SHA Series - hds-tech.jphds-tech.jp/pdf/hd08_sha_cg_en.pdfThis catalog contains information as of...
Transcript of SHA Series - hds-tech.jphds-tech.jp/pdf/hd08_sha_cg_en.pdfThis catalog contains information as of...
ISO14001ISO9001
This catalog contains information as of April 2015.No.1504-1R-SHACG
This catalog is printed with environmentally friendly vegetable oil ink.
Information desk for urgent repair and inquiry [Information desk for urgent repair request and technical consultation]
TEL: CS division +81-(0)263-83-6812Business hours: Monday to Friday 9:00 to 12:00 13:00 to 17:00 (Except Saturdays, Sundays, national holidays and our speci�ed days off)
Certifications for ISO 14001 (Hotaka Plant) and ISO 9001 obtained (TUV SUD Management Service GmbH) Registered Trademark in Japan
Head Office: Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-5471-7800 FAX: +81-3-5471-7811Tokyo Office: Believe Omori 2F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-5471-7830 FAX: +81-3-5471-7836Kita-Kanto Office: Believe Omori 2F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-6410-8485 FAX: +81-3-6410-8486Koshin Office: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL: +81-263-83-6910 FAX: +81-263-83-6911Chu-bu Office: Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi, Japan 465-0024 TEL: +81-52-773-7451 FAX: +81-52-773-7462Kansai Office: Shin-Osaka Ueno To-yo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi, Osaka, Japan 532-0011 TEL: +81-6-6885-5720 FAX: +81-6-6885-5725Kyushu Office: NOF Hakata station-front Building 7F, 1-15-20 Hakata station-front, Hakata-ku, Fukuoka-shi, Fukuoka, Japan 812-0011 TEL: +81-92-451-7208 FAX: +81-92-481-2493Asia/Europe Group 1856-1 Hotakamaki Azumino-shi Nagano, JapanSales Division: 399-8305 TEL: +81-263-83-6935 FAX: +81-263-83-6901Hotaka Plant: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL: +81-263-83-6800 FAX: +81-263-83-6901Harmonic Drive AG: Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn Germany TEL: +49-6431-5008-0 FAX: +49-6431-5008-18Harmonic Drive 247 Lynnfield Street, Peabody, MA, 01960, U.S.A.L.L.C: TEL: +1-978-532-1800 FAX: +1-978-532-9406
http://www.hds.co.jp/ “HarmonicDrive®” is a trademark of Harmonic Drive Systems, Inc.The academic or general nomenclature of our products “HarmonicDrive®” is “strain wave gearing.”
AC Servo ActuatorFlat Shape / Hollow Structure
SHA Series
AC Servo Driver HA-800 Series
High-PrecisionSHA-CG Type(Reducer: HarmonicDrive® CSG Series)
2 3
SHA-CG Type SHA-CG TypeSHA Series
AC Servo Actuators SHA SeriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Flat Shape/Hollow Structure AC Servo Actuator SHA Series
Compared to direct drive motor, precision and resolution are almost equal
Drastical size and weight reduction is realizedWeight is reduced down to about 1/6 to 1/9 Size is reduced down to about 1/2 (Max. torque ratio) *According to research by HarmonicDrive® as of April, 2014
High-Precision SHA-CG TypeOutput shaft axial runout accuracy is drastically improved by changing combined models of HarmonicDrive®.Fulfills high precision requirements such as table rotation drive or alignment adjustment mechanism that demands mechanical precision.
Features of HA-800 series
Functions of HA-800 series
Features of SHA-CG type● Output shaft axial runout accuracy is drastically improved [surface runout • shaft axial runout (outer spigot) 0.010mm or less] By conducting an overall review of output rotary unit, high precision of surface runout and shaft axial runout is realized. Best suited application for index table and such.● Easy-to-divide output shaft resolution 0.01°, 0.001° or 0.0001° increment division is possible by setting parameters.● Vertical stand for indexing is available as an option.
HA-800B
*1
HA-800C
*2
General-purpose I/O command typeControl Mode [Position, Speed, Torque*3] supportedHA-800A
SHA series dedicated driver
Open Field Network Supported AC Servo Driver HA-800 Series
The actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque. SHA Series
*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.*3: Control mode to control motor current
Features 2・3SHA series CG type Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20-CG type 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25-CG type (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25-CG type (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32-CG type 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40-CG type 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40-CG type 《Combination Driver: HA-800□-24D/E-200》 18・19Operable Range・Mechanical Accuracy 20Uni-directional Positional Accuracy・Repeatability 21Reverse Positional Accuracy・Rotational Direction 22
Surface Treatment・Precautions 23SHA series Options (sold separately) 24・25Features 26HA-800 series Common Specification 26HA-800 series Communication Specification 28External Dimensions: HA-800□-1, 3 28External Dimensions: HA-800□-6 28External Dimensions: HA-800□-24 29HA-800 series Options (sold separately) 30Software to Set Servo Parameters (free delivery) 31
Warranty・Trademark・Overseas standards conformance 32For Safe Use of Servo Systems 33Memo 34As a Specialist in Precision Control Field (Company profile) 35
Cable lead-out EncoderRear lead-out
Side lead-out is available
Reducer modelHarmonicDrive® SHG seriesHarmonic Planetary®
HPF series
Changeable reducer modelFlat HarmonicDrive® (SHD series)Planetary gear reducer (HPG series)Reduction ratio: selectable between 1/3 and 1/161
Standard
Variation
Standard
Variation
Standard
Variation
Standard
Standard
Standard
Variation
Variation
Variation
Standard
VariationCan be compatible with IP65 of protection code.
Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markingsCompliance with RoHS directive
AC Servo motor
Environment specification
Supported power voltage specification: AC 200V(SHA25 can be compatible with AC100V spec.)
Supported power voltage specification: AC400V, AC100V, DC72V, DC48V(Inquire at Harmonic drive’s sales office for the supported model.)
Holding brakeWithout brake
With brake (can be mounted without changing dimensions.)
Magnetic type absolute encoder (17bit)Multi revolution backup (16bit)(conforming to Nicon A format)
Incremental encoder can be mounted.
Output shaft bearingCrossed roller bearing
The size can be changed to the high load capacity and high load specification.
OptionNear origin and end limit sensors
With stand
Output shaft 1 revolution absolute specification
Selection from each variation
● Open field network supported: MECHATROLINK-ll, CC-Link● In comparison to conventional product • Reduces positional settling time to 1/2. • Auto tuning function is added. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque) can be switched by I/O
input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.
● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.
● Output shaft 1 revolution absolute specification is added as a new function.
Command setting at ouput shaft 1 revolution can easily be set. Compatible with SHA-CD-S type.
● Output shaft partitioning function setting is added. Command setting by angular unit is available such as 3.6 million division
(equivalent to output shaft 0.0001 deg.).
MECHATROLINK-II supported CC-Link supported
CONTENTS
2 3
SHA-CG Type SHA-CG TypeSHA Series
AC Servo Actuators SHA SeriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Flat Shape/Hollow Structure AC Servo Actuator SHA Series
Compared to direct drive motor, precision and resolution are almost equal
Drastical size and weight reduction is realizedWeight is reduced down to about 1/6 to 1/9 Size is reduced down to about 1/2 (Max. torque ratio) *According to research by HarmonicDrive® as of April, 2014
High-Precision SHA-CG TypeOutput shaft axial runout accuracy is drastically improved by changing combined models of HarmonicDrive®.Fulfills high precision requirements such as table rotation drive or alignment adjustment mechanism that demands mechanical precision.
Features of HA-800 series
Functions of HA-800 series
Features of SHA-CG type● Output shaft axial runout accuracy is drastically improved [surface runout • shaft axial runout (outer spigot) 0.010mm or less] By conducting an overall review of output rotary unit, high precision of surface runout and shaft axial runout is realized. Best suited application for index table and such.● Easy-to-divide output shaft resolution 0.01°, 0.001° or 0.0001° increment division is possible by setting parameters.● Vertical stand for indexing is available as an option.
HA-800B
*1
HA-800C
*2
General-purpose I/O command typeControl Mode [Position, Speed, Torque*3] supportedHA-800A
SHA series dedicated driver
Open Field Network Supported AC Servo Driver HA-800 Series
The actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque. SHA Series
*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.*3: Control mode to control motor current
Features 2・3SHA series CG type Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20-CG type 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25-CG type (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25-CG type (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32-CG type 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40-CG type 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40-CG type 《Combination Driver: HA-800□-24D/E-200》 18・19Operable Range・Mechanical Accuracy 20Uni-directional Positional Accuracy・Repeatability 21Reverse Positional Accuracy・Rotational Direction 22
Surface Treatment・Precautions 23SHA series Options (sold separately) 24・25Features 26HA-800 series Common Specification 26HA-800 series Communication Specification 28External Dimensions: HA-800□-1, 3 28External Dimensions: HA-800□-6 28External Dimensions: HA-800□-24 29HA-800 series Options (sold separately) 30Software to Set Servo Parameters (free delivery) 31
Warranty・Trademark・Overseas standards conformance 32For Safe Use of Servo Systems 33Memo 34As a Specialist in Precision Control Field (Company profile) 35
Cable lead-out EncoderRear lead-out
Side lead-out is available
Reducer modelHarmonicDrive® SHG seriesHarmonic Planetary®
HPF series
Changeable reducer modelFlat HarmonicDrive® (SHD series)Planetary gear reducer (HPG series)Reduction ratio: selectable between 1/3 and 1/161
Standard
Variation
Standard
Variation
Standard
Variation
Standard
Standard
Standard
Variation
Variation
Variation
Standard
VariationCan be compatible with IP65 of protection code.
Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markingsCompliance with RoHS directive
AC Servo motor
Environment specification
Supported power voltage specification: AC 200V(SHA25 can be compatible with AC100V spec.)
Supported power voltage specification: AC400V, AC100V, DC72V, DC48V(Inquire at Harmonic drive’s sales office for the supported model.)
Holding brakeWithout brake
With brake (can be mounted without changing dimensions.)
Magnetic type absolute encoder (17bit)Multi revolution backup (16bit)(conforming to Nicon A format)
Incremental encoder can be mounted.
Output shaft bearingCrossed roller bearing
The size can be changed to the high load capacity and high load specification.
OptionNear origin and end limit sensors
With stand
Output shaft 1 revolution absolute specification
Selection from each variation
● Open field network supported: MECHATROLINK-ll, CC-Link● In comparison to conventional product • Reduces positional settling time to 1/2. • Auto tuning function is added. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque) can be switched by I/O
input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.
● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.
● Output shaft 1 revolution absolute specification is added as a new function.
Command setting at ouput shaft 1 revolution can easily be set. Compatible with SHA-CD-S type.
● Output shaft partitioning function setting is added. Command setting by angular unit is available such as 3.6 million division
(equivalent to output shaft 0.0001 deg.).
MECHATROLINK-II supported CC-Link supported
CONTENTS
SHA-CG Type SHA-CG Type
Model and Symbols
AC servo actuator
The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.
SHA20ACombination Driver SHA25A SHA32A SHA40AActuator Model
Motor cable EWD-MB**-A06-TN3
** In the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.
Encoder cable EWD-S**-A08-3M14
When HA-800A-6D/EEWD-MB**-A06-TN3
When HA-800A-24DEWD-MB**-A06-TMC
SHA20ACombination Driver SHA25A SHA32A SHA40AActuator Model
HA-800B-3D/E -200
HA-800C-3D/E -200
HA-800A-3D/E -200 HA-800A-6D/E-200
HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800A-6D/E-200or
HA-800A-24D/E-200
HA-800B-6D/E-200or
HA-800B-24D/E-200
HA-800C-6D/E-200or
HA-800C-24D/E-200
HA-800A-6D/E-100
HA-800A-3D/E-200
HA-800B-6D/E-100
HA-800B-3D/E-200
HA-800C-6D/E-100
HA-800C-3D/E-200
SHA series (CG type) Line up
Combination with Driver and Relay Cable
The following shows how to read models and symbols of SHA series actuators.
■Example of standard item modelSHA 32 A 100 CG - B 12 A 200 - 10 S17b A - C
CSG
5080100120160
1/501/801/1001/1201/160
CG HarmonicDrive® CSG series
AB
Without brake
10 A format, transmission speed: 2.5Mbps, one-to-one connection
S17b 17bit absolute encoder, 131072 pulse/revolution
A 0°
BC
Model 25, 32, 40Model 20
08091215
Model 20Model 25Model 32Model 40
100200
100V200V
(100V is available for model 25.)
LYVS
Near origin and end limit sensorsSide lead-out of cableWith stand (CG type only)Output shaft 1 revolution absolute specification (CG type only)
(Inquire at Harmonic drive’s sales office for the supported model.)
CN
Standard connector attachedWithout connector
No descriptionSP
Standard Special specification item
100200
AC100VAC200V
No descriptionSP
Standard Special specification item
AC servo driver■Example of standard item model
(1)
HA--
(2)
800A --
(3)
3(4)
A(5)
200--
- (6)
ABCDE
13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification
800A800B800C
I/O command typeMECHATROLINK-Ⅱ supported typeCC-Link supported type
13624
1.5A3A6A24A
CC-Link supported
MECHATROLINK-Ⅱ supported
HarmonicDrive®
Reduction RatioModel Max. Torque[Nm]
Permissible Continuous
Torque [Nm]Max. RotationalSpeed [r/min]
Output ResolutionPulses/Resolution
Hollow opening diameter [mm] Combined Driver Model
* Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
25A(Power supply of motor
100V)
25A(Power supply of motor
200V)
40A
40A
32A
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
333
548
686
802
841
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
92
156
196
235
315
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
80
50
40
33.3
25
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
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
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
45
45
45
45
45
I/O command type: HA-800A-6D/E-100MECHATROLINK-Ⅱ supported: HA-800B-6D/E-100CC-Link supported: HA-800C-6D/E-100
I/O command type: HA-800A-3D/E-200MECHATROLINK-Ⅱ supported: HA-800B-3D/E-200CC-Link supported: HA-800C-3D/E-200
I/O command type: HA-800A-6D/E-200MECHATROLINK-Ⅱ supported: HA-800B-6D/E-200CC-Link supported: HA-800C-6D/E-200
I/O command type: HA-800A-6D/E-200MECHATROLINK-Ⅱ supported: HA-800B-6D/E-200CC-Link supported: HA-800C-6D/E-200
I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported: HA-800B-24D/E-200CC-Link supported: HA-800C-24D/E-200
1:50
1:80
1:100
1:120
1:160
20A
73
96
107
113
120
21
35
43
48
48
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
I/O command type: HA-800A-3D/E-200MECHATROLINK-Ⅱsupported: HA-800B-3D/E-200CC-Link supported: HA-800C-3D/E-200
4 5SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current
Versatile I/O command type
(12) Encoder phase angle
Option symbol(14)
Special specification(15)
Attached connector(13)
(6) Motor version symbol
(7) Motor size
(5) Reducer type
Power supply of motor(9)
Supported encoder(4)
Special specification(6)
Input power supply voltage(5)
With brake
Brake (8)
(10) Encoder format
(11) Encoder type, resolution
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)
(1) Type: AC servo actuator SHA series
Model: 20, 25, 32, 40(2)
Version symbol(3)
(1)
(2)
(3)
Type: AC servo driver HA series
Series name: 800 series
Rated output current
Reduction ratio (represented as R of 1/R)(4)
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Model and Symbols
AC servo actuator
The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.
SHA20ACombination Driver SHA25A SHA32A SHA40AActuator Model
Motor cable EWD-MB**-A06-TN3
** In the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.
Encoder cable EWD-S**-A08-3M14
When HA-800A-6D/EEWD-MB**-A06-TN3
When HA-800A-24DEWD-MB**-A06-TMC
SHA20ACombination Driver SHA25A SHA32A SHA40AActuator Model
HA-800B-3D/E -200
HA-800C-3D/E -200
HA-800A-3D/E -200 HA-800A-6D/E-200
HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800A-6D/E-200or
HA-800A-24D/E-200
HA-800B-6D/E-200or
HA-800B-24D/E-200
HA-800C-6D/E-200or
HA-800C-24D/E-200
HA-800A-6D/E-100
HA-800A-3D/E-200
HA-800B-6D/E-100
HA-800B-3D/E-200
HA-800C-6D/E-100
HA-800C-3D/E-200
SHA series (CG type) Line up
Combination with Driver and Relay Cable
The following shows how to read models and symbols of SHA series actuators.
■Example of standard item modelSHA 32 A 100 CG - B 12 A 200 - 10 S17b A - C
CSG
5080100120160
1/501/801/1001/1201/160
CG HarmonicDrive® CSG series
AB
Without brake
10 A format, transmission speed: 2.5Mbps, one-to-one connection
S17b 17bit absolute encoder, 131072 pulse/revolution
A 0°
BC
Model 25, 32, 40Model 20
08091215
Model 20Model 25Model 32Model 40
100200
100V200V
(100V is available for model 25.)
LYVS
Near origin and end limit sensorsSide lead-out of cableWith stand (CG type only)Output shaft 1 revolution absolute specification (CG type only)
(Inquire at Harmonic drive’s sales office for the supported model.)
CN
Standard connector attachedWithout connector
No descriptionSP
Standard Special specification item
100200
AC100VAC200V
No descriptionSP
Standard Special specification item
AC servo driver■Example of standard item model
(1)
HA--
(2)
800A --
(3)
3(4)
A(5)
200--
- (6)
ABCDE
13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification
800A800B800C
I/O command typeMECHATROLINK-Ⅱ supported typeCC-Link supported type
13624
1.5A3A6A24A
CC-Link supported
MECHATROLINK-Ⅱ supported
HarmonicDrive®
Reduction RatioModel Max. Torque[Nm]
Permissible Continuous
Torque [Nm]Max. RotationalSpeed [r/min]
Output ResolutionPulses/Resolution
Hollow opening diameter [mm] Combined Driver Model
* Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
1:50
1:80
1:100
1:120
1:160
25A(Power supply of motor
100V)
25A(Power supply of motor
200V)
40A
40A
32A
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
333
548
686
802
841
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
92
156
196
235
315
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
80
50
40
33.3
25
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
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
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
45
45
45
45
45
I/O command type: HA-800A-6D/E-100MECHATROLINK-Ⅱ supported: HA-800B-6D/E-100CC-Link supported: HA-800C-6D/E-100
I/O command type: HA-800A-3D/E-200MECHATROLINK-Ⅱ supported: HA-800B-3D/E-200CC-Link supported: HA-800C-3D/E-200
I/O command type: HA-800A-6D/E-200MECHATROLINK-Ⅱ supported: HA-800B-6D/E-200CC-Link supported: HA-800C-6D/E-200
I/O command type: HA-800A-6D/E-200MECHATROLINK-Ⅱ supported: HA-800B-6D/E-200CC-Link supported: HA-800C-6D/E-200
I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported: HA-800B-24D/E-200CC-Link supported: HA-800C-24D/E-200
1:50
1:80
1:100
1:120
1:160
20A
73
96
107
113
120
21
35
43
48
48
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
I/O command type: HA-800A-3D/E-200MECHATROLINK-Ⅱsupported: HA-800B-3D/E-200CC-Link supported: HA-800C-3D/E-200
4 5SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current
Versatile I/O command type
(12) Encoder phase angle
Option symbol(14)
Special specification(15)
Attached connector(13)
(6) Motor version symbol
(7) Motor size
(5) Reducer type
Power supply of motor(9)
Supported encoder(4)
Special specification(6)
Input power supply voltage(5)
With brake
Brake (8)
(10) Encoder format
(11) Encoder type, resolution
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)
(1) Type: AC servo actuator SHA series
Model: 20, 25, 32, 40(2)
Version symbol(3)
(1)
(2)
(3)
Type: AC servo driver HA series
Series name: 800 series
Rated output current
Reduction ratio (represented as R of 1/R)(4)
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
Basic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.
System Configuration
To PE of motor relay cable
* See “Technical information” for details of the configuration related to the power supply.
* See “Technical information” for details of the configuration related to the power supply.
AC servo actuatorSHA series
Communication software (PSF-800)
General-purpose I/O command type
AC servo driverHA-800A
MECHATROLINK-Ⅱ supported System configuration
General-purpose I/O command type System configuration
CC-Link supported System configuration
TB2 connector(→ p. 30)
TB1: motor connector (→ p. 30)【Not necessary if relay cable is used】
Motor relay cable (p. 24)
TB2: Power supply connector (→ p. 30)
AC100V or AC200V power supply[Prepare cables and the power supply.]
MECHATROLINK-Ⅱ supported
AC servo driverHA-800B
CC-Link supportedAC servo driver
HA-800C
CN1: encoder connector (→ p. 24)【Not necessary if relay cable is used】
CN2: I/O signal connactor (→ p. 30)
CN2: I/O signal connactor (→ p. 30)
MECHATROLINK-Ⅱterminating resistance
CC-Link Ver.1.10communication cable
MECHATROLINK-Ⅱcable
EIA-232C dedicated communication cable (→ p. 30)
I/O signal cable
Host controller
PC
EIA-232C dedicated communication cable (→ p. 30)
PC
MECHATROLINK-Ⅱcable
MECHATROLINK-Ⅱcontroller
Encoder relay cable(p. 25)
Encoder relay cable(p. 25)
AC servo actuatorSHA series
AC servo actuatorSHA series
Optionally available
To be supplied by the customer
Optionally available
To be supplied by the customer
Host controller
CC-Link master station
I/O signal cable
CN1: encoder connector (→ p. 24)【Not necessary if relay cable is used】
TB1: motor connector ( → p. 30)【Not necessary if relay cable is used】
CC-Link communication connector (→ p. 30)
Terminating resistance
CC-Link Ver.1.10communication cable
Motor relay cable (p. 24)
TB2: Power supply connector (→ p. 30)
AC100V or AC200V power supply[Prepare cables and the power supply.]
6 7SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
(→ p. 31)
Power Supply *1
Circuit Breaker *1
Surge absorber *1
Noise filter *1
Control power supply *1
Power supply cable *1
Main power supply *1
Electromagnetic contactor *1
* If a brake is attached, the power supply for the brake is required separately.
Dedicated communication cable(→ p. 30)
Encoder relay cable(→ p. 24)
Motor relay cable(→ p. 24)
I/O signal cable *1
Personal computer *1
CN2 connector(→ p. 30)
TB1 connector(→ p. 30)
CN1 connector(→ p. 30)
CN2 connector(→ p. 30)
TB1 connector(→ p. 30)
CN1 connector(→ p. 30)
Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.
Install
Host controller *1
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
Basic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.
System Configuration
To PE of motor relay cable
* See “Technical information” for details of the configuration related to the power supply.
* See “Technical information” for details of the configuration related to the power supply.
AC servo actuatorSHA series
Communication software (PSF-800)
General-purpose I/O command type
AC servo driverHA-800A
MECHATROLINK-Ⅱ supported System configuration
General-purpose I/O command type System configuration
CC-Link supported System configuration
TB2 connector(→ p. 30)
TB1: motor connector (→ p. 30)【Not necessary if relay cable is used】
Motor relay cable (p. 24)
TB2: Power supply connector (→ p. 30)
AC100V or AC200V power supply[Prepare cables and the power supply.]
MECHATROLINK-Ⅱ supported
AC servo driverHA-800B
CC-Link supportedAC servo driver
HA-800C
CN1: encoder connector (→ p. 24)【Not necessary if relay cable is used】
CN2: I/O signal connactor (→ p. 30)
CN2: I/O signal connactor (→ p. 30)
MECHATROLINK-Ⅱterminating resistance
CC-Link Ver.1.10communication cable
MECHATROLINK-Ⅱcable
EIA-232C dedicated communication cable (→ p. 30)
I/O signal cable
Host controller
PC
EIA-232C dedicated communication cable (→ p. 30)
PC
MECHATROLINK-Ⅱcable
MECHATROLINK-Ⅱcontroller
Encoder relay cable(p. 25)
Encoder relay cable(p. 25)
AC servo actuatorSHA series
AC servo actuatorSHA series
Optionally available
To be supplied by the customer
Optionally available
To be supplied by the customer
Host controller
CC-Link master station
I/O signal cable
CN1: encoder connector (→ p. 24)【Not necessary if relay cable is used】
TB1: motor connector ( → p. 30)【Not necessary if relay cable is used】
CC-Link communication connector (→ p. 30)
Terminating resistance
CC-Link Ver.1.10communication cable
Motor relay cable (p. 24)
TB2: Power supply connector (→ p. 30)
AC100V or AC200V power supply[Prepare cables and the power supply.]
6 7SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
(→ p. 31)
Power Supply *1
Circuit Breaker *1
Surge absorber *1
Noise filter *1
Control power supply *1
Power supply cable *1
Main power supply *1
Electromagnetic contactor *1
* If a brake is attached, the power supply for the brake is required separately.
Dedicated communication cable(→ p. 30)
Encoder relay cable(→ p. 24)
Motor relay cable(→ p. 24)
I/O signal cable *1
Personal computer *1
CN2 connector(→ p. 30)
TB1 connector(→ p. 30)
CN1 connector(→ p. 30)
CN2 connector(→ p. 30)
TB1 connector(→ p. 30)
CN1 connector(→ p. 30)
Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.
Install
Host controller *1
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 or less
26 1419.5 (63.5)
UL_N.P CE_N.P
(83)
4417.5
R0.4 or less
C0.5
R0.4 or less
C0.5
(3)
15°
30°
Opening diameterC0.5 chamfering
Depth 7φ0.05
2-M5(Pull tap)
φ60 φ107
12-M4×7 6-φ5.5 to 6
φ11
7
φ90
φ95
h7
0 -0.0
35
φ69
h7
0 -0.0
30
φ43
h7
+0.0
25 0
Output rotary unit
125.5±1
123±1
(φ
94)
(φ
76)
N.P
Hollo
w sh
aft in
side
diame
terHo
llow
shaft
insid
e dia
meter
φ17
φ33
+0.5
-0.2
φ95
h7
0 -0.0
35
R30
AWG 20x4 conductors(Cable outside diameter:φ5.6)
Motor cableAWG 28x3 pairs + shield(Cable outside diameter:φ6)
Encoder cable
+35 0200
Encoder connectorHousing :1-1903130-4【AMP】Tab contact :1903111-2 【AMP】
Motor connectorHousing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
φ4 H7 +0.012 0
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 320×320×16 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA20-CG Type 《Combination Driver: HA-800□-3D/E-200》
737.4212.1120161.76.12.11.8
0.212.10.232.41:50
60
6,553,600
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
969.8353.675262.75
2.12.9
0.535.40.66.11:80
50
10,485,760
10710.9434.460333.44.62.13.71.42.50.82
80.949.6
1:10018719.1
25.2×104
7.550
Absolute encoder217(131,072)216(65,536)13,107,200
2.62.7
11311.5484.950394
4.12
4.4
1.2121.314
1:120
50
15,728,640
12012.2484.937.5535.43.41.75.9
2.1222.424
1:160
50
20,971,520
GD2/4J
GD2/4J
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Operable Range * See page 20 for how to read the operable range.
0 20 40 8060 140120100
80
0
20
40
60
■ SHA20A50CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60 80
120
100
80
60
40
20
0
■ SHA20A80CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60 80
120
100
80
60
40
20
0
■ SHA20A100CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60
120
100
80
60
40
20
0
■ SHA20A120CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
0 10 20 30 40
140
120
100
80
60
40
20
0
■ SHA20A160CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA20A50CGItem SHA20A80CG SHA20A100CG SHA20A120CG SHA20A160CGModel
8 9SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 or less
26 1419.5 (63.5)
UL_N.P CE_N.P
(83)
4417.5
R0.4 or less
C0.5
R0.4 or less
C0.5
(3)
15°
30°
Opening diameterC0.5 chamfering
Depth 7φ0.05
2-M5(Pull tap)
φ60 φ107
12-M4×7 6-φ5.5 to 6
φ11
7
φ90
φ95
h7
0 -0.0
35
φ69
h7
0 -0.0
30
φ43
h7
+0.0
25 0
Output rotary unit
125.5±1
123±1
(φ
94)
(φ
76)
N.P
Hollo
w sh
aft in
side
diame
terHo
llow
shaft
insid
e dia
meter
φ17
φ33
+0.5
-0.2
φ95
h7
0 -0.0
35
R30
AWG 20x4 conductors(Cable outside diameter:φ5.6)
Motor cableAWG 28x3 pairs + shield(Cable outside diameter:φ6)
Encoder cable
+35 0200
Encoder connectorHousing :1-1903130-4【AMP】Tab contact :1903111-2 【AMP】
Motor connectorHousing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
φ4 H7 +0.012 0
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 320×320×16 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA20-CG Type 《Combination Driver: HA-800□-3D/E-200》
737.4212.1120161.76.12.11.8
0.212.10.232.41:50
60
6,553,600
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
969.8353.675262.75
2.12.9
0.535.40.66.11:80
50
10,485,760
10710.9434.460333.44.62.13.71.42.50.82
80.949.6
1:10018719.1
25.2×104
7.550
Absolute encoder217(131,072)216(65,536)13,107,200
2.62.7
11311.5484.950394
4.12
4.4
1.2121.314
1:120
50
15,728,640
12012.2484.937.5535.43.41.75.9
2.1222.424
1:160
50
20,971,520
GD2/4J
GD2/4J
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Operable Range * See page 20 for how to read the operable range.
0 20 40 8060 140120100
80
0
20
40
60
■ SHA20A50CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60 80
120
100
80
60
40
20
0
■ SHA20A80CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60 80
120
100
80
60
40
20
0
■ SHA20A100CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
0 20 40 60
120
100
80
60
40
20
0
■ SHA20A120CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
0 10 20 30 40
140
120
100
80
60
40
20
0
■ SHA20A160CG
Rotational Speed [r/min]
Radiation plate: 320×320×16(mm)
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA20A50CGItem SHA20A80CG SHA20A100CG SHA20A120CG SHA20A160CGModel
8 9SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
15°22.5°15°15°
(12
)
(13)
(4) 19
4
3.5
φ27
±0.
5
(14
)
(28)
(21)
(28)
17
4
28.5 (82)
127.5 ±1
16.5
15 or less
(65.5)
1A
1B
(φ93
)
200+35 0
(φ11
4)φ55
H7
+0.0
30
0
φ14
4
φ11
0
φ11
5 h7
0 -0.0
35
φ84
h7
0 -0.0
35
φ11
5 h
7 0 -0
.035
φ131
φ72
C0.5
(Pull tap)
C0.5
R0.4 or lessR0.4 or less
8-φ6.5 to 7
φ5 H7
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Output rotary unit
Encoder cableMotor cableAWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
AWG 20x4 conductors(Cable outside diameter:φ5.6)
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012 0
Opening diameterC1 chamfering
Depth 8φ0.05
R37.5R37.5
(Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 350×350×18 [mm] is mounted.* 3: Tripled value of MEF.
External Dimensions(Reducer type: CG type)
Operable RangeActuator Specification: SHA25-CG Type (AC100V Spec.) 《Combination Driver: HA-800□-6D/E-100》
12713343.596
10.91.115.14.71.2
0.505.10.606.11:50
50
6,553,600
17818.2575.860
17.71.813.24.72.0
1.3131.516
1:80
40
10,485,760
20420.8727.348222.312.24.72.50.41.02.0202.424
1:10025826.3
39.2×104
11.640
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
3.954.1
21722.1818.240272.711.04.53.0
2.9293.435
1:120
40
15,728,640
22923.4818.230353.69.03.74.0
5.1526.162
1:160
40
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
150
0
25
50
75
100
125
■ SHA25A50CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 20 40 60 80
200
0
25
50
75
100
125
150
175
■ SHA25A80CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A120CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A160CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A100CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA25A50CGItem SHA25A80CG SHA25A100CG SHA25A120CG SHA25A160CGModel
10 11SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Hollo
w sh
aft i
nsid
e di
amet
er
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
15°22.5°15°15°
(12
)
(13)
(4) 19
4
3.5
φ27
±0.
5
(14
)
(28)
(21)
(28)
17
4
28.5 (82)
127.5 ±1
16.5
15 or less
(65.5)
1A
1B
(φ93
)
200+35 0
(φ11
4)φ55
H7
+0.0
30
0
φ14
4
φ11
0
φ11
5 h7
0 -0.0
35
φ84
h7
0 -0.0
35
φ11
5 h
7 0 -0
.035
φ131
φ72
C0.5
(Pull tap)
C0.5
R0.4 or lessR0.4 or less
8-φ6.5 to 7
φ5 H7
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Output rotary unit
Encoder cableMotor cableAWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
AWG 20x4 conductors(Cable outside diameter:φ5.6)
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012 0
Opening diameterC1 chamfering
Depth 8φ0.05
R37.5R37.5
(Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 350×350×18 [mm] is mounted.* 3: Tripled value of MEF.
External Dimensions(Reducer type: CG type)
Operable RangeActuator Specification: SHA25-CG Type (AC100V Spec.) 《Combination Driver: HA-800□-6D/E-100》
12713343.596
10.91.115.14.71.2
0.505.10.606.11:50
50
6,553,600
17818.2575.860
17.71.813.24.72.0
1.3131.516
1:80
40
10,485,760
20420.8727.348222.312.24.72.50.41.02.0202.424
1:10025826.3
39.2×104
11.640
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
3.954.1
21722.1818.240272.711.04.53.0
2.9293.435
1:120
40
15,728,640
22923.4818.230353.69.03.74.0
5.1526.162
1:160
40
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
150
0
25
50
75
100
125
■ SHA25A50CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 20 40 60 80
200
0
25
50
75
100
125
150
175
■ SHA25A80CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A120CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A160CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A100CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA25A50CGItem SHA25A80CG SHA25A100CG SHA25A120CG SHA25A160CGModel
10 11SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Hollo
w sh
aft i
nsid
e di
amet
er
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 350×350×18 [mm] is mounted.* 3: Tripled value of MEF.
Actuator Specification: SHA25-CG Type (AC200V Spec.) 《Combination Driver: HA-800□-3D/E-200》
12713404.1112191.98.73.02.1
0.505.10.606.11:50
50
6,553,600
17818.2666.870313.17.63.03.4
1.3131.516
1:80
40
10,485,760
20420.8818.256383.97.03.04.31.23
2.0202.424
1:10025826.3
39.2×104
11.640
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
3.954.1
21722.1818.246.7464.76.32.65.2
2.9293.435
1:120
40
15,728,640
22923.4818.235616.35.22.16.9
5.1526.162
1:160
40
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
* See page 20 for how to read the operable range.
0 20 40 60 80 100 120
150
0
25
50
75
100
125
■ SHA25A50CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 20 40 60
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A100CG
Rotational Speed [r/min]
放熱板:350×350×18(mm)
0 20 40 60 80
200
0
25
50
75
100
125
150
175
■ SHA25A80CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A120CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A160CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
External Dimensions (Unit: mm)
(Reducer type: CG type)
15°22.5°15°15°
(12
)
(13)
(4) 19
4
3.5
φ27
±0.
5
(14
)
(28)
(21)
(28)
17
4
28.5 (82)
127.5 ±1
16.5
15 or less
(65.5)
1A
1B
(φ93
)
200+35 0
(φ11
4)φ55
H7
+0.0
30
0
φ14
4
φ11
0
φ11
5 h7
0 -0.0
35
φ84
h7
0 -0.0
35
φ11
5 h
7 0 -0
.035
φ131
φ72
C0.5
(Pull tap)
C0.5
R0.4 or lessR0.4 or less
8-φ6.5 to 7
φ5 H7
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Output rotary unit
Encoder cableMotor cableAWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
AWG 20x4 conductors(Cable outside diameter:φ5.6)
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012 0
Opening diameterC1 chamfering
Depth 8φ0.05
R37.5R37.5
SHA25A50CGItem SHA25A80CG SHA25A100CG SHA25A120CG SHA25A160CGModel
12 13SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Operable Range
Hollo
w sh
aft i
nsid
e di
amet
er
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 350×350×18 [mm] is mounted.* 3: Tripled value of MEF.
Actuator Specification: SHA25-CG Type (AC200V Spec.) 《Combination Driver: HA-800□-3D/E-200》
12713404.1112191.98.73.02.1
0.505.10.606.11:50
50
6,553,600
17818.2666.870313.17.63.03.4
1.3131.516
1:80
40
10,485,760
20420.8818.256383.97.03.04.31.23
2.0202.424
1:10025826.3
39.2×104
11.640
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
3.954.1
21722.1818.246.7464.76.32.65.2
2.9293.435
1:120
40
15,728,640
22923.4818.235616.35.22.16.9
5.1526.162
1:160
40
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.
Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
* See page 20 for how to read the operable range.
0 20 40 60 80 100 120
150
0
25
50
75
100
125
■ SHA25A50CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 20 40 60
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A100CG
Rotational Speed [r/min]
放熱板:350×350×18(mm)
0 20 40 60 80
200
0
25
50
75
100
125
150
175
■ SHA25A80CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40 50
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A120CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
0 10 20 30 40
250
0
25
50
75
100
125
150
175
200
225
■ SHA25A160CG
Rotational Speed [r/min]
Radiation plate: 350×350×18(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
External Dimensions (Unit: mm)
(Reducer type: CG type)
15°22.5°15°15°
(12
)
(13)
(4) 19
4
3.5
φ27
±0.
5
(14
)
(28)
(21)
(28)
17
4
28.5 (82)
127.5 ±1
16.5
15 or less
(65.5)
1A
1B
(φ93
)
200+35 0
(φ11
4)φ55
H7
+0.0
30
0
φ14
4
φ11
0
φ11
5 h7
0 -0.0
35
φ84
h7
0 -0.0
35
φ11
5 h
7 0 -0
.035
φ131
φ72
C0.5
(Pull tap)
C0.5
R0.4 or lessR0.4 or less
8-φ6.5 to 7
φ5 H7
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350690-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Output rotary unit
Encoder cableMotor cableAWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
AWG 20x4 conductors(Cable outside diameter:φ5.6)
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012 0
Opening diameterC1 chamfering
Depth 8φ0.05
R37.5R37.5
SHA25A50CGItem SHA25A80CG SHA25A100CG SHA25A120CG SHA25A160CGModel
12 13SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Operable Range
Hollo
w sh
aft i
nsid
e di
amet
er
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
144±1
(90)(5)
55
(70.5)19.523.52034
2-M6(Pull tap)
45°
12-φ6.5 to 7
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
Encoder cableAWG 18x4 conductors(Cable outside diameter:φ7.7)
Motor cable
R50
15°15°
φ35
±0.
5
φ14
8 h7
0
-0.
040
(φ
121)
(φ
146)
15 or lessR0.4 or less
R0.4 or lessOutput rotary unit
C0.5
C0.5
3.5
φ75
H7
+0.
030
0
φ14
8 h7
0
-0.
040
φ11
0 h7
0
-0.
035
φ14
2
φ17
5
φ96
15°
φ162
12-M6×10
Housing :1-1903130-4 【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
(21)
(28)(28)
(13) 200 +35 0
1A1B
(14
)(
12)
Motor connectorHousing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Opening diameterC1 chamfering
+0.012 0φ6 H7 Depth 8
φ0.05
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 400×400×20 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA32-CG Type 《Combination Driver: HA-800□-6D/E-200》
28128.7909.296202.117.76.02.3
1.7172.020
1:50
40
6,553,600
39540.315115.460333.415.46.03.7
4.3445.152
1:80
30
10,485,760
43344.217818.248414.213.75.74.6
0.33 1.46.7687.981
1:10058059.2
100×104
29.630
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
7.78.0
45946.817818.240495.012.25.05.5
9.79911116
1:120
30
15,728,640
48449.417818.230666.7104.17.4
1717520207
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
300
0
50
100
150
200
250
■ SHA32A50CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50
500
0
50
100
150
200
250
300
350
400
450
■ SHA32A100CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50 60 70
450
0
50
100
150
200
250
300
350
400
■ SHA32A80CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50
500
0
50
100
150
200
250
300
350
400
450
■ SHA32A120CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 5 10 15 20 25 30 35
600
0
100
200
300
400
500
■ SHA32A160CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA32A50CGItem SHA32A80CG SHA32A100CG SHA32A120CG SHA32A160CGModel
14 15SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Operable Range
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Hollo
w sh
aft i
nsid
e di
amet
er
144±1
(90)(5)
55
(70.5)19.523.52034
2-M6(Pull tap)
45°
12-φ6.5 to 7
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
Encoder cableAWG 18x4 conductors(Cable outside diameter:φ7.7)
Motor cable
R50
15°15°
φ35
±0.
5
φ14
8 h7
0
-0.
040
(φ
121)
(φ
146)
15 or lessR0.4 or less
R0.4 or lessOutput rotary unit
C0.5
C0.5
3.5
φ75
H7
+0.
030
0
φ14
8 h7
0
-0.
040
φ11
0 h7
0
-0.
035
φ14
2
φ17
5
φ96
15°
φ162
12-M6×10
Housing :1-1903130-4 【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
(21)
(28)(28)
(13) 200 +35 0
1A1B
(14
)(
12)
Motor connectorHousing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Opening diameterC1 chamfering
+0.012 0φ6 H7 Depth 8
φ0.05
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 400×400×20 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA32-CG Type 《Combination Driver: HA-800□-6D/E-200》
28128.7909.296202.117.76.02.3
1.7172.020
1:50
40
6,553,600
39540.315115.460333.415.46.03.7
4.3445.152
1:80
30
10,485,760
43344.217818.248414.213.75.74.6
0.33 1.46.7687.981
1:10058059.2
100×104
29.630
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
7.78.0
45946.817818.240495.012.25.05.5
9.79911116
1:120
30
15,728,640
48449.417818.230666.7104.17.4
1717520207
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
300
0
50
100
150
200
250
■ SHA32A50CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50
500
0
50
100
150
200
250
300
350
400
450
■ SHA32A100CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50 60 70
450
0
50
100
150
200
250
300
350
400
■ SHA32A80CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 10 20 30 40 50
500
0
50
100
150
200
250
300
350
400
450
■ SHA32A120CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
0 5 10 15 20 25 30 35
600
0
100
200
300
400
500
■ SHA32A160CG
Rotational Speed [r/min]
Radiation plate: 400×400×20(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
SHA32A50CGItem SHA32A80CG SHA32A100CG SHA32A120CG SHA32A160CGModel
14 15SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Operable Range
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Hollo
w sh
aft i
nsid
e di
amet
er
22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
φ45
±0.
5
(80)
15 or less
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
φ90
H7
+0.0
35
0
φ13
2 h7
φ17
0φ
180
h7
φ22
5 0 -0.0
40
0 -0.0
40
(φ17
5) φ18
0 h7
0 -0.0
40
(φ14
3)
φ116
φ203
C0.5(Pull tap)
+0.015 0
Opening diameterC1 chamfering
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Motor cable Encoder cableAWG 16x4 conductors(Cable outside diameter:φ7.8)
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
2-M10
12-M8×12
φ8 H7 Depth 10
R0.4 or less
C0.5
8-φ11 to 11.5
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
+35 0
Output rotary unit R0.4 or less
φ0.05
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.* 2: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 3: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 4: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA40-CG Type 《Combination Driver: HA-800□-6D/E-200》
33334.0929.480252.5186.02.8
4.8495.859
1:50
40
6,553,600
54855.915615.950404.1186.04.5
12124151501:80
30
10,485,760
68670.019620.040505.1186.05.60.191.21919423235
1:10084986.6
179×104
53.230
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
13.013.8
80281.823524.033.3606.117.66.06.7
2728033338
1:120
30
15,728,640
84185.831532.125808.214.36.09.0
4949759601
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1, 2, 3
Permissible Continuous Current *2,3
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1, 2, 3
Maximum Voltage *2
Maximum Speed *2
Torque Constant * 2
MEF Constant *4
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
600
0
100
200
300
400
500
■ SHA40A50CG/HA-800-6D/E
Rotational Speed [r/min]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Radiation plate: 500×500×25(mm)
0 10 20 30 40 50
800
700
600
500
400
300
200
100
0
■ SHA40A100CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 20 40 60
800
0
100
200
300
400
500
600
700
■ SHA40A80CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
0 10 20 30 40
900
800
700
600
500
400
300
200
100
0
■ SHA40A120CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
0 10 20 30
900
0
100
200
300
400
500
600
700
800
■ SHA40A160CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
SHA40A50CGItem SHA40A80CG SHA40A100CG SHA40A120CG SHA40A160CGModel
16 17SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Operable Range
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Hollo
w sh
aft i
nsid
e di
amet
er
22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
φ45
±0.
5
(80)
15 or less
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
φ90
H7
+0.0
35
0
φ13
2 h7
φ17
0φ
180
h7
φ22
5 0 -0.0
40
0 -0.0
40
(φ17
5) φ18
0 h7
0 -0.0
40
(φ14
3)
φ116
φ203
C0.5(Pull tap)
+0.015 0
Opening diameterC1 chamfering
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Motor cable Encoder cableAWG 16x4 conductors(Cable outside diameter:φ7.8)
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
2-M10
12-M8×12
φ8 H7 Depth 10
R0.4 or less
C0.5
8-φ11 to 11.5
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
+35 0
Output rotary unit R0.4 or less
φ0.05
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.* 2: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 3: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 4: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA40-CG Type 《Combination Driver: HA-800□-6D/E-200》
33334.0929.480252.5186.02.8
4.8495.859
1:50
40
6,553,600
54855.915615.950404.1186.04.5
12124151501:80
30
10,485,760
68670.019620.040505.1186.05.60.191.21919423235
1:10084986.6
179×104
53.230
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
13.013.8
80281.823524.033.3606.117.66.06.7
2728033338
1:120
30
15,728,640
84185.831532.125808.214.36.09.0
4949759601
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1, 2, 3
Permissible Continuous Current *2,3
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1, 2, 3
Maximum Voltage *2
Maximum Speed *2
Torque Constant * 2
MEF Constant *4
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
600
0
100
200
300
400
500
■ SHA40A50CG/HA-800-6D/E
Rotational Speed [r/min]
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Radiation plate: 500×500×25(mm)
0 10 20 30 40 50
800
700
600
500
400
300
200
100
0
■ SHA40A100CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 20 40 60
800
0
100
200
300
400
500
600
700
■ SHA40A80CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
0 10 20 30 40
900
800
700
600
500
400
300
200
100
0
■ SHA40A120CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
0 10 20 30
900
0
100
200
300
400
500
600
700
800
■ SHA40A160CG/HA-800-6D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
SHA40A50CGItem SHA40A80CG SHA40A100CG SHA40A120CG SHA40A160CGModel
16 17SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Operable Range
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Hollo
w sh
aft i
nsid
e di
amet
er
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA40-CG Type 《Combination Driver: HA-800□-24D/E-200》
52353.415716.080252.527.29.02.8
4.8495.859
1:50
40
6,553,600
67568.926026.550404.1229.04.5
12124151501:80
30
10,485,760
73875.332733.340505.119.69.05.60.191.21919423235
1:10084986.6
179×104
53.230
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
13.013.8
80281.838239
33.3606.1188.86.7
2728033338
1:120
30
15,728,640
84185.83823925808.214.77.29.0
4949759601
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
600
0
100
200
300
400
500
■ SHA40A50CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30 40 50
800
0
100
200
300
400
500
600
700
■ SHA40A100CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 20 40 60
800
700
600
500
400
300
200
100
0
■ SHA40A80CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30 40
900
0
100
200
300
400
500
600
700
800
■ SHA40A120CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30
900
0
100
200
300
500
400
600
700
800
■ SHA40A160CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
φ45
±0.
5
(80)
15 or less
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
φ90
H7
+0.0
35
0
φ13
2 h7
φ17
0φ
180
h7
φ22
5 0 -0.0
40
0 -0.0
40
(φ17
5) φ18
0 h7
0 -0.0
40
(φ14
3)
φ116
φ203
C0.5(Pull tap)
+0.015 0
Opening diameterC1 chamfering
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Motor cable Encoder cableAWG 16x4 conductors(Cable outside diameter:φ7.8)
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
2-M10
12-M8×12
φ8 H7 Depth 10
R0.4 or less
C0.5
8-φ11 to 11.5
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
+35 0
Output rotary unit R0.4 or less
φ0.05
SHA40A50CGItem SHA40A80CG SHA40A100CG SHA40A120CG SHA40A160CGModel
18 19SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Operable Range
Hollo
w sh
aft i
nsid
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amet
er
External Dimensions (Unit: mm)
The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 3: Tripled value of MEF.
(Reducer type: CG type)
Actuator Specification: SHA40-CG Type 《Combination Driver: HA-800□-24D/E-200》
52353.415716.080252.527.29.02.8
4.8495.859
1:50
40
6,553,600
67568.926026.550404.1229.04.5
12124151501:80
30
10,485,760
73875.332733.340505.119.69.05.60.191.21919423235
1:10084986.6
179×104
53.230
Magnetic type absolute encoder217(131,072)216(65,536)13,107,200
13.013.8
80281.838239
33.3606.1188.86.7
2728033338
1:120
30
15,728,640
84185.83823925808.214.77.29.0
4949759601
1:160
30
20,971,520
Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)
Nmkgf・mNm
kgf・mr/minNm/A
kgf・m/AAA
V/(r/min)ΩmH
kg・m2
kgf・cm・s2
kg・m2
kgf・cm・s2
Nmkgf・m
Nm/radkgf・m/arc min
Sec.
Pulse/revolutionkgkg
GD2/4J
GD2/4J
Permissible Continuous Torque *1,2
Permissible Continuous Current *1,2
Permissible Moment Capacity
Moment Stiffness
Uni-directional Positional Accuracy
Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)
Environmental Conditions
Mounting DirectionProtection Structure
Motor Insulation
Maximum Torque *1
Maximum Voltage *1
Maximum Speed *1
Torque Constant *1
MEF Constant *3
Phase Resistance (at 20oC)
Phase Inductance
Reduction Ratio
Moment of Inertia(With brake)
Moment of Inertia(Without brake)
* See page 20 for how to read the operable range.
0 20 40 60 80 100
600
0
100
200
300
400
500
■ SHA40A50CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30 40 50
800
0
100
200
300
400
500
600
700
■ SHA40A100CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 20 40 60
800
700
600
500
400
300
200
100
0
■ SHA40A80CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30 40
900
0
100
200
300
400
500
600
700
800
■ SHA40A120CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
0 10 20 30
900
0
100
200
300
500
400
600
700
800
■ SHA40A160CG/HA-800-24D/E
Rotational Speed [r/min]
Radiation plate: 500×500×25(mm)
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]To
rque
[N
m]
Torq
ue [
Nm
]
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range
Continuousmotion rangeContinuous
motion range
50% duty motion range50% duty motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Continuousmotion rangeContinuous
motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
50% duty motion range50% duty motion range
Acceleration/deceleration motion range
Acceleration/deceleration motion range
Continuousmotion rangeContinuous
motion range22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
φ45
±0.
5
(80)
15 or less
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
φ90
H7
+0.0
35
0
φ13
2 h7
φ17
0φ
180
h7
φ22
5 0 -0.0
40
0 -0.0
40
(φ17
5) φ18
0 h7
0 -0.0
40
(φ14
3)
φ116
φ203
C0.5(Pull tap)
+0.015 0
Opening diameterC1 chamfering
Housing :1-1903130-4【AMP】Tab contact :1903117-2 【AMP】
Encoder connector
Motor cable Encoder cableAWG 16x4 conductors(Cable outside diameter:φ7.8)
AWG 24x3 pairs + shield(Cable outside diameter:φ7.7)
2-M10
12-M8×12
φ8 H7 Depth 10
R0.4 or less
C0.5
8-φ11 to 11.5
Housing :350715-1【AMP】Pin contact (motor U・V・W) :350547-1【AMP】Pin contact (motor PE) :350669-1【AMP】
Motor connector
+35 0
Output rotary unit R0.4 or less
φ0.05
SHA40A50CGItem SHA40A80CG SHA40A100CG SHA40A120CG SHA40A160CGModel
18 19SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.
Operable Range
Hollo
w sh
aft i
nsid
e di
amet
er
Operable Range
Mechanical Accuracy
The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).
■ Continuous motion rangeRange of continuously operable torque-rotational speed.
The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.
■ 50% duty motion rangeRange of torque-rotational speed operable at 50% duty (ratio between operational and standby hours is 50:50)
■ Motion range during acceleration and decelerationRange of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration.
0 10 20 30 40 50 60 70 80 90 100
45
0
5
10
15
20
25
30
35
40
Rotational Speed [r/min]
Torq
ue [N
m]
Positioning error
Specified stop position
Actual stop position
Datum position
Reduction Ratio Model
Total reduction ratio ±5
SHA20A
±5
SHA25A
±4
SHA32A
±4
SHA40A
(Unit: Sec)
2-1
A 1
A6
3 B
4 B
2-2
A5
B
The “uni-directional positional accuracy” represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (JIS B 6201-1987)
The repeatability is determined by repeating positioning in a given position from the same direction seven times, by measuring four stop positions of the output shaft and by calculating the maximum differences. Measured values are indicated in angles (degrees) and are prefixed with "±" to 1/2 of the maximum differences. The values in the table are maximum values. (JIS B 6201-1987)
Reduction RatioModel
1:501:80 or more
6050
SHA20A
5040
SHA25A
4030
SHA32A
4030
SHA40A
(Unit: Sec)■ CG Type
P1
P2
P7
XRepeatability: ±X/2
*P1 to P7: Stop position X: maximum difference
■ CG TypeAccuracie Item
1. Output shaft surface runout2-1. Output shaft axial runout (outer spigot)2-2. Output shaft axial runout (inner spigot)3. Parallelism between the output shaft and mounted surface4. Parallelism between the output shaft and mounted surface5. Concentricity between the output shaft and fitting part6. Concentricity between the output shaft and fitting part
SHA20A SHA25A SHA32A SHA40A
* The aforementioned values are T.I.R (total indicator reading) values.
(Uint: mm)
■ CG Type
Repeatability
Uni-directional Positional Accuracy
20 21SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Note 1: Motion ranges for continuous motion and that at 50% duty are the values when the radiation plate mentioned in the graphs is mounted.
Note 2: See the technical information for selection of a model No.
0.0100.0100.0150.0300.0400.0500.060
0.0100.0100.0150.0300.0400.0500.060
0.0100.0100.0150.0350.0450.0550.065
0.0100.0100.0150.0350.0450.0600.070
Operable Range
Mechanical Accuracy
The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).
■ Continuous motion rangeRange of continuously operable torque-rotational speed.
The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.
■ 50% duty motion rangeRange of torque-rotational speed operable at 50% duty (ratio between operational and standby hours is 50:50)
■ Motion range during acceleration and decelerationRange of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration.
0 10 20 30 40 50 60 70 80 90 100
45
0
5
10
15
20
25
30
35
40
Rotational Speed [r/min]
Torq
ue [N
m]
Positioning error
Specified stop position
Actual stop position
Datum position
Reduction Ratio Model
Total reduction ratio ±5
SHA20A
±5
SHA25A
±4
SHA32A
±4
SHA40A
(Unit: Sec)
2-1
A 1
A6
3 B
4 B
2-2
A5
B
The “uni-directional positional accuracy” represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (JIS B 6201-1987)
The repeatability is determined by repeating positioning in a given position from the same direction seven times, by measuring four stop positions of the output shaft and by calculating the maximum differences. Measured values are indicated in angles (degrees) and are prefixed with "±" to 1/2 of the maximum differences. The values in the table are maximum values. (JIS B 6201-1987)
Reduction RatioModel
1:501:80 or more
6050
SHA20A
5040
SHA25A
4030
SHA32A
4030
SHA40A
(Unit: Sec)■ CG Type
P1
P2
P7
XRepeatability: ±X/2
*P1 to P7: Stop position X: maximum difference
■ CG TypeAccuracie Item
1. Output shaft surface runout2-1. Output shaft axial runout (outer spigot)2-2. Output shaft axial runout (inner spigot)3. Parallelism between the output shaft and mounted surface4. Parallelism between the output shaft and mounted surface5. Concentricity between the output shaft and fitting part6. Concentricity between the output shaft and fitting part
SHA20A SHA25A SHA32A SHA40A
* The aforementioned values are T.I.R (total indicator reading) values.
(Uint: mm)
■ CG Type
Repeatability
Uni-directional Positional Accuracy
20 21SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Note 1: Motion ranges for continuous motion and that at 50% duty are the values when the radiation plate mentioned in the graphs is mounted.
Note 2: See the technical information for selection of a model No.
0.0100.0100.0150.0300.0400.0500.060
0.0100.0100.0150.0300.0400.0500.060
0.0100.0100.0150.0350.0450.0550.065
0.0100.0100.0150.0350.0450.0600.070
Reverse Positional Accuracy
Rotational Direction
The reverse positional accuracy is determined by rotating in positive (or negative) direction to determine the stopping position as a benchmark. Rotate to the same direction by giving an arbitrary command then give the same command in negative (or positive) direction from the stopping position. Measure the differences between the stopping position and the benchmark. Repeat the steps seven times to determine the average value to calculate the maximum value at four positions of the output shaft. (JIS B 6201-1987)
The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.
■ “SP50: Command polarity” setting
01
Set value
Clockwise directionCounter-clockwise direction
FWD command pulse
Counter-clockwise directionClockwise direction
REV command pulse
Factory setting
Setting
● Operating the SHA series (CG type) at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern.
● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.
The following surface treatment is provided for standard SHA series actuators.
The surface treatment of SHA series actuator does not completely protect rust.
■ CG Type
Main bodyOutput shaft roller bearing fixed partOutput shaft rotorHollow shaft (Sleeve)Bolt
No treatment (Bare aluminum)Low temperature black chrome platingLow temperature black chrome platingNickel platingTrivalent chrome plating or nickel plating
Part Surface treatment
Reduction RatioModel
1:501:80 or more
7530
SHA20A
6025
SHA25A
6025
SHA32A
5020
SHA40A
(Unit: Sec)■ CG Type
* P1 to P7 : Stop position from positive direction P1’to P7’ : Stop position from negative direction X1 to X7 : Difference between stop position of positive and negative direction
X1
P1
P2
P2
P1
X2
X7P7
P7
Reverse positional accuracy:
一X1 + X2 + ・・・ + X7 一/7
*Arrow indicates counter-clockwise direction.
Precautions
Surface Treatment
22 23SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Reverse Positional Accuracy
Rotational Direction
The reverse positional accuracy is determined by rotating in positive (or negative) direction to determine the stopping position as a benchmark. Rotate to the same direction by giving an arbitrary command then give the same command in negative (or positive) direction from the stopping position. Measure the differences between the stopping position and the benchmark. Repeat the steps seven times to determine the average value to calculate the maximum value at four positions of the output shaft. (JIS B 6201-1987)
The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.
■ “SP50: Command polarity” setting
01
Set value
Clockwise directionCounter-clockwise direction
FWD command pulse
Counter-clockwise directionClockwise direction
REV command pulse
Factory setting
Setting
● Operating the SHA series (CG type) at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern.
● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.
The following surface treatment is provided for standard SHA series actuators.
The surface treatment of SHA series actuator does not completely protect rust.
■ CG Type
Main bodyOutput shaft roller bearing fixed partOutput shaft rotorHollow shaft (Sleeve)Bolt
No treatment (Bare aluminum)Low temperature black chrome platingLow temperature black chrome platingNickel platingTrivalent chrome plating or nickel plating
Part Surface treatment
Reduction RatioModel
1:501:80 or more
7530
SHA20A
6025
SHA25A
6025
SHA32A
5020
SHA40A
(Unit: Sec)■ CG Type
* P1 to P7 : Stop position from positive direction P1’to P7’ : Stop position from negative direction X1 to X7 : Difference between stop position of positive and negative direction
X1
P1
P2
P2
P1
X2
X7P7
P7
Reverse positional accuracy:
一X1 + X2 + ・・・ + X7 一/7
*Arrow indicates counter-clockwise direction.
Precautions
Surface Treatment
22 23SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
SHA series Options (sold separately)
For standard encoders, as long as uni-directional rotation continues, positional information will not be managable accurately since absolute encoder is to surpass detectable multi-rotational detection count.As for output shaft 1 revolution absolute specifications, clear the multi-accumilation counter to 0 (zero) as outputshaft turns 1 revolution (one turn) to maintain positional information accuracy as long as uni-directional rotation continues. See the “technical information for AC servo driver HA-800 series” to use this function since driver setting is necessary for the drive. This specification is onyly for CG type only.
Output shaft 1 revolution absolute specification (option symbol: S)
Stand is available for use of CG type as table drive.For details, contact one of our branch offices.
With stand (CG type, option symbol: V)
This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.
Relay Cable
Actuator model number: 20, 25, 32, 40 (Model No. 40 is used when combining with HA-800-6D/E.) EWD-MB**-A06-TN3
Cable length (03=3m, 05=5m, 10=10m)
● For motors
(Unit: mm)
(30)
(32
.5)
【Driver side】(HA-800-3・6)
【Actuator side】(SHA25・32A・40A)
(60)
(28max) (19max)
(29
max
)
Soldering process Brake: Blue
Brake: Yellow
PE: Green/Yellow
W: BlackWiring display seal
V: WhiteU: Red
Cable length
Outside diameter φ7.8
100 +100
【Actuator side】 【Driver side】
(Unit: mm)
Actuator model number: 20, 25, 32, 40 EWD-S**-A08-3M14
Cable length (03=3m, 05=5m, 10=10m)
● For encoders
Cable length
60
(12.6)
(12
.5)
(11.3)Outside diameter φ8.4
(39) (12.7)
(29
.5)
Actuator model number: 40 (combining with HA-800-24D/E.) EWD-MB**-A06-TMC
Cable length (03=3m, 05=5m, 10=10m) (Unit: mm)
【Driver side】(HA-800-24) Cable length
Outside diameter φ7.8
(80)
(60)
(28max)(19max)
(29
max
)
Brake: BlueSoldering process
Brake: Yellow
PE: Green/Yellow
W: Black
V: White
U: Red
【Actuator side】(SHA40A)
Note:1. For actuators, please refer to the illustrated specifications or technical information accompanying the delivered product for detailed dimensions and spcifications.2. Stand is only for SHA-CG type, side lead-out of cable.
*1: The aforementioned values are T.I.R (total indicator reading) values.*2: The values in parentheses are for equipment with a brake.*3: When installing the products, use plain washer.
・ For actuators, please refer to the illustrated specifications accompanying the delivered product for detailed dimensions and spcifications.・ Material of stand is cast aluminum. No surface treatment is applied.・ Stand is sold only as an option.・ Near origin and end limit sensors (option) can not be combined.・ Actuator is equipped with side lead-out of cable.
Item Unit SHA20 SHA25 SHA32 SHA40abcdefgh
i
jkmn
o *1
p *1
rst
Mass *2
Bolt used for i part *3
Recommended tightening torque for i part
mmmmmmmmmmmmmmmm
mm
mm-
mmmmmmmm°mm
-kg-
Nm
φ69 h7 0/-0.030φ135φ143
φ177 h7 0/-0.040133±0.3
1187.511
6-φ6.6Boring φ13 depth 1
φ16112-M4×7
φ60170
0.050φ0.080
60φ107
2-M6 Depth 114.4(4.5)
6-M6
11
φ84 h7 0/-0.035φ160φ168
φ210 h7 0/-0.046135.5±0.3
120813
6-φ9Boring φ17 Depth 1
φ19012-M5×8
φ72160
0.055φ0.080
22.5φ131
2-M8 Depth 136.1(6.2)
6-M8
26
φ110 h7 0/-0.035φ198φ208
φ260 h7 0/-0.052152±0.3
133813
6-φ11Boring φ21 Depth 1
φ23412-M6×10
φ96150
0.060φ0.090
45φ162
2-M8 Depth 1511.6(11.9)
6-M10
52
φ132 h7 0/-0.040φ248φ258
φ316 h7 0/-0.057180±0.3
1631020
6-φ13Boring φ25 Depth 1
φ28812-M8×12
φ116130
0.070φ0.100
90φ203
2-M12 Depth 2320(21)6-M12
90
■Outline drawing
■ Measurement table
24 25SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Name plate
SHA series Options (sold separately)
For standard encoders, as long as uni-directional rotation continues, positional information will not be managable accurately since absolute encoder is to surpass detectable multi-rotational detection count.As for output shaft 1 revolution absolute specifications, clear the multi-accumilation counter to 0 (zero) as outputshaft turns 1 revolution (one turn) to maintain positional information accuracy as long as uni-directional rotation continues. See the “technical information for AC servo driver HA-800 series” to use this function since driver setting is necessary for the drive. This specification is onyly for CG type only.
Output shaft 1 revolution absolute specification (option symbol: S)
Stand is available for use of CG type as table drive.For details, contact one of our branch offices.
With stand (CG type, option symbol: V)
This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.
Relay Cable
Actuator model number: 20, 25, 32, 40 (Model No. 40 is used when combining with HA-800-6D/E.) EWD-MB**-A06-TN3
Cable length (03=3m, 05=5m, 10=10m)
● For motors
(Unit: mm)
(30)
(32
.5)
【Driver side】(HA-800-3・6)
【Actuator side】(SHA25・32A・40A)
(60)
(28max) (19max)
(29
max
)
Soldering process Brake: Blue
Brake: Yellow
PE: Green/Yellow
W: BlackWiring display seal
V: WhiteU: Red
Cable length
Outside diameter φ7.8
100 +100
【Actuator side】 【Driver side】
(Unit: mm)
Actuator model number: 20, 25, 32, 40 EWD-S**-A08-3M14
Cable length (03=3m, 05=5m, 10=10m)
● For encoders
Cable length
60
(12.6)
(12
.5)
(11.3)Outside diameter φ8.4
(39) (12.7)
(29
.5)
Actuator model number: 40 (combining with HA-800-24D/E.) EWD-MB**-A06-TMC
Cable length (03=3m, 05=5m, 10=10m) (Unit: mm)
【Driver side】(HA-800-24) Cable length
Outside diameter φ7.8
(80)
(60)
(28max)(19max)
(29
max
)
Brake: BlueSoldering process
Brake: Yellow
PE: Green/Yellow
W: Black
V: White
U: Red
【Actuator side】(SHA40A)
Note:1. For actuators, please refer to the illustrated specifications or technical information accompanying the delivered product for detailed dimensions and spcifications.2. Stand is only for SHA-CG type, side lead-out of cable.
*1: The aforementioned values are T.I.R (total indicator reading) values.*2: The values in parentheses are for equipment with a brake.*3: When installing the products, use plain washer.
・ For actuators, please refer to the illustrated specifications accompanying the delivered product for detailed dimensions and spcifications.・ Material of stand is cast aluminum. No surface treatment is applied.・ Stand is sold only as an option.・ Near origin and end limit sensors (option) can not be combined.・ Actuator is equipped with side lead-out of cable.
Item Unit SHA20 SHA25 SHA32 SHA40abcdefgh
i
jkmn
o *1
p *1
rst
Mass *2
Bolt used for i part *3
Recommended tightening torque for i part
mmmmmmmmmmmmmmmm
mm
mm-
mmmmmmmm°mm
-kg-
Nm
φ69 h7 0/-0.030φ135φ143
φ177 h7 0/-0.040133±0.3
1187.511
6-φ6.6Boring φ13 depth 1
φ16112-M4×7
φ60170
0.050φ0.080
60φ107
2-M6 Depth 114.4(4.5)
6-M6
11
φ84 h7 0/-0.035φ160φ168
φ210 h7 0/-0.046135.5±0.3
120813
6-φ9Boring φ17 Depth 1
φ19012-M5×8
φ72160
0.055φ0.080
22.5φ131
2-M8 Depth 136.1(6.2)
6-M8
26
φ110 h7 0/-0.035φ198φ208
φ260 h7 0/-0.052152±0.3
133813
6-φ11Boring φ21 Depth 1
φ23412-M6×10
φ96150
0.060φ0.090
45φ162
2-M8 Depth 1511.6(11.9)
6-M10
52
φ132 h7 0/-0.040φ248φ258
φ316 h7 0/-0.057180±0.3
1631020
6-φ13Boring φ25 Depth 1
φ28812-M8×12
φ116130
0.070φ0.100
90φ203
2-M12 Depth 2320(21)6-M12
90
■Outline drawing
■ Measurement table
24 25SHAseriesAC Servo Actuators
SHAseriesAC Servo Actuators
SHA SeriesAC Servo Actuators SHA Series
AC Servo Actuators
SHA-CG Type SHA-CG Type
Name plate
Open Field Network SupportedAC Servo Driver HA-800 seriesFeatures
■ Open field network supportedMECHATROLINK-ll and CC-Link (Ver1.10) supported
■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems)
Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.
■ Auto tuning function is availableAuto tuning function is available, which can estimate the load to set optimal servo gain.
■ Control mode can be switched by I/O inputControl mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.*Control mode to control motor currentmode to control motor current
■ Regenerative absorbing circuit and dynamic brake are embedded
HA-800 series Communication Specification
HA-800 series Common Specification
* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.
* 3: HA-800B/HA-800C are only RS-232C specification.
*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).
For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.
*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.
HA-800□-1 HA-800□-3 HA-800□-6 HA-800□-24ItemDriver model
■ MECHATROLINK Communication Specification
MECHATROLINK version
Transmission rate
Maximum transmission distance
Minimum inter-station distance
Transmission medium
Number of mobile units connected
Topology
Communication cycle
Communication method
Coding
Data length
Number of connections *1
MECHATROLINK-Ⅱ10Mbps
50m
0.5m
Twisted pair cable with balanced type shield
Maximum 30 mobile units
Bus
1, 1.5, 2, 3, 4, 5ms
Master/slave full synchronous method
Manchester encoding
17 bytes/32 bytes selectable
Maximum 30
Item Specification
■ CC-Link Communication SpecificationItem Specification
Self-cooled type Forced air-cooling type
■ Output shaft 1 revolution absolute specification
■ Output shaft partitioning function setting
26 27AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) +10 to −15%
AC100 to 115V (single phase) or AC200 to 230V (single phase) +10 to −15%
50/60Hz
Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error
1.5A
4.0A
Driver’s Rated Current*1
Driver’s Maximum Current*1
Power Supply Voltage
Power Supply Frequency
Structure
Mounting Method
Control Mode
Multi Revolution Limit (Motor Shaft)
Ambient Condition
Position Command Pulse*2
Speed Command Voltage*2
Torque Command Voltage*2
Speed Control Range
Input Singal*2
Output Signal*2
Monitor Terminal
Communication Connector *3
Operation Panel
Protection function
Regenerative Processing
Regenerative Resistance Absorbed Power
Embedded Functions
Inrush Current Prevention Function
Operation Mode
Mass
3.0A
9.5A
6.0A
19.0A
24.0A
55.0A
AC200 to 230V (3 phases)+10 to −15%
AC200 to 230V (single phase) +10 to −15%
− 3W Max
1kg
8W Max 90W Max
1.2kg 5.8kg
−4096 to 4095 (FHA-C series),−32768 to 32767 (SHA series, FHA-C mini series)
Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: No metal powder, dust, corrosive gas, flammable gas and oil mist
RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder data
External Regenerative ResistanceWith installation terminal
Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery
Embedded (CPU control by main circuit voltage monitoring)
Status display (normal operation) mode, test mode, adjustment mode, system parameter mode
Regenerative Resistance InstalledWith External Regenerative Resistance installation terminal
Base mount (mounted on a wall)
Position control, speed control, torque control (switchable from I/O*2)
Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverse selection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2, torque limit, electronic gear select, control mode, INHIBIT
Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state, low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning
Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting
DC±10V/Max. rotation speed, input impedance approx. 68kΩ
DC±10V / Max torque, input impedance approx. 68kΩ
1:1000
3 channels, motor rpm, current command, general-purpose output (parameter selection)
Display (7-segment LEDs) 5 digits (red), 4 push button switches
Rotational speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and others
System parameter 1, 2, 3 or 4, adjustment parameter 1 or 2
Line driver type : Maximum response frequency 1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type : Maximum response frequency 200kHz
Main circuit*1
Control circuit*1
Configuration
Status Display Function
Parameter Adjustment Function*3
Alarm*2
Warning*2
Applicable CC-Link version
Station type
Transmission rate
Communication method
Synchronous method
Encoding method
Transmission channel type
Error control method
Connecting cable
Transmission format
Remote station number
Number of exclusive stations
Cable length *4
Number of connections
Ver 1.10
Remote device station
10M/5M/2.5M/625K/156Kbps
Broadcast polling method
Frame synchronous method
NRZI
Bus type (Compliant to EIA RS-485)
CRC(X16+X12+X5+1)CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)
Compliant to HDLC
1 to 64
1 station, 2 station
Communication speed
Maximum cable extension
Cable length between stations
Maximum 42 units only for a remote station Can be shared with other devices
156kbps
1200m
625kbps
900m
10Mbps
100m
2.5Mbps
400m
0.2m or more
5Mbps
160m
Open Field Network SupportedAC Servo Driver HA-800 seriesFeatures
■ Open field network supportedMECHATROLINK-ll and CC-Link (Ver1.10) supported
■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems)
Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.
■ Auto tuning function is availableAuto tuning function is available, which can estimate the load to set optimal servo gain.
■ Control mode can be switched by I/O inputControl mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.*Control mode to control motor currentmode to control motor current
■ Regenerative absorbing circuit and dynamic brake are embedded
HA-800 series Communication Specification
HA-800 series Common Specification
* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.
* 3: HA-800B/HA-800C are only RS-232C specification.
*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).
For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.
*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.
HA-800□-1 HA-800□-3 HA-800□-6 HA-800□-24ItemDriver model
■ MECHATROLINK Communication Specification
MECHATROLINK version
Transmission rate
Maximum transmission distance
Minimum inter-station distance
Transmission medium
Number of mobile units connected
Topology
Communication cycle
Communication method
Coding
Data length
Number of connections *1
MECHATROLINK-Ⅱ10Mbps
50m
0.5m
Twisted pair cable with balanced type shield
Maximum 30 mobile units
Bus
1, 1.5, 2, 3, 4, 5ms
Master/slave full synchronous method
Manchester encoding
17 bytes/32 bytes selectable
Maximum 30
Item Specification
■ CC-Link Communication SpecificationItem Specification
Self-cooled type Forced air-cooling type
■ Output shaft 1 revolution absolute specification
■ Output shaft partitioning function setting
26 27AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) +10 to −15%
AC100 to 115V (single phase) or AC200 to 230V (single phase) +10 to −15%
50/60Hz
Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error
1.5A
4.0A
Driver’s Rated Current*1
Driver’s Maximum Current*1
Power Supply Voltage
Power Supply Frequency
Structure
Mounting Method
Control Mode
Multi Revolution Limit (Motor Shaft)
Ambient Condition
Position Command Pulse*2
Speed Command Voltage*2
Torque Command Voltage*2
Speed Control Range
Input Singal*2
Output Signal*2
Monitor Terminal
Communication Connector *3
Operation Panel
Protection function
Regenerative Processing
Regenerative Resistance Absorbed Power
Embedded Functions
Inrush Current Prevention Function
Operation Mode
Mass
3.0A
9.5A
6.0A
19.0A
24.0A
55.0A
AC200 to 230V (3 phases)+10 to −15%
AC200 to 230V (single phase) +10 to −15%
− 3W Max
1kg
8W Max 90W Max
1.2kg 5.8kg
−4096 to 4095 (FHA-C series),−32768 to 32767 (SHA series, FHA-C mini series)
Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: No metal powder, dust, corrosive gas, flammable gas and oil mist
RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder data
External Regenerative ResistanceWith installation terminal
Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery
Embedded (CPU control by main circuit voltage monitoring)
Status display (normal operation) mode, test mode, adjustment mode, system parameter mode
Regenerative Resistance InstalledWith External Regenerative Resistance installation terminal
Base mount (mounted on a wall)
Position control, speed control, torque control (switchable from I/O*2)
Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverse selection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2, torque limit, electronic gear select, control mode, INHIBIT
Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state, low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning
Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting
DC±10V/Max. rotation speed, input impedance approx. 68kΩ
DC±10V / Max torque, input impedance approx. 68kΩ
1:1000
3 channels, motor rpm, current command, general-purpose output (parameter selection)
Display (7-segment LEDs) 5 digits (red), 4 push button switches
Rotational speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and others
System parameter 1, 2, 3 or 4, adjustment parameter 1 or 2
Line driver type : Maximum response frequency 1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type : Maximum response frequency 200kHz
Main circuit*1
Control circuit*1
Configuration
Status Display Function
Parameter Adjustment Function*3
Alarm*2
Warning*2
Applicable CC-Link version
Station type
Transmission rate
Communication method
Synchronous method
Encoding method
Transmission channel type
Error control method
Connecting cable
Transmission format
Remote station number
Number of exclusive stations
Cable length *4
Number of connections
Ver 1.10
Remote device station
10M/5M/2.5M/625K/156Kbps
Broadcast polling method
Frame synchronous method
NRZI
Bus type (Compliant to EIA RS-485)
CRC(X16+X12+X5+1)CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)
Compliant to HDLC
1 to 64
1 station, 2 station
Communication speed
Maximum cable extension
Cable length between stations
Maximum 42 units only for a remote station Can be shared with other devices
156kbps
1200m
625kbps
900m
10Mbps
100m
2.5Mbps
400m
0.2m or more
5Mbps
160m
(160.6)
152
3
(45) (38)
(160.6)
(60) (38) (153) 5.5
23.5
φ5.5
14
2.5
152
3 2-R2.5
(153) 5.5
14.5
φ5.5
5
2.5
2-R2.5
* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
External Dimensions: HA-800□-1, 3 External Dimensions: HA-800□-24
Regenerative resistor
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm) * MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm)
* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm)
(125) (19) (235)
2
(235)
(205)
225
5
50 φ6
6
50
75
100
R3
4
4
External Dimensions: HA-800□-6
28 29AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
(160.6)
152
3
(45) (38)
(160.6)
(60) (38) (153) 5.5
23.5
φ5.5
14
2.5
152
3 2-R2.5
(153) 5.5
14.5
φ5.5
5
2.5
2-R2.5
* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
External Dimensions: HA-800□-1, 3 External Dimensions: HA-800□-24
Regenerative resistor
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm) * MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm)
* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.
* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.
(Unit: mm)
(125) (19) (235)
2
(235)
(205)
225
5
50 φ6
6
50
75
100
R3
4
4
External Dimensions: HA-800□-6
28 29AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
ConnectorConnectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.
Software to Set Servo Parameters PSF-800 (Free)
■ General-purpose I/O command type 《HA-800A》 CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types
■ MECHATROLINK-Ⅱ supported 《HA-800B》 CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types
■ CC-Link supported 《HA-800C》 CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 types CNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/CC-Link branch connector ・・・ 4 types
Connector model
Connector: 10114-3000PE Cover: 10314-52F0-008
Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A
Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C
FKIC2, 5/6-ST-5.08
FKC2, 5/5-ST-5.08
35505-6000-B0M GF
35715-L010-B00 AK
For CN1 Sumitomo 3M Ltd.
For CN2 Sumitomo 3M Ltd.
For motor cable connection Phoenix Contact Inc.
For power supply connection Phoenix Contact Inc.
CC-Link connector Sumitomo 3M Ltd.
CC-Link branch connector Sumitomo 3M Ltd.
Maker Model
Replacement Backup Battery This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.
Lithium battery ER17/33 (3.6V 1600mAh)
Maker modelHitachi Maxell
MakerBattery type
■ Model: HAB-ER17/33-2
■ Duration of Data Retention
Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.
One year continuous use Ambient temperature: Total backup time at 25ºC
ConditionDuration of retention
Monitor CableThis is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.
EWA-MON01-JST4
Model
PSF-800/PSF-680CLSetting software
InstallEWA-RS03
CN3
PSF-800 Dedicated communication cable (EWA-RS03)Windows® XP, Windows Vista®*1, Windows® 7*1
Preparation articleSupported OSModel
Software to Create the Operation Table Data PSF-680CL (Free)
PSF-680CL Dedicated communication cable (EWA-RS03)Preparation article
Windows® XP, Windows Vista®*1, Windows® 7*1
Supported OSModel
www.hds.co.jp
Dedicated Communication CableUse the dedicated communication cable to connect between HA-800 driver and personal computer.
EWA-RS03 1.6m
LengthModel
30 31AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 series Option (sold separately) Software to Set Servo Parameters (Free)
The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).
*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation
of the United States. * Official name for Windows is Microsoft Windows Operating System.
*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation
of the United States. * Official name for Windows is Microsoft Windows Operating System.
The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)
HA-800 SeriesAC Servo DriverHA-800 Series
AC Servo Driver
ConnectorConnectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.
Software to Set Servo Parameters PSF-800 (Free)
■ General-purpose I/O command type 《HA-800A》 CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types
■ MECHATROLINK-Ⅱ supported 《HA-800B》 CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types
■ CC-Link supported 《HA-800C》 CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 types CNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/CC-Link branch connector ・・・ 4 types
Connector model
Connector: 10114-3000PE Cover: 10314-52F0-008
Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A
Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C
FKIC2, 5/6-ST-5.08
FKC2, 5/5-ST-5.08
35505-6000-B0M GF
35715-L010-B00 AK
For CN1 Sumitomo 3M Ltd.
For CN2 Sumitomo 3M Ltd.
For motor cable connection Phoenix Contact Inc.
For power supply connection Phoenix Contact Inc.
CC-Link connector Sumitomo 3M Ltd.
CC-Link branch connector Sumitomo 3M Ltd.
Maker Model
Replacement Backup Battery This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.
Lithium battery ER17/33 (3.6V 1600mAh)
Maker modelHitachi Maxell
MakerBattery type
■ Model: HAB-ER17/33-2
■ Duration of Data Retention
Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.
One year continuous use Ambient temperature: Total backup time at 25ºC
ConditionDuration of retention
Monitor CableThis is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.
EWA-MON01-JST4
Model
PSF-800/PSF-680CLSetting software
InstallEWA-RS03
CN3
PSF-800 Dedicated communication cable (EWA-RS03)Windows® XP, Windows Vista®*1, Windows® 7*1
Preparation articleSupported OSModel
Software to Create the Operation Table Data PSF-680CL (Free)
PSF-680CL Dedicated communication cable (EWA-RS03)Preparation article
Windows® XP, Windows Vista®*1, Windows® 7*1
Supported OSModel
www.hds.co.jp
Dedicated Communication CableUse the dedicated communication cable to connect between HA-800 driver and personal computer.
EWA-RS03 1.6m
LengthModel
30 31AC Servo Driver
HA-800 seriesAC Servo Driver
HA-800 series
HA-800 series Option (sold separately) Software to Set Servo Parameters (Free)
The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).
*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation
of the United States. * Official name for Windows is Microsoft Windows Operating System.
*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation
of the United States. * Official name for Windows is Microsoft Windows Operating System.
The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)
● Warranty Period
● Warranty Scope
Harmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope.
All the products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to:
(1) User's misapplication, improper installation, inadequate maintenance, or misuse.(2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.(3) Imperfection caused by the other than the products.(4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.
Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.
Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
Safety standards MarkingProduct name
SHA
HA-800A/B/C
UL standard
CSA standard
EN standard
UL standard
CSA standard
EN standard
UL1004-1 (File No. 243316)
C22.2 No. 100
EN60034-1:2010, EN60034-5
UL508C (File No. 229163)
C22.2 No.14
EN61800-5-1, EN61800-3
* Above is the list of standards at Harmonic Drive Systems.
Overseas Standards Conformance
Trademark
Warranty
32 33
The academic and general nomenclature for “HarmonicDrive®” is “wave motion gearing” and “HarmonicDrive®” is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems.
Actu
ator
Driv
er
Servo Driver Safety Precautions
Actuator Safety Precautions
Install the actuator at the specified accuracy.● Correctly align the centers of the actuator shaft and
mating machine in accordance with the technical information.
● Any misalignment could cause vibration and fracture of the output shaft.
Use only in a specified environment.● Actuators are designed and manufactured for indoor
use. Please ensure the following environmental conditions are complied with:• Ambient temperature 0 to 40°C • Vibration 24.5m/s2 or less• Ambient humidity 20 to 80% RH (Do not expose to condensation) • No splashing of water or oil • Do not expose to corrosive or explosive gas
Design Precaution: Be certain to read the technical information when designing the equipment.
Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.
Take adequate precautionary measures to damp noise and ground● Noise on signal wire may cause vibration and
malfunction. Observe the following conditions:• Separate strong and weak wires.• Minimize wiring distances and lengths.• Ground the actuator and servo driver to one point and in class 3 in grounding.• Do not use a power input filter in the motor circuit.
Use only in a specified environment.● The driver generates heat. Exercise reasonable care
concerning heat radiation and operate under the following conditions. • Install vertically and ensure sufficient space nearby• 0 to 50°C and 95% RH (Do not expose to condensation)• Avoid vibration or shocks• Do not expose to dust or corrosive or explosive gas• No splashing of water or oil
Use an earth leakage breaker for the inverter.● Use an earth leakage breaker for the inverter. A
time-delay breaker cannot be used.
Exercise reasonable care when rotating from load side● The servo driver may break if the actuator is run while
being rotated from the load side.● Consult Harmonic Drive Systems when the servo driver
is operated in this mode.
Design Precaution: Be certain to read the technical information when designing the equipment.
Do not touch the terminals for 5 min after turning it off.● Residual electricity remains after turning the power off.
Make checks more than 5 minutes after turning the power off to prevent any electric shock
● When installing a servo driver, design the structure so that the electric parts inside cannot be touched easily.
Do not change the wiring while the current is active.● Always turn the power off when removing any wire or
connecting or disconnecting a connector, otherwise an electric shock or runway may result.
Do not operate the servo driver by turning it on and off.● Frequent turning on and off of the power causes the
internal circuit devices to deteriorate.● Start and stop the actuator by issuing a command
signal.
Do not conduct a withstand voltage test.● Do not conduct a megger or withstand voltage test,
otherwise the control circuit of the servo driver may be damaged.
Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.
● Rust-proofing was applied before shipping. However, please note that rusting occurs earlier depending on the customers' storage environment.
● Although black oxide finish is applied to some of our products, it dose not guarantee the antirust effect.
Operational Precaution Be certain to read the catalog and technical informationbefore operating the equipment. Discarding When Discarding Actuator and Servo Driver
CautionCaution
WarningCaution
WarningWarning
CautionCaution
CautionCaution
WarningWarning
CautionCaution
Caution Caution
Caution on Oil Leakage● The output shaft contains an oil seal of high reliability. However, it is not guaranteed to be completely free of oil leakage. Customers are kindly requested to protect against grease or oil leakage depending on their application.Caution
For Safe Use of Servo Systems
Warning
Caution
: Means that improper use or handling could result in a risk of death or serious injury.
: Means that improper use or handling could result in personal injury or damage to property.
Limited ApplicationsThis product cannot be used for the following applications: * Space equipment * Aircraft equipment * Nuclear power equipment * Equipment and apparatus used in domestic homes * Vacuum equipment * Automotive equipment * Game equipment * Equipment that directly works on human bodies * Equipment for transport of humans * Equipment for use in a special environment
Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications.Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to breakdown when using it in equipment that affects human lives and that may trigger serious damage.
Do not plug directly into a socket.● The actuator cannot be operated unless connected to
a dedicated control unit.● Never connect directly to the AC power supply. The actuator may fracture and a fire may break out.
Do not exceed the permissible torque.● Do not apply a torque larger than the maximum value.● If an arm or other part is connected directly to the
output shaft, this latter may become uncontrollable if the arm or other part is collided.
Do not pull the cables.● Pulling a cable may damage the connecting part and
cause the actuator to run out of control.
Do not pat the actuator.● An encoder is coupled to the actuator. Do not pat the
actuator.● A fractured encoder may cause the actuator to run
out of control.
Please discard as industrial waste.● Please discard as industrial waste when discarding.
● Warranty Period
● Warranty Scope
Harmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope.
All the products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to:
(1) User's misapplication, improper installation, inadequate maintenance, or misuse.(2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.(3) Imperfection caused by the other than the products.(4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.
Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.
Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time.
Safety standards MarkingProduct name
SHA
HA-800A/B/C
UL standard
CSA standard
EN standard
UL standard
CSA standard
EN standard
UL1004-1 (File No. 243316)
C22.2 No. 100
EN60034-1:2010, EN60034-5
UL508C (File No. 229163)
C22.2 No.14
EN61800-5-1, EN61800-3
* Above is the list of standards at Harmonic Drive Systems.
Overseas Standards Conformance
Trademark
Warranty
32 33
The academic and general nomenclature for “HarmonicDrive®” is “wave motion gearing” and “HarmonicDrive®” is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems.
Actu
ator
Driv
er
Servo Driver Safety Precautions
Actuator Safety Precautions
Install the actuator at the specified accuracy.● Correctly align the centers of the actuator shaft and
mating machine in accordance with the technical information.
● Any misalignment could cause vibration and fracture of the output shaft.
Use only in a specified environment.● Actuators are designed and manufactured for indoor
use. Please ensure the following environmental conditions are complied with:• Ambient temperature 0 to 40°C • Vibration 24.5m/s2 or less• Ambient humidity 20 to 80% RH (Do not expose to condensation) • No splashing of water or oil • Do not expose to corrosive or explosive gas
Design Precaution: Be certain to read the technical information when designing the equipment.
Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.
Take adequate precautionary measures to damp noise and ground● Noise on signal wire may cause vibration and
malfunction. Observe the following conditions:• Separate strong and weak wires.• Minimize wiring distances and lengths.• Ground the actuator and servo driver to one point and in class 3 in grounding.• Do not use a power input filter in the motor circuit.
Use only in a specified environment.● The driver generates heat. Exercise reasonable care
concerning heat radiation and operate under the following conditions. • Install vertically and ensure sufficient space nearby• 0 to 50°C and 95% RH (Do not expose to condensation)• Avoid vibration or shocks• Do not expose to dust or corrosive or explosive gas• No splashing of water or oil
Use an earth leakage breaker for the inverter.● Use an earth leakage breaker for the inverter. A
time-delay breaker cannot be used.
Exercise reasonable care when rotating from load side● The servo driver may break if the actuator is run while
being rotated from the load side.● Consult Harmonic Drive Systems when the servo driver
is operated in this mode.
Design Precaution: Be certain to read the technical information when designing the equipment.
Do not touch the terminals for 5 min after turning it off.● Residual electricity remains after turning the power off.
Make checks more than 5 minutes after turning the power off to prevent any electric shock
● When installing a servo driver, design the structure so that the electric parts inside cannot be touched easily.
Do not change the wiring while the current is active.● Always turn the power off when removing any wire or
connecting or disconnecting a connector, otherwise an electric shock or runway may result.
Do not operate the servo driver by turning it on and off.● Frequent turning on and off of the power causes the
internal circuit devices to deteriorate.● Start and stop the actuator by issuing a command
signal.
Do not conduct a withstand voltage test.● Do not conduct a megger or withstand voltage test,
otherwise the control circuit of the servo driver may be damaged.
Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.
● Rust-proofing was applied before shipping. However, please note that rusting occurs earlier depending on the customers' storage environment.
● Although black oxide finish is applied to some of our products, it dose not guarantee the antirust effect.
Operational Precaution Be certain to read the catalog and technical informationbefore operating the equipment. Discarding When Discarding Actuator and Servo Driver
CautionCaution
WarningCaution
WarningWarning
CautionCaution
CautionCaution
WarningWarning
CautionCaution
Caution Caution
Caution on Oil Leakage● The output shaft contains an oil seal of high reliability. However, it is not guaranteed to be completely free of oil leakage. Customers are kindly requested to protect against grease or oil leakage depending on their application.Caution
For Safe Use of Servo Systems
Warning
Caution
: Means that improper use or handling could result in a risk of death or serious injury.
: Means that improper use or handling could result in personal injury or damage to property.
Limited ApplicationsThis product cannot be used for the following applications: * Space equipment * Aircraft equipment * Nuclear power equipment * Equipment and apparatus used in domestic homes * Vacuum equipment * Automotive equipment * Game equipment * Equipment that directly works on human bodies * Equipment for transport of humans * Equipment for use in a special environment
Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications.Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to breakdown when using it in equipment that affects human lives and that may trigger serious damage.
Do not plug directly into a socket.● The actuator cannot be operated unless connected to
a dedicated control unit.● Never connect directly to the AC power supply. The actuator may fracture and a fire may break out.
Do not exceed the permissible torque.● Do not apply a torque larger than the maximum value.● If an arm or other part is connected directly to the
output shaft, this latter may become uncontrollable if the arm or other part is collided.
Do not pull the cables.● Pulling a cable may damage the connecting part and
cause the actuator to run out of control.
Do not pat the actuator.● An encoder is coupled to the actuator. Do not pat the
actuator.● A fractured encoder may cause the actuator to run
out of control.
Please discard as industrial waste.● Please discard as industrial waste when discarding.
Hotaka factory facing Northern Japan Alps
Development design departments closely collaborate and highly integrate on organization- developed technologies, actively creating new technologies and products.
Proposes optimum products meeting the operating environment by precisely determining the needs of individual customers
Clear awareness of and techniques for quality control establish a viable production system, promising a supply of high-quality and high-precision products.
Harmonic Drive L.L.C(U.S.A.)Controlling share 51%
Sales and Marketing
Development Design
Production
AffiliateCompanies
Manufacturing Headquarters
Research Headquarters
Development Headquarters
®
HD Logistics, Inc.Subcontract operation of physical distributionControlling share 100%
Harmonic Precision, Inc.Production of crossed roller bearingsControlling share 100%
OME IRON CASTING CO.,LTDDevelopment, manufacturing and sales of casting productsControlling share 49.2%
Development, design, and production of precision planetary reducers Controlling share 100%
Harmonic AD, Inc.
Harmonic Drive AG(Germany)Controlling share 35%
Asia/Europe GroupSales Division
Kita-Kanto Sales Office
Tokyo Sales Office
Chubu Sales Office
Kyushu Sales Office
Kansai Sales Office
Koshu/Shin-etsu Sales Office
Sales Strategy Headquarters
Winbel, Inc.Development, mass production support, production, and sales of various motors Controlling share 78.3%
Production of roduction of precision planetary reducersControlling share 51%
Through close cooperation in areas of development, design, production and marketing, Harmonic Drive Systems creates unique products tailored to customer needs.
As a Specialist in Precision Control FieldIn 1995 and 1998, Harmonic Drive Systems respectively obtained approvals for ISO 9001 (International Quality Management Standard) and for ISO 14001 (International Environmental Management Systems) from TÜV Management Service GmbH, a German accreditation organization. The approvals signify global recognition of the quality assurance and environment management systems of Harmonic Drive Systems.
SAMICK ADM CO., LTD. (Korea)
Harmonic Planetary® is a planetary speed reducer featuring high precision and stiffness, created by utilizing expertise in precision machining technology of HarmonicDrives® in the field of low speed reduction ratio. A high rotational accuracy is achieved by a unique backlash removal mechanism.
Harmonic Planetary®
Composed of only three basic components, the HarmonicDrive® speed reducer features more precision motion control through a unique mechanism.
The linear actuators compactly combining a precision screw and HarmonicDrive®. Versatile series are available for ultra precision positioning and high driving force.
Harmonic Linear®
Beam servo is developed based on the small motors and optical sensor technology, which are developed by HarmonicDrive®. Smooth optical scanning is realized by high response and precision of optical scanner.
Beam Servo®
HarmonicDrive®
4334
MEMO
Sales and technical support of mechatornics products and reduction devices Controlling share 100%
哈默纳科(上海)商贸有限公司
Hotaka factory facing Northern Japan Alps
Development design departments closely collaborate and highly integrate on organization- developed technologies, actively creating new technologies and products.
Proposes optimum products meeting the operating environment by precisely determining the needs of individual customers
Clear awareness of and techniques for quality control establish a viable production system, promising a supply of high-quality and high-precision products.
Harmonic Drive L.L.C(U.S.A.)Controlling share 51%
Sales and Marketing
Development Design
Production
AffiliateCompanies
Manufacturing Headquarters
Research Headquarters
Development Headquarters
®
HD Logistics, Inc.Subcontract operation of physical distributionControlling share 100%
Harmonic Precision, Inc.Production of crossed roller bearingsControlling share 100%
OME IRON CASTING CO.,LTDDevelopment, manufacturing and sales of casting productsControlling share 49.2%
Development, design, and production of precision planetary reducers Controlling share 100%
Harmonic AD, Inc.
Harmonic Drive AG(Germany)Controlling share 35%
Asia/Europe GroupSales Division
Kita-Kanto Sales Office
Tokyo Sales Office
Chubu Sales Office
Kyushu Sales Office
Kansai Sales Office
Koshu/Shin-etsu Sales Office
Sales Strategy Headquarters
Winbel, Inc.Development, mass production support, production, and sales of various motors Controlling share 78.3%
Production of roduction of precision planetary reducersControlling share 51%
Through close cooperation in areas of development, design, production and marketing, Harmonic Drive Systems creates unique products tailored to customer needs.
As a Specialist in Precision Control FieldIn 1995 and 1998, Harmonic Drive Systems respectively obtained approvals for ISO 9001 (International Quality Management Standard) and for ISO 14001 (International Environmental Management Systems) from TÜV Management Service GmbH, a German accreditation organization. The approvals signify global recognition of the quality assurance and environment management systems of Harmonic Drive Systems.
SAMICK ADM CO., LTD. (Korea)
Harmonic Planetary® is a planetary speed reducer featuring high precision and stiffness, created by utilizing expertise in precision machining technology of HarmonicDrives® in the field of low speed reduction ratio. A high rotational accuracy is achieved by a unique backlash removal mechanism.
Harmonic Planetary®
Composed of only three basic components, the HarmonicDrive® speed reducer features more precision motion control through a unique mechanism.
The linear actuators compactly combining a precision screw and HarmonicDrive®. Versatile series are available for ultra precision positioning and high driving force.
Harmonic Linear®
Beam servo is developed based on the small motors and optical sensor technology, which are developed by HarmonicDrive®. Smooth optical scanning is realized by high response and precision of optical scanner.
Beam Servo®
HarmonicDrive®
4334
MEMO
Sales and technical support of mechatornics products and reduction devices Controlling share 100%
哈默纳科(上海)商贸有限公司
ISO14001ISO9001
This catalog contains information as of April 2015.No.1504-1R-SHACG
This catalog is printed with environmentally friendly vegetable oil ink.
Information desk for urgent repair and inquiry [Information desk for urgent repair request and technical consultation]
TEL: CS division +81-(0)263-83-6812Business hours: Monday to Friday 9:00 to 12:00 13:00 to 17:00 (Except Saturdays, Sundays, national holidays and our speci�ed days off)
Certifications for ISO 14001 (Hotaka Plant) and ISO 9001 obtained (TUV SUD Management Service GmbH) Registered Trademark in Japan
Head Office: Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-5471-7800 FAX: +81-3-5471-7811Tokyo Office: Believe Omori 2F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-5471-7830 FAX: +81-3-5471-7836Kita-Kanto Office: Believe Omori 2F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL: +81-3-6410-8485 FAX: +81-3-6410-8486Koshin Office: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL: +81-263-83-6910 FAX: +81-263-83-6911Chu-bu Office: Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi, Japan 465-0024 TEL: +81-52-773-7451 FAX: +81-52-773-7462Kansai Office: Shin-Osaka Ueno To-yo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi, Osaka, Japan 532-0011 TEL: +81-6-6885-5720 FAX: +81-6-6885-5725Kyushu Office: NOF Hakata station-front Building 7F, 1-15-20 Hakata station-front, Hakata-ku, Fukuoka-shi, Fukuoka, Japan 812-0011 TEL: +81-92-451-7208 FAX: +81-92-481-2493Asia/Europe Group 1856-1 Hotakamaki Azumino-shi Nagano, JapanSales Division: 399-8305 TEL: +81-263-83-6935 FAX: +81-263-83-6901Hotaka Plant: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL: +81-263-83-6800 FAX: +81-263-83-6901Harmonic Drive AG: Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn Germany TEL: +49-6431-5008-0 FAX: +49-6431-5008-18Harmonic Drive 247 Lynnfield Street, Peabody, MA, 01960, U.S.A.L.L.C: TEL: +1-978-532-1800 FAX: +1-978-532-9406
http://www.hds.co.jp/ “HarmonicDrive®” is a trademark of Harmonic Drive Systems, Inc.The academic or general nomenclature of our products “HarmonicDrive®” is “strain wave gearing.”
AC Servo ActuatorFlat Shape / Hollow Structure
SHA Series
AC Servo Driver HA-800 Series
High-PrecisionSHA-CG Type(Reducer: HarmonicDrive® CSG Series)