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
Manual
DXF CAD Files
3D CAD Files
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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 |
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 | |
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Continuous torque1 |
Nm |
16 | 26.6 | 33.4 | 40.2 | 48 | 28 | 46 | 57 | 69 | 81 | 37 | 61 | 77 | 93 | 126 | |
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Continuous speed1 |
rpm |
49 | 32.4 | 26 | 21.9 | 17.1 | 51 | 35 | 28.2 | 23 | 15 | 47.2 | 30 | 24 | 20 | 15 | |
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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 | |
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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 | |
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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 | |
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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 | |
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Allowable moment load |
187 | 258 | 580 | ||||||||||||||
| Moment stiffness | 25.2 x 104 | 39.2 x 104 | 100 x 104 | ||||||||||||||
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Output bearing |
kN |
14.6 | 21.8 | 36.2 | |||||||||||||
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Encoder type |
– |
Dual magnetic absolute |
Dual magnetic absolute | Dual magnetic absolute | |||||||||||||
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Motor encoder resolution |
– |
217 (131072) |
217 (131072) | 217 (131072) | |||||||||||||
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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) | ||||||||||||
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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 | |||||||||||||
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Shock |
m/s2 |
300 | 300 | 300 | |||||||||||||
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Max operating altitude |
m | 1000 above sea level | 1000 above sea level | 1000 above sea level | |||||||||||||
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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 |
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- 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.
