Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


SHA-CG

SHA-CG high precision actuators are a great alternative for direct drive motors. SHA-CG actuators offer direct drive motor performance in a compact, significantly lighter package. Ideal for high precision rotary applications such as indexing turn tables, the SHA-CG offers improved rotary positioning accuracy with surface runout less than 10 microns.

Key Features:

(click to enlarge)

Manual

DXF CAD Files

PDF CAD Files

3D CAD Files

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Optional Mounting Stand Available

Model Ordering Code

SHA 32 A 100 CG - 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 : 20, 25, 32, 40
3. Design Revision : A
4. Gear Ratio : 50, 80, 100, 120, 160
5. Gearhead CG : CSG Series
6.

Motor Version

A: Size 58, 65

B: Size 25, 32, 40

C: Size 20

7. Motor Size

08: SHA 20

09: SHA 25

12: SHA 32

15: SHA 40

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)

00: Incremental Encoder

11. Encoder Resolution

10S17b: 17bit Absolute encoder; (Nikon-A format)

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

15S17b: 17bit Absolute encoder ( size 25) (BiSS-C format)

12. Encoder Offset Angle

: The phase difference of the Motor U phase and the Absolute encoder origin.
A: 0 degree

B: 30 degree

13. Connector Specification

C: With standard Connectors (This is for extension cable)

N: With pigtails

14. Option symbol

L: Origin & End Limit Sensor

Y: Side Exiting Cables

S: Output shaft single revolution

15. SP Customized Specification (Special Product)

Rating Table

Size Ratio Maximum
Torque [Nm]
Maximum
Current
Continuous
Torque [Nm]
Allowable
Continuous
Current
Maximum
Speed [rpm]
Output Resolution
Pulse/Rev
Hollow
Shaft Dia
One-way
Positioning Accuracy
(arc-sec)
Mass*
kg
CAD
Downloads
20A (200V) 50 73 6.1 21 2.1 120 6,553,600 17 60 2.6 (2.7) DXF
PDF
80 96 5.0 35 2.1 75 10,485,760 17 50
100 107 4.6 43 2.1 60 13,107,200 17 50
120 113 4.1 48 2.0 50 15,728,640 17 50
160 120 3.4 48 1.7 37.5 20,971,520 17 50
25A (100V) 50 127 15.1 34 4.7 96 6,553,600 27 50 3.95 (4.1) DXF
PDF
80 178 13.2 57 4.7 60 10,485,760 27 40
100 204 12.2 72 4.7 48 13,107,200 27 40
120 217 11.0 81 4.5 40 15,728,640 27 40
160 229 9.0 81 3.7 30 20,971,520 27 40
25A (200V) 50 127 8.7 40 3.0 112 6,553,600 27 50 3.95 (4.1)
80 178 7.6 66 3.0 70 10,485,760 27 40
100 204 7.0 81 3.0 56 13,107,200 27 40
120 217 6.3 81 2.6 46.7 15,728,640 27 40
160 229 5.2 81 2.1 35 20,971,520 27 40
32A (200V) 50 281 17.7 90 6.0 96 6,553,600 35 40 7.7 (8.0) DXF
PDF
80 395 15.4 151 6.0 60 10,485,760 35 30
100 433 13.7 178 5.7 48 13,107,200 35 30
120 459 12.2 178 5.0 40 15,728,640 35 30
160 484 10.0 178 4.1 30 20,971,520 35 30
40A (200V)
(HA-800□-6D/E-200)
50 333 18.0 92 6.0 80 6,553,600 45 40 13 (13.80) DXF
PDF
80 548 18.0 156 6.0 50 10,485,760 45 30
100 686 18.0 196 6.0 40 13,107,200 45 30
120 802 17.6 235 6.0 33.3 15,728,640 45 30
160 841 14.3 315 6.0 25 20,971,520 45 30
40A (200V)
(HA-800□-24D/E-200)
50 523 27.2 157 9.0 80 6,553,600 45 40 13 (13.80)
80 675 22.0 260 9.0 50 10,485,760 45 30
100 738 19.6 327 9.0 40 13,107,200 45 30
120 802 18.0 382 8.8 33.3 15,728,640 45 30
160 841 14.7 382 7.2 25 20,971,520 45 30

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