SHA with Integrated Servo Drive
The SHA-IDT Series is a family of compact actuators that deliver high torque with exceptional accuracy and repeatability. These hollow shaft servo actuators feature Harmonic Drive® precision strain wave gears combined with a brushless servomotor, a brake, two magnetic absolute encoders and an integrated Servo Drive with CANopen® Communication. This revolutionary product eliminates the need for an external servo drive and greatly simplifies cabling yet delivers high-positional accuracy and torsional stiffness in a compact housing.
Key Features:
• Actuator + Integrated Servo Drive with CANopen® Communication
• 48VDC Supply Voltage
• Single Cable with only 4 conductors is needed:
CANH, CANL, +48VDC, 0VDC
• Zero Backlash Harmonic Drive® Gearing
• Panel Mount Connectors with radial and axial options
• Dual Absolute Encoders
• Output Sensing Encoder: 16 bit resolution (65,536 cpr)
• Input Sensing Encoder: 17 bit resolution (131,072 cpr)
• Control Modes: Torque, Velocity, Position, CSP, CSV, CST
• Harmonic Drive® HDL Software
Options:
• 4 I/O
• 2 NPN or 2 PNP Opto-Isolated Digital Inputs
• 2 Programmable Analog/Digital Inputs or Open Drain Outputs
• Motor Torque Off (MTO): When either or both of the 2 MTO inputs are low, PWM outputs to the motor are inactive and current to the motor will not be possible. Control power remains active.
• Flex-rated cables with sealed connectors available
Compact Actuator Industries and Uses
A compact rotary actuator can serve in a wide range of industrial and manufacturing applications:
- Automation: These actuators can help optimize results in the various automated systems used to operate packaging machinery, assembly lines and material handling equipment.
- Robotics: An actuator can improve the function of robots that conduct end-of-arm tooling and material handling functions.
- Aerospace: A compact actuator system offers precise, powerful movement within minimal space constraints that are essential for controlling aircraft systems and components like landing gear and flaps.
- Process control: Industries like oil and gas, pharmaceuticals and chemical manufacturing use these actuators to regulate the flow of fluids.
- Deburring: The metal finishing industry can use actuators to remove sharp edges, burrs and other workpiece imperfections.
Why Choose Us as Your Compact Actuator Manufacturer?
At Harmonic Drive, we work hard every day to provide precision motion control solutions that meet our customers' needs and give them a competitive edge. Our unparalleled technical expertise, decades of experience and ability to deliver customized OEM solutions will enable us to become trusted partners in your company's success.
Our dedicated, full-service engineering team will work closely with you to ensure your product design meets your specifications. We typically provide our engineering design service free of charge as an added benefit for our customers. Moreover, we handle the entire manufacturing process in-house, ensuring exceptional quality control and maximum product consistency.
Explore Our Compact Rotary Actuators Today
Contact Harmonic Drive to learn more about your compact actuator options and the benefits of selecting us as your manufacturer. Call us at 978-532-1800 or return the online form to request additional product and pricing information today.
Ordering Code
SHA |
25 |
A |
101 |
SG |
- |
B |
09 |
B |
LV |
- |
IDT17b16b |
PM1 |
S |
- |
SP |
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
1. |
Model |
SHA Integrated Series |
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2. |
Size |
20, 25, 32 |
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3. |
Design Version |
A |
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4. |
Gear Ratio |
51, 81, 101, 121, 161 |
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5. |
Gearhead |
Harmonic Drive® SG Series |
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6. |
Motor Version |
B |
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7. |
Motor Size |
08 is for SHA-20, 09: SHA 25, 12: SHA 32 |
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8. |
Brake |
A - No BrakeB - With Brake |
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9. |
Voltage Rating |
LV: 48VDC (24-60VDC) |
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10. |
Encoder andResolution |
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11. |
Options |
PM1 – Axial Exit
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12. |
I/O Connection Signal |
Blank: without I/O and MTO sideS: with I/O Panel Mount Connection |
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13. |
Special Specifications |
Blank: Standard product
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Specifications
Item / Model |
SHA-20A | SHA-25A | SHA-32A | ||||||||||||||
Gear Ratio |
51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 | ||
Maximum torque | Nm |
68 | 96 | 107 | 113 | 120 | 100 | 163 | 204 | 217 | 229 | 146 | 238 | 298 | 357 | 477 | |
Maximum Speed | rpm |
63 | 40 | 32 | 27 | 20 | 75 | 47 | 38 | 32 | 24 | 50 | 31 | 25 | 21 | 16 | |
Maximum current |
Arms |
14.9 | 13.2 | 12 | 10.8 | 9.1 | 25.5 | 25.5 | 25.5 | 23.2 | 19 | 25.5 | 25.5 | 25.5 | 25.5 | 25.5 | |
Continuous torque1 |
Nm |
16 | 26.6 | 33.4 | 40.2 | 48 | 28 | 46 | 57 | 69 | 81 | 37 | 61 | 77 | 93 | 126 | |
Continuous speed1 |
rpm |
49 | 32.4 | 26 | 21.9 | 17.1 | 51 | 35 | 28.2 | 23 | 15 | 47.2 | 30 | 24 | 20 | 15 | |
Continuous current |
Arms | 4.7 | 4.7 | 4.7 | 4.7 | 4.4 | 8.5 | 8.5 | 8.5 | 8.5 | 7.8 | 8.5 | 8.5 | 8.5 | 8.5 | 8.5 | |
Torque constant |
Nm/A | 6.3 | 10.1 | 12.7 | 15.2 | 20.2 | 5.3 | 8.5 | 10.6 | 12.7 | 16.9 | 7.9 | 12.8 | 15 | 19.1 | 25.4 | |
Moment of inertia with brake |
kgm2 | 0.2 |
0.6 |
0.9 | 1.3 | 2.3 | 0.6 | 1.6 | 2.5 | 3.6 | 5.4 | 2.2 | 5.6 | 8.7 | 12.5 | 22.2 | |
Moment of inertia without brake |
kgm2 | 0.2 | 0.5 | 0.8 | 1.2 | 2.0 | 0.5 | 1.4 | 201 | 3.0 | 6.4 | 1.9 | 4.8 | 7.5 | 10.8 | 19.1 | |
Allowable moment load |
187 | 258 | 580 | ||||||||||||||
Moment stiffness | 25.2 x 104 | 39.2 x 104 | 100 x 104 | ||||||||||||||
Output bearing |
kN |
14.6 | 21.8 | 36.2 | |||||||||||||
Encoder type |
– |
Dual magnetic absolute |
Dual magnetic absolute | Dual magnetic absolute | |||||||||||||
Motor encoder resolution |
– |
217 (131072) |
217 (131072) | 217 (131072) | |||||||||||||
Gear encoder resolution |
– |
216 (65536) |
216 (65536) |
216 (65536) |
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Mass | kg | TBD |
3.3 |
PM1: 6.3, PM4: 6.4 |
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Operating voltage |
V |
48 (24-60) |
48 (24-60) |
48 (24-60) |
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Communication protocol |
– |
CAN, CANopen® (DS301/DS402) |
CAN, CANopen® (DS301/DS402) |
CAN, CANopen® (DS301/DS402) |
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Environmental4 |
Ambient operating temp |
°C |
0-40 (-20-60 storage) |
0-40 (-20-60 storage) | 0-40 (-20-60 storage) | ||||||||||||
Operating humidity |
%RH |
20-80 (no condensation) |
20-80 (no condensation) |
20-80 (no condensation) |
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Vibration resistance3 |
m/s2 |
25 |
25 | 25 | |||||||||||||
Shock |
m/s2 |
300 | 300 | 300 | |||||||||||||
Max operating altitude |
m | 1000 above sea level | 1000 above sea level | 1000 above sea level | |||||||||||||
No dust, no metal powder, no corrosive gas, no flammable gas, no oil mist, Indoor use only, Refer to standard SHA manual for more information. |
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Motor insulation |
Insulation resistance: 100MC or more (by DC500V insulation tester), |
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Mounting direction |
Can be installed in any direction |
- Value after temperature rise and saturation when the 320x320x16 [mm] aluminum heatsink is installed.
- Value of phase induced voltage constant multiplied by 3.
- For testing conditions, refer to [1-12 Shock resistance] (P1-41) and [1-13 Resistance to vibration] (P1-42) of SHA manual. Motor operation is not guaranteed in applications where vibrations and impacts are continuously applied for a long period of time.
- For details. refer to [3-3 Location and installation] (P3-6) of SHA manual.