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PAGE: "Products | Actuators | SHA Series AC servo actuators :: Harmonic Drive LLC"
URL: http://www.harmonicdrive.net/products/actuators/sha/index.php

Actuators

 

SHA Series AC servo actuators

List of Features

The new SHA brushless servo-actuator provides the highest torque density of any actuator in its class. Positional accuracy better than 1 arc-min and ±5 arc-sec repeatability is achieved while delivering up to 30,000 in-lb of torque. A robust cross-roller bearing allows mounting of large loads directly to the actuator without additional support. The SHA Series actuator also features a compact, hollow shaft configuration that allows design versatility for demanding applications.

  • Hollow-shaft: Inside diameter up to φ65mm
  • Flat Design: Actuator length is shorter than its outside diameter
  • Torque to Volume Ratio: More than 5 times that of a Direct Drive Motor
  • Output Torque: up to 3400 Nm
  • Output bearing, gear reduction and motor winding specification to suit your needs.
  • 17bit Magnetic Absolute Encoder
  • It is also available to order as a “motor only”
  • Now available with hollow shaft planetary gear option - HPF series HarmonicPlanetary® - for higher output speeds.
  • New option - low voltage winding, 48V DC to 90V DC available for same sizes.
     

    • Model Options

    Model Options


    Actuator Selection by Maximum Torque and Speed

    Max torque


    Model Ordering Code

    SHA 32 A 101 SG - B 12 A 200 - 10 S17b A C [] - []
    1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

    1. Type : SHA Series
    2. Size : 25, 32, 40, 58, 65
    3. Design Revision : A
    4. Gear Ratio : 11 (size 25 & 32), 51, 81, 101, 121, 161
    5. Gearhead SG : SHG Series
    HP: HPF Planetary Series
    6. Motor Version A: Size 58, 65
    B: Size 25, 32, 40
    7. Motor Size 09: SHA 25
    12: SHA 32
    15: SHA 40
    21: SHA 58, 65
    8. Brake A: No Brake
    B: With Brake
    9. Voltage Rating 200: 200V
    100: AC100V (Available in size 25
    LV: 48V DC to 90V DC (size 25 & 32)
    10. Encoder Format 10: A-Format (2.5Mbps, 1 to 1 connection)
    11. Encoder Resolution S17b: 17bit Absolute encoder; 131,072 counts/revolution (motor side)
    12. Encoder Offset Angle : The phase difference of the Motor U phase and the Absolute encoder origin.
    A: 0 degree
    13. Connector Specification C: With standard Connectors
    N: With pigtails
    14. Option symbol L: Origin & End Limit Sensor
    Y: Side Exiting Cables
    15. SP Customized Specification (Special Product)

    List of Ratings – AC 200V Winding

    Item / Model of actuator SHA25A SHA32A
    Gear Ratio 11HP 51 81 101 121 161 11HP 51 81 101 121 161
    Max torque N.m 26 127 178 204 217 229 62 281 395 433 459 484
    In.lb 230 1124 1575 1805 1920 2027 549 2487 3496 3832 4062 4283
    Max Speed r/min 509.1 109.8 69.1 55.4 46.3 34.8 436.4 94.1 59.3 47.5 39.7 29.8
    Torque Constant N.m/Arms 4.2 19 31 39 46 62 4.5 21 33 42 50 66
    In.lb/Arms 37 168 274 345 407 549 40 186 292 372 443 584
    Max. Current Arms 8.9 8.6 7.5 7.0 6.3 5.2 19 17.3 15.2 13.5 12.2 9.9
    Encoder Specification Magnetic type 17 bit Absolute Encoder
    Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
    Multiple motor revolution counter: 2 16 (65,536) Battery back-up
    Output resolution Pulse/rev 1441792 6684672 10616832 13238272 15859712 21102592 1441792 6684672 10616832 13238272 15859721 21102592
    Moment of Inertia(GD2 /4)-w/o Brake kg.m2 0.029 0.56 1.42 2.2 3.2 5.6 0.092 2.0 5.1 8.0 11 20
    Moment of Inertia(GD2 /4) - w Brake kg.m2 0.034 0.66 1.66 2.6 3.7 6.6 0.107 2.3 5.9 9.2 13 23
    Moment stiffness N.m/rad 37.9 x 104 39.2x 104 86.1 x 104 100 x 104
    In.lb/rad 335 x 104 346.9 x 104 761 x 104 885 x 104
    One-way positioning accuracy arc-sec 120 50 40 40 40 40 120 50 40 40 40 40
    Allowable moment of load N.m 410 258 932 580
    In.lb 3629 2283 8248 5133
    Servo Drive Combinations AC 200V REL-230-18 REL-230-18, REL-230-36
    HA-800-3D HA-800-6D
    Mass ( without Brake ) kg 5.1 (5.0) 3.1 ( 2.95 ) 9.7 (9.4) 6.2 ( 5.9 )
    Cad Downloads PDF DXF PDF DXF PDF DXF PDF DXF

    Item / Model of actuator SHA40A SHA58A SHA65A
    Gear Ratio 51 81 101 121 161 81 101 121 161 81 101 121 161
    Max torque N.m 523 675 738 802 841 1924 2067 2236 2392 2743 2990 3263 3419
    In.lb 4629 5974 6531 7098 7443 17027 18293 19789 21169 24276 26462 28878 30258
    Max Speed r/min 78.4 49.4 39.6 33.1 24.8 37 29.7 24.8 18.6 34.6 27.7 23.1 17.4
    Torque Constant N.m/Arms 25 41 51 61 81 54 68 81 108 54 68 81 108
    In.lb/Arms 221 363 451 540 717 478 602 717 956 478 602 717 956
    Max. Current Arms 24.4 19.9 17.7 16.3 13.3 43 37 34 29 59 53 48 39
    Encoder Specification Magnetic type 17 bit Absolute Encoder
    Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
    Multiple motor revolution counter: 2 16 (65,536) Battery back-up
    Output resolution Pulse/rev 6684672 10616832 13238272 15859712 21102592 10616832 13238272 15859712 21102592 10616832 13238272 15859712 21102592
    Moment stiffness N.m/rad 179x 104 531x 104 741 x 104
    In.lb/rad 1584.2 x 104 4699.4 x 104 6557.9 x 104
    One-way positioning accuracy arc-sec 50 40 40 40 40 40 40 40 40 40 40 40 40
    Allowable moment of load N.m 849 2180 2470
    In.lb 7514 19293 21860
    Servo Drive Combinations AC 200V REL-230-36, REL-230-40 ─ ─

    		HA-800-6D, HA-800-24D HA-800-24D HA-800- 24D
    Mass ( without Brake ) kg 10.7 ( 9.9 ) 32 ( 29.5 ) 40 ( 37.5 )
    Cad Downloads PDF DXF PDF DXF PDF DXF

     

    List of Ratings - AC 100V Winding

    Item / Model of actuator SHA25A
    Gear Ratio 51 81 101 121 161
    Max torque N.m 127 178 204 217 229
    In.lb 1124 1575 1805 1920 2027
    Max Speed r/min 94.1 59.3 47.5 39.7 29.8
    Torque Constant N.m/Arms 11.1 17.9 22 27 36
    In.lb/Arms 98 158 195 239 319
    Max. Current Arms 14.9 13.0 12.1 10.9 9.0
    Encoder Specification Magnetic type 17 bit Absolute Encoder
    Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
    Multiple motor revolution counter: 2 16 (65,536) Battery back-up
    Output resolution Pulse/rev 6684672 10616832 13238272 15859712 21102592
    Moment of Inertia(GD2 /4)-w/o Brake kg.m2 0.56 1.42 2.2 3.2 5.6
    Moment of Inertia(GD2 /4) - w Brake kg.m2 0.66 1.66 2.6 3.7 6.6
    Moment stiffness N.m/rad 39.2x 104
    In.lb/rad 346.9 x 104
    One-way positioning accuracy arc-sec 50 40 40 40 40
    Allowable moment of load N.m 258
    In.lb 2283
    Servo Drive Combinations AC 100V REL-230-18, REL-230-36
    HA-800-_- 3D
    Mass ( without Brake ) kg 3.1 ( 2.95 )

     

    List of Rating – Low Voltage Winding , 48V DC to 90V DC

    Item / Model of actuator SHA25A SHA32A
    Gear Ratio 51 81 101 121 161 51 81 101 121 161
    Max torque N.m 100 163 204 217 229 146 238 298 357 477
    In.lb 885 1,443 1,805 1,920 2,027 1,292 2,106 2,637 3,159 4,221
    Max Speed r/min 75 47 38 32 24 50 31 25 21 16
    Torque Constant N.m/Arms 5.3 8.5 10.6 12.7 16.9 7.9 12.8 16.0 19.1 25.4
    In.lb/Arms 47 75 94 112 150 70 113 142 169 225
    Max. Current A(rms) 25.5 23 19 25.5
    Encoder Specification Magnetic type 17 bit Absolute Encoder
    Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
    Multiple motor revolution counter: 2 16 (65,536) Battery back-up
    Output resolution Pulse/rev 6684672 10616832 13238272 15859712 21102592 6684672 10616832 13238272 15859721 21102592
    Moment of Inertia-w/o Brake kg.m2 0.56 1.42 2.2 3.2 5.6 2.0 5.1 8.0 11 20
    Moment of Inertia- w Brake kg.m2 0.69 1.74 2.7 3.9 6.9 2.3 5.9 9.2 13 23
    Allowable moment of load N.m 258 580
    In.lb 2283 5133
    Moment stiffness N.m/rad 39.2x 104 100 x 104
    In.lb/rad 346.9 x 104 885 x 104
    One-way positioning accuracy arc-sec 50 40 40 40 40 50 40 40 40 40
    Servo Drive Model 48V-90VDC DEP-090-36 DEP-090-36
    Mass ( without Brake ) kg 3.3 ( 3.1 ) 6.2 ( 5.9 )

    Product Drawings

    SHA25A (unit: mm)
    SHA-25A


    SHA32A (unit: mm)
    SHA-32A


    SHA40A (unit: mm)
    SHA-40A


    SHA58A (unit: mm)
    SHA-58A


    SHA65A (unit: mm)
    SHA-65A


    SHA25A11HP (unit: mm)
    SHA-25A


    SHA32A11HP (unit: mm)
    SHA-32A


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