preceding section, the r elational expressions for torque during acceleration and torque during deceleration if k = 1 are as follows:

a = (Ja+JL) x 2 xπ / 60 x N / ta + TL

T T

d = (Ja+JL) x 2 xπ / 60 x N / td – 2 xTF – TL

When the values in calcula t ion example 1 are applied to this form ula, T 90 (Nm) are obtained.

(3) C alculate the effective torque. Appl y the values in ( 1) and ( 2), a nd T

to the above formulas.

(4) Calculate the average rotation speed. Apply the values in (1), and N = 80 (rpm) and t = 1 (s),

to the above formulas.

r + (ta + td) / 2} x 360

r = θ/ (6 x N) – (ta + td) / 2

a = 0.177 (s), td = 0.141 (s), N = 80 (rpm) in calculation exam ple 1,

r is calculated as 0.091 (s).

m and average r otation speed Nav when

a = 98 (Nm) and Td =

r = 0 (Nm) and t = 1 (s ),

83

2-4 Examining operating conditions

1

2

3

4

5

6

7

8

9

10

11

付

Selection guidelines

2

222

m

ddrr

aa

T

t

Tt

TtT

t

×

+

×+×

=

　　　　　　　　　　　　　　　　　　放熱板：350*350*18

0

25

50

75

100

125

150

0 20 40

60 80 100 120

回転速度　[r/min]

トルク　[Nm]

加減速運転領域

連続使用領域

50%ﾃﾞｭｰﾃｨ領域

Operable range of SHA25A51

Radiation plate: 350*350*18

Motion range during acceleration and deceleration

50% duty motion range

Continuous

Torque [Nm]

Rotation speed [rpm]

(5) T he figure on the right sho ws the point of operation determ ined by the effective torque and

average rotation speed calculated above, plotted on the graph of operable range of SHA25A51, exceeding the continuous motion range. The conclusion is that this actuator cannot be operated continuously under these conditions. Accordingly,

◆the operation pattern

◆load (possible reduction)

◆actuator model number.

etc., must be reexamined.

The following formula is a modified version of the formula for effective torque.

By applying the value of allowable continuous torque to Tm in this formula, the allowable cycle time can be calculated.

★

motion range

Apply the following:T

d = 0.141 s Then, t he f ollowing equation is obtained:

t t = (98 Based on the result, setting the cycle tim e to 1.7 seconds or more to provide a longer stopped time gives T continuous torque.

2

x 0.177 + 902 x 0.141)/ 412 = 1.69 s

m = 41 Nm or less, thereby permitting continuous operation within the allowable

a = 98 Nm, Tr = 0 Nm, Td = 90 Nm, Tm =41 Nm, ta = 0.177 s , tr = 0.091 s,

 The aforementione d continuous duty range represents an al lowable range when the

actuator is installed on the spec if ied a luminum heatsink and operated under natural air cooling. If the radiatio n are a of t he mounting member is smaller or the he at c ond u c tion of the material is poor, adjust the operating con ditions to lim it the temperatur e rise of the actuator to 40º C or less as a guide.

84

Chapter 3

Installing the SHA actuator

The following explains the installation procedures of the actuators.

3-1 Receiving Inspection ······························································ 86 3-2 Notices on handling ······························································· 87 3-3 Location and installation ························································· 91

3-1 Receiving Inspection

1

2

3

4

5

6

7

8

9

10

11

付

Installing the SHA actuator

WARNING

3-1 Receiving Inspect ion

Check the following items after unpacking the package.

Inspection procedure

1 Check the items thoroughly for damage sustained during transportation.

If any item is damaged, immediately contact the dealer.

2 Confirm the actuator is what you ordered.

The nameplate is found on the rear end face of the SHA series actuator. Check the TYPE field on the nameplate t o confirm that it is in deed the m odel you have ordered. If any item is wro ng, immediately contact the dealer. Refer to the section 1-2 in this manual for the detail of the model codes.

3 Check driver input voltages.

The driver's model cod e is shown in the TYPE field of the dr iver's nameplate. The last thr ee digits of this model code indicate the input voltage to be input.

100: indicates a single phase 100VAC power supply.

200: indicates a 3-phase/single-phase 200VAC power supply.

If the voltage to be supplie d is different from the lab el voltage, imm ediately contact the de aler it was purchased from.

Do not connect a supply voltage other than the voltage specified

on the driver label.

The wrong power supply voltage may damage the driver, resulting in physical

injury or fire.

86

3-2 Notices on handling

Installing the SHA actuator

CAUTION

Machine base

Output structure

Output Machine base

flat

3-2 Notices on handli ng

Handle the SHA series actuator carefully by observing the notices specified below.

（2） Do not put the SHA series actuator on a table, shelf, etc., where the

（3） Do not connect the actuator terminals directly to the power supply. The

（4） The allowable storage temperature is -20 to +60℃. Do not expose the

（5） The allow able relative storage humidity is 80% or les s. Do not store the

（6） Do not use or store the actuator in locations subject to flammable or

（7） The large models (SHA58A, SHA65A) are heavy. Handling these models

（1） Do not apply any excessive force or impact, especially to the actuator's

output shaft.

actuator could easily fall.

actuator may burn and cause fire or electric shock.

actuator to direct sunlight for long periods of time or store it in areas in low or high temperature.

actuator in a very humid p lace or in areas w h ere temperatu res a re lik e l y t o fluctuate greatly during day and night.

corrosive gases or dust particles.

may cause lower ba ck pain. Injury may occur if the actuator falls and you are pinned underneath. Handle your actuator with due care by wearing safety shoes or take other proper precautions. Use supporting fixtures and lifting equipment as necessary for safe handling.

Installation and transmission torque

Examples of actuator assembly are shown below. Assembly examples 1 and 2 are for SHA-SG. Assembly examples 3 and 4 are for SHA-CG. Use high-tension b olts and tighten them with a torque wrench to control the tightening torque. In assembly example 2, use flat washers because the tightening torque is high and the actuator flange is made of aluminum.

SHA-SG assembly example

structure

Washer

Assembly example 1 Assembly example 2

87

1

2

3

4

5

6

7

8

9

10

11

付

Installing the SHA actuator

SHA-CG assembly example

Output

shaft

Output

shaft

Output

shaft

16-M4 12-M4）

16-M5 12-M5）

Bolt

P.C.D.

4.5

3.2）

9

6.4）

0.46

0.33）

0.92

0.65）

433 325）

430 381）

900 675）

891 754）

44

33.2）

44

38.9）

92

68.9）

91

76.9）

SHA40A

SHA58A

SHA65A

Output

shaft

Output

shaft

Output

shaft

Number of bolts, size

16-M6

12-M6

12-M10

16-M8

16-M10

Bolt

P.C.D.

Tightening

torque

Nm

15.3

74

37

74

kgf･m

1.56

7.5

3.8

7.5

Transmission

torque

Nm

1560

1510

4940

5230

7210

9550

kgf･m

159

154

504

533

735

974

Actuator fixing parts

Output shaft fixing parts

Assembly example 3

 Recommended tightening torque and transmission torque

SG/HP type

Model

Item

SHA20A SHA25A SHA32A

Actuator

3-2 Notices on handling

Actuator

Number of bolts, size 16-M3 12-M3

installation

Tightening

torque

Transmission

torque

The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer.

mm 62 84 77

Nm 2.0 2.0 4.5

kgf･m

Nm 203 206

kgf･m

0.20 0.20 0.46

21 21

（

12-M4

102

（127）

（

100

9

0.92

12-M5

132

（157）

（

Model

Item

installation

Notes 1, 2

Note 3

mm 122 158 178 226 195 258

Actuator

88

3-2 Notices on handling

Installing the SHA actuator

SHA20A

SHA25A

Output

shaft

Output

shaft

Number of bolts, size

12-M4

6-M5

12-M5

8-M6

Bolt

P.C.D.

Tightening

torque

Nm

4.5

6.4 9 11

kgf･m

0.46

0.65

0.92

1.1

Transmission

torque

Nm

253

257

486

600

kgf･m

26

50

61

SHA32A

SHA40A

Output

shaft

Output

shaft

Number of bolts, size

12-M6

12-M8

8-M10

Bolt

P.C.D.

Tightening

torque

Nm

15.3

11

37

52

kgf･m

Transmission

torque

Nm

918

1114

2012

2639

kgf･m

94

114

205

269

CG type

Model

Item

Actuator

installation

Notes 1, 2

Note 3

mm 60 107 72 131

Model

Item

installation

Notes 1, 2

mm 96 162 116 203

1.6 1.1 3.8 5.3

Note 3

Actuator

Note 1) The female thread material is premis ed to withstand the bolt tightening torque

2) Recommended bolt: Hexagonal bolt per JIS B 1176 Intensity category: JIS B 1051 12.9 or higher

3) Calculation conditions Torque efficiency: 0.2 Tightening efficiency: 1.4 Tightening friction coefficient:

0.15

Precautions on installation

When designing the assembly, take note that application of any abnormal or excessive force that causes deformation of the installation surface may result in performance drop. To demonstrate the excellent performance of the SHA series actuator fully, take note of the following points:

 Warping or deformation on the machine mounting surfaces  Foreign matter on the mounting surfaces  Raised burrs or deformation around the tapped mounting holes  Insufficient chamfering of mounting pilot diameter  Mounting pilot diameter is out-of-round

When the installation method is as shown in assembly example 2 mentioned above, th e recessing shown to the righ t is recommended for the spigot corner section on the actuator fixing member.

89

3-2 Notices on handling

1

2

3

4

5

6

7

8

9

10

11

付

Installing the SHA actuator

Location

Surface treatments

Housing

No treatment (aluminum material is exposed)

Output shaft bearing

Raydent

Speed reducer rotating part

Chrome plating

Output flange

Nickel plating Raydent

Hollow shaft (sleeve)

Nickel plating

Bolt

Chrome plating

Location

Surface treatments

Housing

No treatment (aluminum material is exposed)

Output flange

Raydent treatment

Speed reducer rotating part

Raydent treatment, enamel resin is applied to some surfaces

Hollow shaft (sleeve)

Nickel plating

Bolt

Chrome plating or Nickel plating

Output structure

Machine Base

Positioning pin*2

Example of use of positioning pins

*1

Use of positioning pins

The SHA series SG type actuator has posi tioning pin holes in the output rotary u nit and flang e fixed t o the actuator. The SHA series CG type has positioning pin holes only in the output rotary unit. Use these pins as necessary. For details, refer to [1-6 External dimensions] (P1-11) or the illustrated specifications.

*1. Do not drive positioning pins into the output rotary unit, but keep proper fitting clearances to the

actuator parts. Failur e to do so may result in lower positional accuracy.

*2. The hollow shaft planetary speed reducer model is not equipped with a positioning pin.

Surface treatments

Standard SHA series actuators are given the following surface treatments:

SG/HP type

CG type

The surface treatments given to SHA series actuators do not fully prevent rust.

90

3-3 Location and installation

Installing the SHA actuator

The protection class against contact and entry of foreign

The protection class against water entry is as follows:

4: Protected against water splashed from all directions.

3-3 Location and i nstallation

Operating Environment

The environmental condit ions of the installation locati on for SHA series actuators must be as f ollows. Select an appropriate installation locat io n and observe these conditions without fail.

◆ Operating temperature: 0 to 40℃ The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet. Plan the cabinet size, cooling system, and device locations so the ambient temperature of the actuator is kept 40℃ or below.

◆ Operating humidity: Relative humidity of 20 to 80%. Make sure no condensation occurs. Take note that condensation is likely to occur in a place where there is a large temperature change between day and night or when the actuator is started/stopped frequently.

2

◆ Vibration: 25 m/s

◆ Impact: 300 m/s

◆ Use environment: Free from condensation, metal powder, corrosive gase s, water, oil mist, f lammable

gases, etc.

(10 to 400Hz) or less (Refer to [1-13 Vibration resistance ] (P52))

2

or less (Refer to [1-12 Shock resistance] (P51))

◆ Protection class: Standard products are structurally desig ned to meet the IP-54 requirements.

matter is as follows: 5: Protected against entry of dust/dirt. Entry of water or foreign matter caused by incomplete protection must not affect the operation of the system.

However, rotating and sliding areas (oil seal areas) and connectors of SHA20, 25, 32 and 40 are not IP-54-compliant. Connectors of SHA58 and 65 are protected in fitted conditions.

◆ Locate the driver indoors or within an enclosure. Do not expose it to the sunlight.

◆ Altitude: lower than 1,000 m above sea level

◆ The oil seals in rotating and sliding areas do not fully prevent leakage of lubricant. If the actuator is used in a

clean room, etc., provide additional oil leakage prevention measures.

91

3-3 Location and installation

1

2

3

4

5

6

7

8

9

10

11

付

Installing the SHA actuator

Output

shaft

Flange

WARNING

Installation

The SHA series actuator drives mechanical load system at high accuracy. When installing the actu ator, pay attention to precision and do not tap the actuat or output part with a hammer, etc. The actuator houses an encoder. Excessive impact may damage the encoder.

Installation procedure

1 Align the axis of rotation of the actuator and the

load mechanism precisely.

Note 1: Perform this alignment carefully, especially when

a rigid coupling is used. Even slight misalignment may cause the permissible load of the actuator to be exceeded, resulting in damage to the output shaft.

2 Connect the driver and wiring.

An extension cable is prov i ded. Us e i t when wir i ng th e drive r. For details on wiring, r ef er to [1-15 Cable specifications].

3 Wire the motor cable and encoder cable.

Do not pull the cables with a strong force. T he connection poi nts may be damaged. Ins tall the cable with slack not to apply tens ion to th e actuat or. Provide a sufficient bending radi us (at leas t 6 times the cable diameter), especially when the cable flexes.

 Do not bring strong m agnetic objects (magnet chuc ks, permanent m agnets, etc.) near

the rear cover of the actuator. Encoder abnormality may result.

 This encoder retains absol ute positions when the p ower is turned OFF b y means of

the driver's battery or its own built-in capacitor. If the encoder cable is disconnected for maintenance, etc., turn on the driver power and charge the backup capacitor first. After 3 hours of charge, the encoder cable can be disconnected for 30 minutes, provided that the axis is stopped and ambient temperature is 25℃. However, when the

Do not disassemble/reassemble the actuator.

May cause damage to electrical and mechanical components.

backup capacitor is deteriorated, the absolute positions may not be retained.

92

Chapter 4

Options

This chapter explains the options available for the SHA series actuator.

4-1 Options ··············································································· 94

Options

1

2

3

4

Apx

6

7

8

9

10

11

付

Appendix

4-1 Options

Origin and end limit sensors (option code: L)

This option includes s ens ors that are directly connecte d to the ou tput s haft on th e rear of the actuato r. Use this option if a mechanical origin is required (when the virtu al or igin of the a bsolut e enco der is no t sufficient) or you want to define an operation range as a safety measure. SHA20A is not compatible.

Option for side exit cables (option code: Y)

This option allows the motor and encoder cables te exit from the side of the actuator. Use this option if the ac tuat or is ho used in a s ystem and ther e is not e nough r oo m for c ables to exit at the rear of the housing. This option is not available with the SHA20 (SG type), SHA58 and SHA65. Contact us for details.

Output shaft single revolution absolute model (opt ion cod e: S)

With the standard encoder, when it continues to rotate in just one direction, the absolute encoder eventually exceeds the nu mber of revolutions that can be detected with multi-revo lution detection an d it becomes impossible to manage position information accurately. With the output shaft singl e revolut ion abso lute model, each tim e the output s haft turns through si ngle revolution, the cum ulative multi revolution counter is cleared to 0. This is how position inf ormation is accurately managed when the shaft continuousl y turns in just one direction. To use this function, it is necessary to setup a driver. Refer to "HA-800 Series AC Servo Driver Manual". This model is compatible with CG type only.

Stand (CG type only)

A stand is available for purchase to use the CG type for table drive. For details, contact our sales office.

94

Options

Appendix

Nameplate

●Outline drawing of the actuator with an optional stand

95

1

2

3

4

Apx

6

7

8

9

10

11

付

Appendix

Item

Unit

SHA20

SHA25

SHA32

SHA40

a

mm

69 h7 0/-0.030

84 h7 0/-0.035

1 10 h7 0/-0.035

132 h7 0/-0.040

b

mm φ135 φ160 φ198 φ248

c

mm

143 φ168 φ208 φ258

d

mm

177 h7 0/-0.040

210 h7 0/-0.046

260 h7 0/-0.052

316 h7 0/-0.057

e

mm

133±0.3

135.5±0.3

152±0.3

180±0.3

f

mm

118

120

133

163

g

mm

7.5 8 8

10

h

mm

11

13

20

6-φ6.6

13 depth 1

j

mm

161 φ190 φ234 φ288

k - 12-M4×7

12-M5×8

12-M6×10

12-M8×12

m

mm

60 φ72 φ96 φ116

n

mm

170

160

150

130

o

Note1)

mm

0.050

0.055

0.060

0.070

p

Note1)

mm

0.080

0.090

0.100

r °

60

22.5

45

90

s

mm

107 φ131 φ162 φ203

t

mm

2-M6 depth 11

2-M8 depth 13

2-M8 depth 15

2-M12 depth 23

Mass

Note2)

kg

4.4（4.5）

6.1（6.2）

11.6（11.9）

20（21）

Section i

Note 5

:

Bolts used

Section i

torque

●Dimensions and installation specifications of the actuator with an optional stand

Options

i mm

Recommended

tightening

φ

counterbore

φ

- 6-M6 6-M8 6-M10 6-M12

Nm 11 26 52 90

φ

6-φ9 counterbore

φ17 depth 1

φ

6-φ11 counterbore

φ21 depth 1

φ

6-φ13 counterbore

φ25 depth 1

φ

Note 1) All values are T.I.R. (Total Indicator Reading).

2) The values in parentheses are for models with a brake.

3) For detailed dimensions and specifications of the actuator, refer to the illustrated specifications.

4) Cast aluminum is used for the material of the stand. No surface treatment has been applied.

5) Use flat washers when installing the product.

96

Options

Appendix

Cable length

(Unit: mm)

Outer diameter φ7.8

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

[Driver side]

[Actuator side]

Brake: blue

Brake: yellow

PE: green/yellow

W: black

V: white

U: red

Solder processing

Cable length

(Unit: mm) [Driver side]

Solder processing

Brake: blue

Brake: yellow

PE: green/yellow

Wiring display seal

W: black

V: white

U: red

[Actuator side]

(SHA20A∙25A∙32A∙40A)

Outer diameter φ7.8

Extension cables

These extension cables are used to connect the SHA series actuators and HA-800 drivers. Two types of extension cables are available for motor (including brake wire) and absolute encoder.

You must use an extension cable to connect your SHA series actuator and HA-800 driver.

Motor extension cable:

 SHA 20, 25, 32, 40 (Size 40 requires an extension cable when combined with the

HA-800-6D/E.)

EWD-MB**-A06-TN3

(** in the model code indicates the cable length (03 = 3m, 05 = 5m, 10 = 10m).)

 SHA 40 (when combined with the HA-800-24D/E)

EWD-MB**-A06-TMC

97

1

2

3

4

Apx

6

7

8

9

10

11

付

Appendix

 SHA 58, 65

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

Cable length

Outer diameter φ13.4

(Unit: mm) [Actuator side]

[Driver side]

U: red

V: white

W: Black

PE: green/yellow Brake: blue

Brake: yellow

Waterproof cable clamp

Angle plug

EWD-MB**-D09-TMC

Options

98

Options

Appendix

Cable length

(Unit: mm)

Outer diameter φ8.4

Cable length (03 = 3m, 05 = 5m, 10 = 10m)

Cable length

Outer diameter φ8.4

(Unit: mm) [Actuator side]

[Driver side]

[Actuator side]

[Driver side]

Absolute encoder extension cable:

 SHA 20, 25, 32, 40

EWD-S**-A08-3M14

(** in the model code indicates the cable length (3m, 5m, 10m).

 SHA 58, 65

EWD-S**-D10-3M14

99

1

2

3

4

Apx

6

7

8

9

10

11

付

Appendix

Unit conversion··································································· 101

A-1 A-2 Calculating inertia moment ···················································· 103

Options

100

Harmonic Drive SHA, SHA CG, SHA SG, SHA32A, SHA40A Series Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

SAFETY GUIDE

Contents

1 Overview of the SHA series

Chapter 1

Chapter 2

Chapter 3

Chapter 4