Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive.


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.

Manual

DXF CAD Files

PDF Drawings

3D CAD Files

Contact our experts to find the right solution and get started today!

Ordering Code

SHA

25

A

101

SG

-

B

09

B

LV

-

IDT17b16b

PM1

S

-

SP

1

2

3

4

5

6

7

8

9

10

11

12

13


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
basic dynamic
rated load

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)

Mass kg TBD

3.3

PM1: 6.3, PM4: 6.4

Operating voltage

V

48 (24-60)

48 (24-60)

48 (24-60)

Communication protocol

CAN, CANopen® (DS301/DS402)

CAN, CANopen® (DS301/DS402)

CAN, CANopen® (DS301/DS402)

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)

Vibration resistance3

m/s2

25

25 25

Shock
resistance3

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.

Motor insulation

Insulation resistance: 100MC or more (by DC500V insulation tester),
Dielectric strength: AC1500v/1 min
Insulation class: A

Mounting direction

Can be installed in any direction

  1. Value after temperature rise and saturation when the 320x320x16 [mm] aluminum heatsink is installed.
  2. Value of phase induced voltage constant multiplied by 3.
  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.
  4. For details. refer to [3-3 Location and installation] (P3-6) of SHA manual.

Contact

Contact Us

Submit a Question

info@harmonicdrive.net

or
Call: 978-532-1800

Hours 8:00am - 5:00pm EST
Monday through Friday