SHA Series
The SHA series comprises AC servo actuators that integrate a thin speed reducer
HarmonicDrive® for precision control and a super flat AC servo motor.
The SHA series features an unmatched compact hollow body. Entire machine and
equipment structures can be simplified by passing wires, pipes and laser beams
through a hole in the center of the actuator. Additionally, output shaft bearing, speed
reducer, motor winding and others can be selected. The SHA series features wider
variation that can meet various needs.
Combination with the compact and multi-functional dedicated driver HA-800
controls the motions of the SHA series with high levels of accuracy and precision.
Features
●
Hollow structure (maximum hollow opening diameter φ65mm), flat structure (maximum outside diameter φ284mm, total length 222mm)
* Both in SHA65
●
Torque cubic volume ratio more than 5 times of direct drive motor is achieved. * According to the technical infromation of HarmonicDrive®.
●
Torque from 26Nm to 3419Nm is set as series.
●
Shaft bearing, speed reducer, and motor winding specifications can be selected to “meet various needs”
●
17bit magnetic type absolute encoder is mounted as standard (conforming to Nicon A format)
●
By combining with hollow planetary reducer for precision control of “Harmonic Planetary®” HPF series, high-speed revolution is available.
(Model No. 25 and 32)
●
By using dedicated drivers, control with MECHATROLINK-ll or CC-Link becomes available.
●
Motor itself can be sold as well.
Structure
Changeable reducer model
Flat Harmonic Drive® (SHD series)
Planetary gear reducer (HPG series)
Reduction ratio: selectable between
1/11 and 1/161
■
Encoder
Rear lead-out (Connecter
used in models 58 and 65)
Side lead-out is available.
(Models 25, 32, and 40)
■
■
16
Supported power voltage specification:
AC 200V
(SHA25 is AC100V spec and 200V spec.)
Supported power voltage specification:
AC100V, DC48V to 90V
(Inquire at Harmonic drive’s sales
office for the supported model.)
Environment specification
Option
Standard
The size can be changed to the high load
capacity and high load specification.
■
With brake (can be mounted without
changing dimensions.)
Protection code: IP54
Operating temperature: 0°C to +40°C
UL and CE markings
Compliance with RoHS directive
Near origin and end
limit sensors
Can be compatible with IP65 of
protection code.
HarmonicDrive®
unit type
Crossed roller bearing in common with
SHG series
Without brake
Variation
Output shaft bearing
Variation Standard
■
Incremental encoder can be mounted.
AC Servo motor
Variation Standard
■
Magnetic type absolute encoder (17bit)
Multi revolution backup (16bit)
(conforming to Nicon A format)
Holding brake
Variation Standard
Standard
High torque Harmonic
SHG series
High-speed Harmonic Planetary®
HPF series (Model No. 25 and 32)
Variation
Drive®
Cable lead-out
Variation Standard
■
Variation Standard
■ Reducer model
AC servo actuator
Example of System Configuration
Basic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.
Versatile I/O command type
System configuration
Power Supply *1
Circuit Breaker *1
Host controller *
Surge absorber *1
Versatile I/O command type
AC servo driver
HA-800A
Noise filter *1
CN2 connector
I/O signal cable *1
TB1 connector
* If a brake is attached, the power supply
for the brake is required separately.
Electromagnetic
contactor *1
Motor relay cable
Main power supply *1
Encoder relay cable
Control power supply *1
CN1 connector
TB2 connector
Power supply cable *1
Dedicated communication cable
To PE of motor relay cable
Personal computer *1
Install
Communication software
(PSF-800)
AC servo actuator
SHA series
Notes:
Starred ( * ) items are to be supplied by the customer.
* See the technical information for the details of configuration related to power supply.
17
SHA Series
Models and Symbols
AC servo actuator
(1)
Example of
standard item
model
(2)
(3)
(4)
(5)
Ě
(6)
(7)
(8)
(9)
Ě
(10) (11) (12)
Ě
SHA 32
A
101 SG
Ě
B
12
A
200
Ě
10 S17b A
Ě
(4) Reduction ratio (represented as R of 1/R)
(1) Type: AC servo actuator
SHA series
(2) Model Nos.: 20, 25, 32, 40, 58, 65
(3) Version symbol
1/11
51
1/51
SG
HP
(6) Motor version
81
1/81
1/101
121
1/121
161
1/161
Ě
(15)
C
(5) Reducer type
11
101
(13) (14)
SHG series
HPF series
A
B
C
Model Nos. 58, 65
Model Nos. 25, 32, 40
Model Nos. 20
* Reduction ratio 1/11 is set by combination with hollow planetary reducer HPF series.
The Applicable Model Nos. for the ratio are 25 and 32, and the ratio is available in case of AC200V only.
Specification
SHA20A
Model
Item
SHA25A
51
81
101
121
161
11
51
81
101
121
161
Nm
73
96
107
113
120
26
127
178
204
217
229
kgfm
7.4
9.8
10.9
11.5
12.2
2.7
13
18.2
20.8
22.1
23.4
r/min
117.6
74.1
59.4
49.6
37.3
509.1
109.8（94.1） 69.1（59.3） 55.4（47.5）
46.3（39.7）
34.8（29.8）
Nm/A
16.5
27
33
40
53
4.2
19
（11.1） 31（17.9）
46
（27）
62
（36）
kgfm/A
1.7
2.7
3.4
4.1
5.4
0.43
2.0
（1.1） 3.2
（2.7） 6.3
（3.6）
（1.8） 4.0（2.3） 4.7
8.6（14.9） 7.5（13.0） 7.0（12.1） 6.3（10.9） 5.2
（9.0）
Maximum Torque *2
Max. Rotational Speed
39
（22）
Torque Constant
Maximum Current
*2
Moment of Inertia
(without brake)
A
2
2
6.0
4.9
4.5
4.0
3.4
8.9
0.23
0.58
0.91
1.3
2.3
0.029
0.56
1.42
2.2
3.2
5.6
GD /4
kgm
J
kgfcms2
2.4
6.0
9.3
13
24
0.296
5.7
14.4
22
32
57
GD2/4
kgm2
0.26
0.65
1.0
1.4
2.6
0.034
0.66
1.66
2.6
3.7
6.6
J
kgfcms2
2.6
6.6
10
15
26
0.347
6.7
17
26
38
67
15,859,712
21,102,592
Moment of Inertia (with brake)
Nm
187
kgfm
19.1
258
410
Permissible Moment Load
41.8
4
26.3
Nm/rad
25.2×10
37.9×10
39.2×104
kgfm/arc-min
7.5
11.3
11.6
4
Moment Stiffness
Encoder method
Magnetic type 17bit absolute encoder
Encoder resolution per motor revolution
（131,072）
217
Multi revolution detection
（65,536）
216
Output shaft resolution
Pulse/revolution
6,684,672
10,616,832
13,238,272
Input power voltage
V
AC200
Mass (without brake)
kg
Mass (with brake)
kg
Protection Structure
Environmental Conditions
15,859,712
6,684,672
10,616,832
13,238,272
AC100またはAC200
2.0
5
2.95
2.1
5.1
3.1
Totally enclosed self-cooled type
(IP54 or equivalent: See the technical information for the details of protection code.)
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.
All directions
Safety Standard Compliance
18
1,441,792
AC200
Mounting Direction
Combined Driver
21,102,592
CE Marking, Certifications for UL and TUV
HA-800□-3
* 1: The aforementioned values are those at the output shaft.
* 2: Values in combination with an HA-800 servo driver.
* 3: The value in parentheses ( ) of SHA25 is the value when the input power voltage is AC100V.
* 4: The value in parentheses ( ) of SHA40 is the value when combined with HA-800□-24 (rated output current 24A).
* 5: Please check the actuator rotation direction in our technical data sheet.
HA-800□-3
HA-800□-6
AC servo actuator
(7) Motor size
(10) Encoder format
08
09
12
15
21
Model Nos. 20
Model Nos. 25
Model Nos. 32
Model Nos. 40
Model Nos. 58, 65
(13) Attached connector
C
N
D
A format, transmission speed:
2.5Mbps, one-to-one connection
10
(14) Option symbol
(11) Encoder type, resolution
(8) Brake
Near origin and end limit sensors
L
Y
17bit absolute encoder,
131072 pulse/revolution
S17b
Without brake
A
B
Connector attached as standard
Without connector
With special connector
(special specification)
Side lead-out of cable
With brake
(15) Special specification
(9) Power supply of motor
200
100
(12) Encoder phase angle
AC200V
AC100V
No description
A
0°
Standard
Special specification item
(100V is available only with our model No. 25.)
SHA32A
SHA40A
SHA58A
SHA65A
11
51
81
101
121
161
121
161
81
101
121
161
81
101
121
161
62
281
395
433
459
484
340（523） 560（675） 686（738）
802
841
1924
2067
2236
2392
2400
2990
3263
3419
6.3
28.7
40.3
44.2
46.8
49.4
34.7（53.4） 57.1（68.9） 70（75.3）
81.8
85.8
196
211
228
244
245
305
333
349
436.4
94.1
59.3
47.5
39.7
29.8
78.4
49.4
39.6
33.1
24.8
37.0
29.7
24.8
18.6
34.6
27.7
23.1
17.4
4.5
21
33
42
50
66
25
41
51
61
81
54
68
81
108
54
68
81
108
0.46
2.1
3.4
4.2
5.1
6.8
2.6
4.1
5.2
6.2
8.2
5.5
6.9
8.3
11.0
5.5
6.9
8.3
11.0
（21.8） 18（19.4）
18
（26.7） 18
51
81
101
19
17.3
15.2
13.5
12.2
9.9
17.9
14.6
45
39
36
30
55
55
51
41
0.092
2.0
5.1
8.0
11
20
5.0
13
20
28
50
96
149
214
379
110
171
245
433
0.939
21
52
81
117
207
51
130
202
290
513
980
1520
2180
3870
1120
1740
2500
4420
0.107
2.3
5.9
9.2
13
23
6.1
15
24
34
61
106
165
237
420
120
187
268
475
1.087
24
60
94
135
238
62
157
244
350
619
1090
1690
2420
4290
1230
1910
2740
4850
932
849
580
95
59.1
4
86.6
4
2740
2180
280
222
4
86.1×10
100×10
179×10
531×10
741×104
25.7
29.6
53.2
158
220
4
Magnetic type 17bit absolute encoder
217
（131,072）
（65,536）
216
1,441,792
6,684,672
10,616,832
13,238,272
15,859,712
21,102,592
6,684,672
10,616,832
13,238,272
15,859,712
21,102,592
10,616,832
13,238,272
15,859,712
21,102,592
10,616,832
13,238,272
15,859,712
21,102,592
AC200
9.4
5.9
9.9
29.5
37.5
9.7
6.2
10.7
32
40
Totally enclosed self-cooled type
(IP54 or equivalent: See the technical information for the details of protection code.)
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.
All directions
CE Marking, Certifications for UL and TUV
HA-800□-6
HA-800□-6
HA-800□-24
HA-800□-24
HA-800□-24
19
SHA Series
External Dimensions
■ SHA20A
Motor connector
Housing
:350715-1(AMP)
Pin contact (Motor U・V・W) :350690-1(AMP)
Pin contact (Motor PE)
:350669-1(AMP)
Encoder connector
(Reducer type: SG type)
Unit: mm
Housing
:1-1903130-4(AMP)
Pin contact :1903111-2(AMP)
108.5
Pin hole positioning
12.5 27
+ 0.010
0.04
3 0 Depth 5.5
Opening diameter
3.4X6
33.75°
3
6
( 28 )
1
2
3
4
5
6
1A
±1
( 12 )
103
+ 35
0
( 14 )
200
±1
1B
63.5
±0.4
5.5
( 13 )
12
Motor cable
AWG20X4 conductors
（Cable outside diameter 5.6）
3.5
Output rotary unit
15 or
less
15°
Encoder cable
AWG28X3 pairs (編組 + shield）
（Cable outside diameter 6）
20°
0
- 0.030
76
77 h7
+ 0.5
33
17 - 0.2
Hollow shaft
inside diameter
0
- 0.030
70
94
54 h7
15°
90 h7
62
0
R3
0
- 0.035
C0.5
84
R0.4 or less
16 -M3x 6
（Opening diameter 3.4X11.5）
12 - 3.4
R0.4 or less
Pin hole
positioning
3 ±0.005 Depth 3
■ SHA25A
0.04
Unit: mm
Motor connector
(Reducer type: SG type)
Encoder connector
(From upper part of cable clamp)
15 or
less
Motor cable
AWG20X4 conductors
（Cable outside diameter
5.6）
7.7）
Hollow shaft inside diameter
Encoder cable
AWG24X3 pairs + shield
（Cable outside diameter
Tolerance range)
■ SHA25A
Unit: mm
Encoder connector
(Reducer type: SG type)
Motor connector
(Opening
diameter
4.5X6)
Pin hole
positioning
Pin hole
positioning
Motor cable
Output rotary unit
Opening
diameter
4.5X5.5
Hollow shaft
inside diameter
15 or less
o
le r
ss
(Opening diameter
20
4.5X13.5)
* The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles).
Contact us for the differential range of the size that is not described.
（Cable outside
diameter 5.6）
Encoder cable
AWG24X3 pairs + shield
（Cable outside diameter
7.7）
AC servo actuator
Unit: mm
■ SHA32A
(Reducer type: HP type)
Motor connector
(From upper part of cable clamp)
or less
Encoder connector
Motor cable
Encoder cable
pairs + shield
(Cable outside diameter:
Hollow shaft
inside diameter
AWG18x4 conductors
(Cable outside diameter:
Tolerance range)
■ SHA32A
Unit: mm
Encoder connector
From upper part of cable clamp
(Reducer type: SG type)
Motor connector
(Opening diameter
Motor cable
Output rotary unit
5.5X19)
15
or less
Encoder cable
pairs + shield
(Cable outside diameter:
AWF18x4 conductors
(Cable outside diameter 7.7)
Hollow shaft
inside diameter
R0.4 or less
Pin hole positioning
(Opening diameter
■ SHA40A
Pin hole
positioning
5.5X7.5)
(Opening diameter
5.5X7.5)
Unit: mm
Encoder connector
(Reducer type: SG type)
Motor connector
Motor cable
or
6.6X25)
le
ss
Output rotary unit
R0
.4
15
or less
Encoder cable
pairs + shield
(Cable outside diameter:
AWG16x4 conductors
(Cable outside diameter 7.8)
Hollow shaft
inside diameter
(Opening diameter
Pin hole positioning
Pin hole
positioning
(Opening diameter
(Opening diameter
6.6X9)
6.6X8)
* The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles).
Contact us for the differential range of the size that is not described.
21
SHA Series
External Dimensions
Unit: mm
■ SHA58A
Pin hole positioning
(Reducer type: SG type)
Motor connector
or
m
(Opening diameter
e
or
Encoder connector
Hollow shaft inside diameter
(Opening diameter
ø11x35)
o
le r
ss
Pin hole positioning
Output rotary unit
(Opening diameter
Motor relay cable connector
Encoder relay cable connector
Unit: mm
■ SHA65
Motor connector
Pin hole positioning
(Reducer type: SG type)
or
(Opening diameter
e
or
m
Encoder connector
Hollow shaft inside diameter
(Opening diameter
or
Pin hole positioning
les
s
Output rotary unit
(Opening diameter
Motor relay cable connector
* The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles).
Contact us for the differential range of the size that is not described.
22
Encoder relay cable connector
AC servo actuator
Uni-directional Positional accuracy
Positioning error
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. (Source: JIS [Japanese
Industrial Standards] B 6201-1987). The SHA series contains a speed reducer
HarmonicDrive® for precision control or a hollow planetary speed reducer for
precision control HPF series. Therefore, positioning errors of the motor shaft are
compressed according to reduction ratio. The "uni-directional positional accuracy"
of the individual models are shown below.
Model
SHA20A
SHA25A
SHA32A
SHA40A
SHA58A
SHA65A
1:11
—
120
120
—
—
—
1：51
60
50
50
50
—
—
1：81 or more
50
40
40
40
40
40
Reduction ratio
Theoretical stop
position
Actual
stop position
Datum position
Mechanical Accuracy
The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.
(Unit: mm)
Item
SHA20A
SHA25A
SHA32A
SHA40A
SHA58A
SHA65A
1.Output shaft surface runout
0.030
0.035
0.040
0.045
0.050
0.050
2.Output shaft axial runout
0.030
0.035
（0.020）
0.040（0.020）
0.045
0.050
0.050
3.Parallelism between the output shaft and mounted surface
0.030
0.035
0.040
0.045
0.050
0.050
4.Parallelism between the output shaft and mounted surface
0.055
0.050
0.055
0.060
0.070
0.070
5.Concentricity between the output shaft and fitting part
0.030
0.035
0.040
0.045
0.050
0.050
6.Concentricity between the output shaft and fitting part
0.045
0.060
0.065
0.070
0.080
0.080
* See the technical information for the measuring method.
* The aforementioned values are T.I.R (total indicator reading) values.
* The values in parentheses ( ) is the value when combining reducer type and HP type (hollow planetary reducer).
23
SHA Series
Operable Range
The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).
■ 50% duty motion range
Range of torque-rotational
speed operable at 50%
duty (ratio between
operational and standby
hours is 50:50)
■ Motion range during
acceleration and
deceleration
Range of torque-rotational
speed that is operable
momentarily. Normally, this
range is used during
acceleration and
deceleration.
Radiation plate: 300×300×15（mm）
45
40
Torque [Nm]
35
30
25
20
15
10
■ Continuous motion range
Range of continuously
operable torque-rotational
speed.
5
0
0
10
20
30
40
50
60
70
80
90
100
Rotational Speed [r/min]
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.
■ SHA20A51SG
Input voltage: 200Ｖ
■ SHA20A81SG
Radiation plate: 320×320×16（mm）
Input voltage: 200Ｖ
■ SHA20A101SG
Radiation plate: 320×320×16（mm）
80
120
120
100
100
40
50% duty motion range
80
Acceleration/
deceleration motion range
Torque ［Nm］
Torque ［Nm］
Torque ［Nm］
60
Acceleration/deceleration
motion range
60
40
50% duty motion range
20
Continuous
motion range
Input voltage: 200Ｖ
Radiation plate: 320×320×16（mm）
Acceleration/deceleration
motion range
80
60
50% duty motion range
40
20
Continuous
motion range
0
20
40
60
80
100
120
140
0
Rotational Speed [r/min]
■ SHA20A121SG
■ SHA20A161SG
Radiation plate: 320×320×16（mm）
40
60
80
Input voltage: 200Ｖ
140
120
100
Torque ［Nm］
Acceleration/deceleration
motion range
80
60
50% duty motion range
40
Acceleration/deceleration
motion range
100
80
60 50% duty motion range
40
Continuous
motion range
20
Continuous
motion range
20
0
0
0
20
40
Rotational Speed [r/min]
60
0
10
20
30
Rotational Speed [r/min]
0
20
40
Rotational Speed [r/min]
Radiation plate: 320×320×16（mm）
120
Torque ［Nm］
20
Rotational Speed [r/min]
Input voltage: 200Ｖ
Continuous
motion range
0
0
0
24
20
40
60
80
AC servo actuator
■ SHA25A51SG
Input voltage: 100Ｖ
■ SHA25A81SG
Radiation plate: 350×350×18（mm）
Input voltage: 100Ｖ
■ SHA25A101SG
Radiation plate: 350×350×18（mm）
150
Input voltage: 100Ｖ
Radiation plate: 350×350×18（mm）
250
200
175
125
200
Acceleration/deceleration
motion range
75
50
125
Torque［Nm］
Torque［Nm］
Torque［Nm］
150
100
Acceleration/deceleration
motion range
100
50% duty motion range
75
Acceleration/deceleration
motion range
150
100
50% duty motion range
50% duty motion range
50
25
Continuous
motion range
Continuous
motion range
25
0
20
40
60
80
100
0
20
Rotational Speed [r/min]
■ SHA25A121SG
40
60
80
0
Rotational Speed [r/min]
Input voltage: 100Ｖ
■ SHA25A161SG
Radiation plate: 350×350×18（mm）
10
20
30
40
50
Rotational Speed [r/min]
Input voltage: 100Ｖ
Radiation plate: 350×350×18（mm）
250
250
200
200
Acceleration/deceleration
motion range
Torque［Nm］
150
100
50% duty motion range
50
Acceleration/deceleration
motion range
150
100
50% duty motion range
Continuous
motion range
50
Continuous
motion range
0
0
0
10
20
30
40
50
0
10
Rotational Speed [r/min]
■ SHA25A11HP
20
30
40
Rotational Speed [r/min]
Input voltage: 200Ｖ
■ SHA25A51SG
Radiation plate: 350×350×18（mm）
Input voltage: 200Ｖ
■ SHA25A81SG
Radiation plate: 350×350×18（mm）
30
200
150
25
175
125
20
Torque［Nm］
Acceleration/deceleration
motion range
15
50% duty motion range
10
Input voltage: 200Ｖ
Radiation plate: 350×350×18（mm）
150
Acceleration/deceleration
motion range
100
Torque［Nm］
Torque［Nm］
Continuous
motion range
0
0
0
Torque［Nm］
50
75
50
50% duty motion range
25
Continuous
motion range
Acceleration/deceleration
motion range
125
100
50% duty motion range
75
50
Continuous
motion range
5
0
0
0
0
100
200
300
400
500
600
0
20
Rotational Speed [r/min]
■ SHA25A101SG
Input voltage: 200Ｖ
60
■ SHA25A121SG
80
100
0
120
Input voltage: 200Ｖ
50% duty motion range
50
150
100
50% duty motion range
0
10
20
30
40
Rotational Speed [r/min]
50
60
Acceleration/deceleration
motion range
150
100
50% duty motion range
50
Continuous
motion range
Continuous
motion range
0
0
0
Input voltage: 200Ｖ
200
Acceleration/deceleration
motion range
50
Continuous
motion range
80
250
Torque［Nm］
Torque［Nm］
150
60
Radiation plate: 350×350×18（mm）
200
Acceleration/deceleration
motion range
40
■ SHA25A161SG
250
200
20
Rotational Speed [r/min]
Radiation plate: 350×350×18（mm）
250
Torque［Nm］
40
Rotational Speed [r/min]
Radiation plate: 350×350×18（mm）
100
Continuous
motion range
25
0
10
20
30
Rotational Speed [r/min]
40
50
0
10
20
30
40
Rotational Speed [r/min]
25
SHA Series
Operable Range
■ SHA32A11HP
Input voltage: 200Ｖ
■ SHA32A51SG
Radiation plate: 400×400×20（mm）
Input voltage: 200Ｖ
■ SHA32A81SG
Radiation plate: 400×400×20（mm）
70
300
60
250
Input voltage: 200Ｖ
Radiation plate: 400×400×20（mm）
450
400
350
40
30
50% duty motion range
20
Acceleration/deceleration
motion range
200
Torque［Nm］
Acceleration/deceleration
motion range
Torque［Nm］
Torque［Nm］
50
150
50% duty motion range
100
Acceleration/deceleration
motion range
300
250
200
50% duty motion range
150
100
50
10 Continuous motion range
Continuous motion range
0
0
0
100
200
300
400
500
0
0
20
Rotational Speed [r/min]
■ SHA32A101SG
Input voltage: 200Ｖ
■ SHA32A121SG
500
500
450
450
80
100
0
Input voltage: 200Ｖ
250
200 50% duty motion range
300
250
50% duty motion range
200
30
40
50
10
Rotational Speed [r/min]
Input voltage: 200Ｖ
Acceleration/deceleration
motion range
300
200 50% duty motion range
Continuous motion range
20
30
40
0
Rotational Speed [r/min]
■ SHA40A51SG*1 Input voltage: 200Ｖ
500
Torque［Nm］
400
300
Acceleration/deceleration
motion range
15
20
25
30
35
Radiation plate: 500×500×25（mm）
800
800
700
700
600
600
500
Acceleration/deceleration
motion range
400
10
■ SHA40A101SG*1 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
600
5
Rotational Speed [r/min]
■ SHA40A81SG*1 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
200
70
0
0
Torque［Nm］
20
400
100
0
10
60
50
0
0
50
500
Acceleration/deceleration
motion range
350
Continuous motion range
Continuous motion range
40
600
100
100
30
Radiation plate: 400×400×20（mm）
150
150
20
■ SHA32A161SG
Torque［Nm］
300
50
10
Rotational Speed [r/min]
400
Acceleration/deceleration
motion range
350
Torque［Nm］
Torque［Nm］
60
Radiation plate: 400×400×20（mm）
400
Torque［Nm］
40
Rotational Speed [r/min]
Radiation plate: 400×400×20（mm）
300
500
Acceleration/deceleration
motion range
400
300
50% duty motion range
200
200
50% duty motion range
50% duty motion range
100
100
Continuous motion range
100
Continuous motion range
0
0
0
20
40
60
80
0
10
40
50
60
900
800
800
Torque［Nm］
500
400
50% duty motion range
10
20
30
40
Rotational Speed [r/min]
Acceleration/deceleration
motion range
700
700
Acceleration/deceleration
motion range
0
Radiation plate: 500×500×25（mm）
900
300
30
■ SHA40A161SG*1 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
600
20
Rotational Speed [r/min]
■ SHA40A121SG*1 Input voltage: 200Ｖ
Continuous motion range
0
Rotational Speed [r/min]
Torque［Nm］
Continuous motion range
50
600
500
50% duty motion range
400
300
200
200
Continuous motion range
100
Continuous motion range
100
0
0
0
10
20
30
Rotational Speed [r/min]
40
0
5
10
15
20
25
30
Rotational Speed [r/min]
*1: When combined with HA-800□-6
26
AC servo actuator
■ SHA40A51SG*2 Input voltage: 200Ｖ
■ SHA40A81SG*2 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
■ SHA40A101SG*2 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
600
500
Radiation plate: 500×500×25（mm）
800
800
700
700
Acceleration/deceleration motion range
300
200
50% duty motion range
600
Acceleration/deceleration
motion range
500
Torque［Nm］
400
Torque［Nm］
Torque［Nm］
600
400
300 50% duty motion range
200
400
50% duty motion range
300
200
Continuous motion range
100
100
Continuous motion range
0
20
40
60
0
0
80
Continuous motion range
100
0
0
10
Rotational Speed [r/min]
20
30
40
50
60
0
10
Rotational Speed [r/min]
■ SHA40A121SG*2 Input voltage: 200Ｖ
20
30
40
Rotational Speed [r/min]
■ SHA40A161SG*2 Input voltage: 200Ｖ
Radiation plate: 500×500×25（mm）
Radiation plate: 500×500×25（mm）
900
900
800
800
Acceleration/deceleration
motion range
600
500
50% duty motion range
400
300
200
Acceleration/deceleration
motion range
700
Torque［Nm］
700
Torque［Nm］
Acceleration/deceleration motion range
500
600
500
50% duty motion range
400
300
200
Continuous motion range
100
Continuous motion range
100
0
0
0
10
20
30
40
0
5
Rotational Speed [r/min]
10
15
20
25
30
Rotational Speed [r/min]
*2: When combined with HA-800□-24
■ SHA58A81SG
Input voltage: 200Ｖ
■ SHA58A101SG
Radiation plate: 650×650×30（mm）
Input voltage: 200Ｖ
■ SHA58A121SG
Radiation plate: 650×650×30（mm）
2000
Input voltage: 200Ｖ
Radiation plate: 650×650×30（mm）
2500
2500
1750
2000
2000
1250
1000
50% duty motion range
750
Acceleration/deceleration motion range
Torque［Nm］
Torque［Nm］
Torque［Nm］
Acceleration/deceleration
motion range
1500
1500
50% duty motion range
1000
Acceleration/deceleration
motion range
1500
50% duty motion range
1000
500
500
Continuous motion range
250
500
Continuous motion range
Continuous motion range
0
0
0
0
10
20
30
40
Rotational Speed [r/min]
■ SHA58A161SG
0
5
10
15
20
Rotational Speed [r/min]
25
30
0
5
10
15
20
25
30
Rotational Speed [r/min]
Input voltage: 200Ｖ
Radiation plate: 650×650×30（mm）
2500
Torque［Nm］
2000
Acceleration/deceleration
motion range
1500
50% duty motion range
1000
500
Continuous motion range
0
0
5
10
15
20
Rotational Speed [r/min]
27
SHA Series
Operable Range
■ SHA65A81SG
Input voltage: 200Ｖ
■ SHA65A101SG
Radiation plate: 650×650×30（mm）
3500
2500
3000
3000
Acceleration/deceleration
motion range
1500
50% duty motion range
1000
2000
1500
500
50% duty motion range
0
10
20
30
40
Rotational Speed [r/min]
■ SHA65A161SG
Input voltage: 200Ｖ
3500
3000
Acceleration/deceleration
motion range
Torque［Nm］
2500
2000
1500
50% duty motion range
1000
Continuous motion range
0
0
5
10
15
Rotational Speed [r/min]
20
1500
50% duty motion range
500
Continuous motion range
0
0
5
10
15
20
Rotational Speed [r/min]
Radiation plate: 650×650×30（mm）
500
Continuous motion range
0
0
2000
1000
500
Continuous motion range
Acceleration/deceleration
motion range
2500
Acceleration/deceleration
motion range
Torque［Nm］
Torque［Nm］
2000
Input voltage: 200Ｖ
Radiation plate: 650×650×30（mm）
3500
1000
28
■ SHA65A121SG
3000
2500
Torque［Nm］
Input voltage: 200Ｖ
Radiation plate: 650×650×30（mm）
25
30
0
5
10
15
Rotational Speed [r/min]
20
25
AC servo actuator
Options
Relay Cable (for motors)
Relay Cable (for motors)
Actuator model Nos.: 20, 25, 32, 40 (Model No. 40 is applicable when
combined with HA-800-6D.)
Order Code Example: EWD-MB * * -A06-TN3
The cable for connecting SHA series to HA-800 driver.
There are two types of relay cable; for motor (including brake wire)
and for absolute encoder. The relay cable is required for connecting
SHA series to HA-800 driver.
Standard cable lengths are 3, 5 and 10m.
Actuator model No. 40 (when combined with HA-800-24D)
Order Code Example: EWD-MB * * -A06-TMC
Standard cable lengths are 3, 5 and 10m.
Actuator side
Driver side
Weldering
Brake: Blue
Brake: Yellow
Actuator side
Driver side
PE: Green/Yellow
Weldering
Brake: Blue
W: Black
Brake: Yellow
V: White
PE: Green/Yellow
U: Red
Wiring
indication label
W: Black
V: White
U: Red
Relay Cable (for motors)
Relay Cable (for absolute encoders)
Actuator model No. 58, 65
Order Code Example: EWD-MB * * -D09-TMC
Actuator model No. 20, 25, 32, 40
Order Code Example: EWD-S * * -A08-3M14
Standard cable lengths are 3, 5 and 10m.
Standard cable lengths are 3, 5 and 10m.
Driver side
Actuator side
Actuator side
Driver side
U: Red
V: White
W: Black
PE: Green/Yellow
Brake: Blue
Water proof cable clamp
Brake: Yellow
Angle plug
Relay Cable (for absolute encoders)
Actuator model No. 58, 65
Order Code Example: EWD-S * * -D10-3M14
Standard cable lengths are 3, 5 and 10m.
Actuator side
Driver side
29