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-SG Rotary Actuator

SHA Series AC Servo Actuators provide high torque and highly accurate rotary operation.
These hollow shaft servo actuators utilize Harmonic Drive® precision gears combined with a brushless servomotor and magnetic absolute encoder. The SHA Series is an advanced version of the FHA series AC Servo Actuators, featuring a larger hollow shaft with a smaller, outside diameter. The SHA Series is designed to operate with REL Series and HA-800 drivers.

Key Features:

  • High torque
  • Compact, slim design
  • Large center through hole
  • Low voltage winding available for SHA25A
  • New option - low voltage winding, 48V DC to 90V DC available for some sizes.
  • Connects directly with Mitsubishi Electric’s MELSERVO-J4 SSCNETⅢ/H, see brochure
  • Connects directly with Σ-7 servo drives from Yaskawa, see brochure
  • Also available to order as a “motor only”

(click to enlarge)

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Ordering Code

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

1. Type

: SHA Series

2. Size

: 20, 25, 32, 40, 58, 65

3. Design Version

: A - Standard
: Y - Yaskawa compatible
: M - Mitsubishi compatible
: P - Panasonic compatible

4. Gear Ratio

: 11 (size 25 & 32), 51, 81, 101, 121, 161

5. Gearhead

: SG - SHG Series
: HP - HPF Planetary Series (size 25 & 32)

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
: 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 20) (size 25 & 32)

10. Encoder Format

: 10 - A-Format (2.5Mbps, 1 to 1 connection)
: 00 - Incremental Encoder
: 14 - Panasonic Format
: 15 - Biss-C Format (Avaliable in size 25)
: 16 - Mitsubishi Format
: 17 - Yaskawa Format

11. Encoder Resolution

: S17b - 17bit Absolute encoder; (Nikon-A format)
: D250 - Incremental encoder (size 25, 32 and 40)

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 (not available on size 20)
: Y - Side Exiting Cables

15. Special specification

: Blank - Standard product
: SP____ - Special specification code


Rating Table – AC 200V Winding

Item / Model of actuator SHA20A SHA25A
Gear Ratio 51 81 101 121 161 11HP 51 81 101 121 161
Max torque Nm 73 96 107 113 120 26 127 178 204 217 229
lb-in 646 850 947 1,000 1,062 230 1,124 1,575 1,806 1,921 2,027
Max Speed r/min 117.6 74.1 59.4 49.6 37.3 509.1 109.8 69.1 55.4 46.3 34.8
Torque Constant Nm/Arms 16.5 27 33 40 53 4.2 19 31 39 46 62
lb-in/Arms 146 239 292 354 469 37 168 274 345 407 549
Max. Current Arms 6 4.9 4.5 4 3.4 8.9 8.6 7.5 7 6.3 5.2
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 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592 1,441,792 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592
Moment of Inertia(GD2 /4)-w/o Brake kg.m2 0.23 0.58 0.91 1.3 2.3 0.029 0.56 1.42 2.2 3.2 5.6
Moment of Inertia(GD2 /4) - w Brake kg.m2 0.26 0.65 1.0 1.4 2.6 0.034 0.66 1.66 2.6 3.7 6.6
Moment stiffness Nm /rad 25.2 x 104 37.2 x 104 39.2 x 104
lb-in /rad 223 x 104 329 x 104 346.9 x 104
One-way positioning accuracy arc-sec 60 50 50 50 50 120 50 40 40 40 40
Allowable moment of load Nm 187 410 258
lb-in 1,655 3629 2,283
Servo Drive Combinations AC 200V REL-230-18 REL-230-18
HA-800-3D HA-800-3D

Mass

(w/out Brake)

kg 2.1 ( 2.0 ) 5.1 (5.0) 3.1 ( 2.95 )
Cad Downloads PDF DXF PDF DXF PDF DXF

Item / Model of actuator SHA32A SHA40A
Gear Ratio 11HP 51 81 101 121 161 51 81 101 121 161
Max torque Nm 62 281 395 433 459 484 523 675 738 802 841
lb-in 549 2,487 3,496 3,832 4,062 4,284 4,629 5,974 6,532 7,098 7,443
Max Speed r/min 436.4 94.1 59.3 47.5 39.7 29.8 78.4 49.4 39.6 33.1 24.8
Torque Constant Nm/Arms 4.5 21 33 42 50 66 25 41 51 61 81
lb-in/Arms 40 186 292 372 443 584 221 363 451 540 717
Max. Current Arms 19 17.3 15.2 13.5 12.2 9.9 26.7 21.8 19.4 17.9 14.6
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 1,441,792 6,684,672 10,616,832 13,238,272 15,859,721 21,102,592 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592
Moment of Inertia(GD2 /4)-w/o Brake kg.m2 0.091 2 5.1 8 11 20 5 13 20 28 50
Moment of Inertia(GD2 /4) - w Brake kg.m2 0.110 2.3 5.9 9.2 13 23 6.1 15 24 34 61
Moment stiffness Nm /rad 86.1 x 104 100 x 104 179x 104
lb-in /rad 762 x 104 885 x 104 1,584.2 x 104
One-way positioning accuracy arc-sec 120 50 40 40 40 40 50 40 40 40 40
Allowable moment of load Nm 932 580 849
lb-in 8,249 5,133 7,514
Servo Drive Combinations AC 200V REL-230-18, REL-230-36 REL-230-36, REL-230-40
HA-800-6D HA-800-6D, HA-800-24D
Mass ( without Brake ) kg 9.7 (9.4) 6.2 ( 5.9 ) 10.7 ( 9.9 )
Cad Downloads PDF DXF PDF DXF PDF DXF

Item / Model of actuator SHA58A SHA65A
Gear Ratio 81 101 121 161 81 101 121 161
Max torque Nm 1,924 2,067 2,236 2,392 2,400 2,990 3,263 3,419
lb-in 17,029 18,294 19,790 21,171 21,242 26,464 28,880 30,261
Max Speed r/min 37 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Torque Constant Nm/Arms 54 68 81 108 54 68 81 108
lb-in/Arms 478 602 717 956 478 602 717 956
Max. Current Arms 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 10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592
Moment of Inertia(GD2 /4)-w/o Brake kg.m2 96 149 214 379 110 171 245 433
Moment of Inertia(GD2 /4) - w Brake kg.m2 106 165 237 420 120 187 268 475
Moment stiffness Nm /rad 531x 104 741 x 104
lb-in /rad 4,699.7 x 104 6,558.4 x 104
One-way positioning accuracy arc-sec 40 40 40 40 40 40 40 40
Allowable moment of load Nm 2,180 2,470
lb-in 19,295 21,861
Servo Drive Combinations AC 200V
HA-800-24D HA-800- 24D
Mass ( without Brake ) kg 32 ( 29.5 ) 40 ( 37.5 )
Cad Downloads PDF DXF PDF DXF

Rating Table - AC 100V Winding

Item / Model of actuator SHA25A
Gear Ratio 51 81 101 121 161
Max torque Nm 127 178 204 217 229
lb-in 1,124 1,575 1,806 1,921 2,027
Max Speed r/min 94.1 59.3 47.5 39.7 29.8
Torque Constant Nm/Arms 11.1 17.9 22 27 36
lb-in/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 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592
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 Nm/rad 39.2x 104
lb-in/rad 346.9 x 104
One-way positioning accuracy arc-sec 50 40 40 40 40
Allowable moment of load Nm 258
lb-in 2,283
Servo Drive Combinations AC 100V REL-230-18, REL-230-36
HA-800-_- 3D
Mass ( without Brake ) kg 3.1 ( 2.95 )

Rating Table – 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 Nm 100 163 204 217 229 146 238 298 357 477
lb-in 885 1,443 1,805 1,920 2,027 1,292 2,106 2,638 3,160 4,222
Max Speed r/min 75 47 38 32 24 50 31 25 21 16
Torque Constant Nm/Arms 5.3 8.5 10.6 12.7 16.9 7.9 12.8 16.0 19.1 25.4
lb-in/Arms 47 75 94 112 150 70 113 142 169 225
Max. Current Arms 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 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592 6,684,672 10,616,832 13,238,272 15,859,721 21,102,592
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 Nm 258 580
lb-in 2,283 5,133
Moment stiffness Nm/rad 39.2x 104 100 x 104
lb-in/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 )

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

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