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SHA-SG Rotary Actuator

SHA-SG Series AC Servo Actuators provide high torque and highly accurate rotary operation.
These hollow shaft servo actuators utilize Harmonic Drive® precision strain wave 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 DEP, REL Series and HA-800 drivers.

Key Features:

  • High torque
  • Compact, slim design
  • Large center through hole
  • New option - low voltage winding, 48V DC to 90V DC available for sizes 20, 25, 32.
  • 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)

Manual

DXF CAD Files

PDF Drawings

3D CAD Files

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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
16 - Mitsubishi Format (Not available in size 20)
17 - Yaskawa Format (Not available in size 20)

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

(100V & 200V)

Size (Voltage) Ratio Maximum
Torque
[Nm]
Maximum
Current
[Arms]
Continuous
Torque
[Nm]
Allowable
Continuous Current
[Arms]
Maximum
Speed
[rpm]
One-way
Positioning Accuracy
[arc-sec]
Servo Driver

Mass (w/brake)
[kg]
20A (200VAC) 51 73 6.0 21 2.1 117.6 60 REL-230-18 HA-800□-3D/E-200 2.0 (2.1)
81 96 4.9 35 2.0 74.1 50
101 107 4.5 43 2.0 59.4 50
121 113 4.0 48 1.9 49.6 50
161 120 3.4 48 1.6 37.3 50
25A (100VAC) 51 127 14.9 35 4.7 94.1 50 REL-230-36 HA-800□-6D/E-100 2.95 (3.1)
81 178 13.0 58 4.7 59.3 40
101 204 12.1 73 4.7 47.5 40
121 217 10.9 81 4.5 39.7 40
161 229 9.0 81 3.7 29.8 40 REL-230-18
25A (200VAC)


11 26 8.9 9.0 3.0 509.1 120
REL-230-18


HA-800□-3D/E-200

5.0 (5.1)
51 127 8.6 41 3.0 109.8 50 2.95 (3.1)
81 178 7.5 67 3.0 69.1 40
101 204 7.0 81 2.9 55.4 40
121 217 6.3 81 2.6 46.3 40
161 229 5.2 81 2.1 34.8 40
32A (200VAC) 11 62 19 20 6.0 436.4 120

REL-230-36




HA-800□-6D/E-200



9.4 (9.7)
51 281 17.3 92 6.0 94.1 50 5.9 (6.2)
81 395 15.2 153 6.0 59.3 40
101 433 13.5 178 5.7 47.5 40
121 459 12.2 178 5.0 39.7 40
161 484 9.9 178 4.1 29.8 40 REL-230-18
40A (200VAC) 51 340 18 94 6.0 78.4 50 REL-230-36 HA-800□-6D/E-200 9.9 (10.7)
81 560 18 158 6.0 49.4 40
101 656 18 198 6.0 39.6 40
121 802 17.9 237 6.0 33.1 40
161 841 14.6 317 6.0 24.8 40
40A (200VAC) 51 523 26.7 160 9.0 78.4 50 REL-230-40 HA-800□-24D/E-200 9.9 (10.7)
81 675 21.8 263 9.0 49.4 40
101 738 19.4 330 9.0 39.6 40
121 802 17.9 382 8.8 33.1 40
161 841 14.6 382 7.2 24.8 40
58A (200VAC) 81 1924 45 714 17.7 37.0 40 REL-230-40 HA-800□-24D/E-200 29.5 (32)
101 2067 39 905 17.8 29.7 40
121 2236 36 969 16.4 24.8 40
161 2392 30 969 13.4 18.6 40
65A (200VAC) 81 2400 55 921 22.0 34.6 40 HA-800□-24D/E-200 37.5 (40)
101 2990 55 1149 21.9 27.7 40
121 3263 51 1236 20.1 23.1 40
161 3419 41 1236 16.3 17.4 40

(Low Voltage)

Size (Voltage) Ratio Maximum
Torque
[Nm]
Maximum
Current
[Arms]
Continuous
Torque
[Nm]
Allowable
Continuous Current
[Arms]
Maximum
Speed
[rpm]
One-way
Positioning Accuracy
[arc-sec]
Servo Driver* Mass (w/brake)
[kg]
Engineering
Spec

20A (48-90VDC)

51 68 14.9 16.0 4.7 63 60 DEP-090-36 2.0 (2.1) PDF
81 96 13.2 26.6 4.7 40 50
101 107 12.0 33.4 4.7 32 50 DEP-090-18
121 113 10.8 40.2 4.7 27 50
161 120 9.1 48.0 4.4 20 50

25A (48-90VDC)

51 100 25.5 28 8.5 75 50 DEP-090-36 3.1 (3.3) PDF
81 163 25.5 46 8.5 47 40
101 204 25.5 57 8.5 38 40
121 217 23.2 69 8.5 32 40
161 229 19.0 81 7.8 24 40

32A (48-90VDC)

51 146 25.5 37 8.5 50 50 DEP-090-36 5.9 (6.2)
81 238 25.5 61 8.5 31 40
101 298 25.5 77 8.5 25 40
121 357 25.5 93 8.5 21 40
161 477 25.5 126 8.5 16 40

*Low voltage incremental encoder models also compatible with DDP.

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

SHA-25A

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