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Appendix

A-1

Unit conversion··································································· 101

A-2

Calculating inertia moment ···················································· 103

Summary of Contents for SHA CG Series

Page 1: ...AC Servo Actuator SHA SG and CG series manual ISO14001 Hotaka plant ISO9001...

Page 2: ...the product Read this document carefully and use the product correctly so that the product can be used safely for many years to come Product specifications are subject to change without notice Keep th...

Page 3: ...ld be performed or avoided to prevent non operation or malfunction of the product or negative effects on its performance or function LIMITATION OF APPLICATIONS The equipment listed in this document ma...

Page 4: ...lead to vibration resulting in damage of output elements PRECAUTIONS FOR ACTUATORS IN OPERATION Comply with the toque limits for the actuator Be aware that if by accident the arm attached to the outp...

Page 5: ...n 100 ohms Do not use a power line filter in the motor circuit Pay attention to negative torque by inverse load Inverse load may cause damages of drivers Please consult our sales office if you intent...

Page 6: ...st Do not operate control units by means of power ON OFF switching Start stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic...

Page 7: ...ical accuracy 40 1 8 One Way Positional accuracy 42 Repeatability CG type 43 Bi directional repeatability CG type 43 1 9 Encoder specifications Absolute encoder 44 1 10 Output Stiffness 46 Moment stif...

Page 8: ...rque and average rotation speed 83 Installing the SHA actuator 85 3 1 Receiving Inspection 86 Inspection procedure 86 3 2 Notices on handling 87 Installation and transmission torque 87 Precautions on...

Page 9: ...f the SHA series 350 350 18 0 25 50 75 100 125 150 0 20 40 60 80 100 120 r min Nm 50 Allowable continuous torque A Radiation plate 350 350 18 Torque Nm Motion range during acceleration and deceleratio...

Page 10: ...oint A Hz 191 209 210 212 201 129 174 196 206 212 201 6 Allowable range temperature 40 7 Number of phase 3 Model Item SHA32A SHA40A 11 51 81 101 121 161 51 81 101 121 161 1 Output at point A W 240 328...

Page 11: ...e at point A V 62 65 65 63 61 115 121 123 123 119 3 Allowable continuous current Arms 4 7 4 7 4 7 4 5 3 7 3 0 3 0 3 0 2 6 2 1 4 Speed at point A rpm 47 32 25 5 20 5 15 42 29 24 20 5 15 5 Frequency at...

Page 12: ...4 1 3 Drivers and extension cables 15 1 4 Specifications 16 1 5 Motor shaft brake 25 1 6 External dimensions 28 1 7 Mechanical accuracy 40 1 8 Positional accuracy 42 1 9 Encoder specifications Absolut...

Page 13: ...ratio has approximately doubled compared to our previous actuator designs Based on maximum torque you can select a model which is one size smaller Also the output torque is much higher than direct dr...

Page 14: ...e 20 7 Motor size 08 Size 20 09 Size 25 12 Size 32 15 Size 40 21 Size 58 65 SG only 8 Brake A Without brake B With brake 9 Motor input voltage 100 100V Size 25 only 200 200V LV 48V DC to 90V DC Size 2...

Page 15: ...TROLINK HA 800B 3D E 200 HA 800B 3D E 200 HA 800B 6D E 100 HA 800B 6D E 200 HA 800B 6D E 200 or HA 800B 24D E 200 HA 800B 24D E 200 HA 800B 24D E 200 HA 800 CC Link HA 800C 3D E 200 HA 800C 3D E 200 H...

Page 16: ...coder resolution 217 131 072 Motor multi revolution counter 216 65 536 Output resolution Pulse rev 6 684 672 10 616 832 13 238 272 15 859 712 21 102 592 Mass without brake kg 2 0 Mass with brake kg 2...

Page 17: ...load Nm 258 410 258 kgf m 26 3 41 8 26 3 Moment stiffness Nm rad 39 2 x 104 37 9 x 104 39 2 x 104 kgf m arc min 11 6 11 3 11 6 One way positional accuracy arc sec 50 40 40 40 40 120 50 40 40 40 40 En...

Page 18: ...0 40 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution 217 131 072 Motor multi revolution counter 216 65 536 Output resolution Pulse rev 1 441 792 6 684 672 10 616 832...

Page 19: ...ional accuracy arc sec 50 40 40 40 40 50 40 40 40 40 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution 217 131 072 Motor multi revolution counter 216 65 536 Output reso...

Page 20: ...1 x 104 741 x 104 kgf m arc min 158 220 One way positional accuracy arc sec 40 40 40 40 40 40 40 40 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution 217 131 072 Output...

Page 21: ...tic absolute encoder Single motor revolution Encoder resolution 217 131 072 Motor multi revolution counter 216 65 536 Output resolution Pulse rev 6 553 600 10 485 760 13 107200 15 728 640 20 971 520 M...

Page 22: ...min 11 6 One way positional accuracy arc sec 50 40 40 40 40 50 40 40 40 40 Repeatability arc sec 5 Bi directional positional accuracy arc sec 60 25 25 25 25 60 25 25 25 25 Encoder type Magnetic absol...

Page 23: ...e Magnetic absolute encoder Single motor revolution Encoder resolution 217 131 072 Motor multi revolution counter 216 65 536 Output resolution Pulse rev 6 553 600 10 485 760 13 107 200 15 728 640 20 9...

Page 24: ...ility arc sec 50 20 20 20 20 50 20 20 20 20 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution 217 131 072 Motor multi revolution count 216 65 536 Output resolution Puls...

Page 25: ...uction Holding torque 3 Nm 31 49 61 73 97 kgf m 3 1 5 0 6 2 7 4 9 9 Inertia moment 3 Actuator total with brake GD2 4 kg m2 0 26 0 65 1 0 1 4 2 6 J kgf cm s2 2 7 6 6 10 15 26 Mass with brake 4 kg 2 1 A...

Page 26: ...9 Current consumption during holding at 20 Arms Same as current consumption during suction Holding torque 3 Nm 1220 1520 1820 2420 kgf m 124 155 185 246 Inertia moment 3 Actuator total With brake GD2...

Page 27: ...suction for the brake 2 The duration for current consumption during suction is 0 5 second or less for the power supply of DC24V 10 3 The values are converted for the output shaft of the actuator 4 Th...

Page 28: ...9 10 11 Outline 1 6 External dimensions SHA20A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or cont...

Page 29: ...ct Motor Pin contact Motor Encoder connector Housing Tab contact Motor cable Cable outer diameter 4 core Output rotary unit Jacking holes Note The dimension tolerances that are not specified vary depe...

Page 30: ...3 4 5 6 7 8 9 10 11 Outline SHA25A HP Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 31: ...3 4 5 6 7 8 9 10 11 Outline SHA25A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 32: ...able Outer diameter 7 7 or less or less R0 4 or less Output rotary unit Encoder connector Motor connector Housing Tab contact Housing Pin contact Motor Pin contact Motor Depth 8 Lip C1 chamfering Jack...

Page 33: ...3 4 5 6 7 8 9 10 11 Outline SHA32A HP Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 34: ...3 4 5 6 7 8 9 10 11 Outline SHA32A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 35: ...3 4 5 6 7 8 9 10 11 Outline SHA32A CG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 36: ...3 4 5 6 7 8 9 10 11 Outline SHA40A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 37: ...ease check the confirmation drawing or contact us for dimension tolerances not shown Encoder cable Motor cable or less or less Or less Encoder connector Housing Housing Tab contact Motor connector Pin...

Page 38: ...3 4 5 6 7 8 9 10 11 Outline SHA58A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 39: ...3 4 5 6 7 8 9 10 11 Outline SHA65A SG Unit mm Note The dimension tolerances that are not specified vary depending on the manufacturing method Please check the confirmation drawing or contact us for d...

Page 40: ...ounting diameter 0 045 0 060 0 065 0 070 0 080 0 080 Note All values are T I R Total Indicator Reading The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer CG...

Page 41: ...one revolution 3 4 Concentricity between the output shaft and actuator mounting diameter The indicator is mounted on the output shaft and measures the axial run out T I R of the outermost circumferen...

Page 42: ...n accuracy Because of the gearing s high ratio any rotational error at the input i e motor shaft position error or motor feedback error is reduced by a factor of the ratio 1 ratio and typically become...

Page 43: ...p position for that rotation is set as the reference position An instruction is given to rotate the shaft in the same direction and from the stopped position the same instruction is given in the rever...

Page 44: ...backup type Resolution per motor revolution 17 bits 217 131 072 pulses Maximum cumulative motor shaft revolutions 16 bits 216 65 536 revolutions cumulatively Maximum permissible motor shaft rotationa...

Page 45: ...model Option With the standard actuator when it continues to rotate in just one direction the absolute encoder eventually exceeds the number of revolutions that can be detected with multi revolution...

Page 46: ...or more Moment stiffness Nm rad 25 2 104 37 9 104 39 2 104 86 1 104 100 104 kgf m rad 25 7 103 38 7 103 40 103 87 9 103 102 103 kgf m arc min 7 5 11 3 11 6 25 7 29 6 Model Item SHA40A SHA58A SHA65A R...

Page 47: ...angle diagram is divided into three regions and the spring constants in these regions are expressed by K1 K2 and K3 respectively K1 Spring constant for torque region 0 to T1 K2 Spring constant for to...

Page 48: ...in 3 8 3 9 K3 x104 Nm rad 71 98 kgf m arc min 21 29 The table below shows reference torque values calculated for different torsional angle Unit N m Model SHA20A SHA25A SHA32A SHA40A Reduction ratio 50...

Page 49: ...vided below on how to calculate the total torsional quantity on one side from a no load state after a load has been applied by the speed reducer The zero torque part widths of 2 and 4 in the figure on...

Page 50: ...D command pulse REV command pulse Setting 0 CCW counterclockwise direction CW clockwise direction Default 1 CW clockwise direction CCW counterclockwise direction CG As a default the rotation direction...

Page 51: ...n all directions up down left right and front rear Impact acceleration 300 m s2 In our shock resistance test the actuator is tested 3 times in each direction Actuator operation is not guaranteed in ap...

Page 52: ...vibration acceleration frequency 10 to 400 Hz in all directions up down left right and front rear Vibration acceleration 25 m s2 frequency 10 to 400Hz In our test the actuator is tested for 2 hours in...

Page 53: ...ation range This range indicates the torque speed which the actuator can be operated momentarily The range allows instantaneous operation like acceleration and deceleration The continuous and 50 duty...

Page 54: ...1 14 Operable range 54 1 2 3 4 5 6 7 8 9 10 11 Outline SHA20A SG SHA20A51SG SHA20A81SG SHA20A101SG SHA20A121SG SHA20A161SG...

Page 55: ...nge during acceleration and deceleration 50 duty motion range Continuous motion range Rotation speed r min Torque Nm Radiation plate 350 350 18 mm Motion range during acceleration and deceleration 50...

Page 56: ...range Continuous motion range Rotation speed rpm Torque Nm Radiation plate 350 350 18 mm Motion range during acceleration and deceleration 50 duty motion range Continuous motion range Rotation speed...

Page 57: ...motion range Continuous motion range Rotation speed rpm Torque Nm Radiation plate 400 400 20 mm Motion range during acceleration and deceleration 50 duty motion range Continuous motion range Rotation...

Page 58: ...Radiation plate 500 500 25 Radiation plate 500 500 25 Radiation plate 500 500 25 Radiation plate 500 500 25 Radiation plate 500 500 25 Motion range during acceleration and deceleration Motion range du...

Page 59: ...Radiation plate 500 500 25 mm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Radiation plate 500 500 25 mm Radiation plate 500 500 25 mm Motion range during accelerati...

Page 60: ...plate 650 650 30 mm Radiation plate 650 650 30 mm Radiation plate 650 650 30 mm Radiation plate 650 650 30 mm Motion range during acceleration and deceleration Motion range during acceleration and de...

Page 61: ...mm Radiation plate 650 650 30 mm Radiation plate 650 650 30 mm Radiation plate 650 650 30 mm Radiation plate 650 650 30 mm Motion range during acceleration and deceleration Motion range during accele...

Page 62: ...50 duty motion range Continuous motion range Rotation speed rpm Rotation speed rpm Rotation speed rpm Rotation speed rpm Motion range during acceleration and deceleration Motion range during accelera...

Page 63: ...range Continuous motion range Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during...

Page 64: ...on plate 350 350 18 mm Radiation plate 350 350 18 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and decelerati...

Page 65: ...400 20 mm Radiation plate 400 400 20 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion ra...

Page 66: ...500 25 mm Radiation plate 500 500 25 mm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during accelerat...

Page 67: ...00 500 25 mm Radiation plate 500 500 25 mm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Motion range during acceleration and deceleration Motion range during acceler...

Page 68: ...Blue No connection Brake 6 Yellow No connection Brake Connector pin layout Size 58 65 Pin number Name Color Extension cables Without brake With brake A No connection Brake Blue B No connection Brake...

Page 69: ...onnection 3B Shield FG 4A Orange Vbat Battery 4B Gray GND bat Battery GND Connector pin layout Size 58 65 Pin number Signal name Remarks 1 Vbat Battery 2 GND bat Battery GND 3 No connection 4 Vcc Powe...

Page 70: ...guidelines This chapter explains how to select the right SHA series actuator 2 1 SHA series selection 71 2 2 Change in load inertia moment 75 2 3 Verifying and examining load weights 76 2 4 Examining...

Page 71: ...low should be followed if you wish to shorten the transient vibration period during positioning moves or operate the actuator at a constant speed in a stable manner It is possible to operate the actua...

Page 72: ...inertia moment is stopped and started frequently a greater regenerative energy will be produced during braking If the regenerative energy produced exceeds the absorption capacity of the built in rege...

Page 73: ...kg m2 0 32 5 6 8 8 11 14 20 kgf cm s2 3 3 57 90 112 144 201 Model SHA32A 11 51 81 101 121 161 Reduction ratio 11 1 51 1 81 1 101 1 121 1 161 1 Max speed rpm 436 4 94 1 59 3 47 5 39 7 29 8 Actuator ine...

Page 74: ...a kg m2 2 4 3 8 4 8 5 8 7 7 kgf cm s2 25 39 49 59 78 Model SHA25A SHA32A 50 80 100 120 160 50 80 100 120 160 Reduction ratio 50 1 80 1 100 1 120 1 160 1 50 1 80 1 100 1 120 1 160 1 Max speed rpm 112 7...

Page 75: ...in the formulas are JS Total inertia moment converted to motor shaft JM Inertia moment of motor R Reduction ratio of SHA series actuator L Ratio of load inertia moment to inertia moment of motor N Ra...

Page 76: ...life of the bearing and verify the life is allowable 3 Verifying the static safety coefficient Calculate the static equivalent radial load Po Verify the static safety coefficient fs Specifications of...

Page 77: ...load N Refer to Fig 1 Famax Max axial load N Refer to Fig 1 Lr La mm Refer to Fig 1 R Offset amount mm Refer to Fig 1 and Table 1 Formula 2 Average radial load Frav n n 10 3 n n n 10 3 10 3 10 3 t n t...

Page 78: ...mm Refer to Fig 1 and Table 1 Formula 7 Cross roller bearing life 10 3 6 10 B Pc fw C N 60 10 L av Symbols used in the formulas LB 10 Life hour Nav Average output rotational speed r min Obtained by f...

Page 79: ...ial load Po by formula 9 Formula 8 Cross roller bearing life oscillating 10 3 6 Pc fw C 90 n 60 10 Loc 1 Symbols used in the formulas Loc Life hour n1 Number of reciprocating oscillation per min cpm C...

Page 80: ...rmula below Select an appropriate reduction ratio so that the calculated rotation speed does not exceed the maximum rotational speed of the SHA series actuator Calculating and examining load moment of...

Page 81: ...ue value shown in the graph indicates 20 of the maximum torque Linear operation horizontal operation The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below T R...

Page 82: ...when it is applied in the opposite direction Calculation example 1 Select an actuator that best suits the following operating conditions Rotation speed 80 rpm Load inertia moment 1 5 kg m2 Since the...

Page 83: ...d in calculation example 1 The travel angle per cycle is 120 and the cycle time is 1 second 1 The travel angle is calculated from the area of the rotation speed vs time diagram shown above In other wo...

Page 84: ...Tr 0 Nm Td 90 Nm Tm 41 Nm ta 0 177 s tr 0 091 s td 0 141 s Then the following equation is obtained t 982 x 0 177 902 x 0 141 412 1 69 s Based on the result setting the cycle time to 1 7 seconds or mor...

Page 85: ...Chapter 3 Installing the SHA actuator The following explains the installation procedures of the actuators 3 1 Receiving Inspection 86 3 2 Notices on handling 87 3 3 Location and installation 91...

Page 86: ...any item is wrong immediately contact the dealer Refer to the section 1 2 in this manual for the detail of the model codes 3 Check driver input voltages The driver s model code is shown in the TYPE fi...

Page 87: ...ly to fluctuate greatly during day and night 6 Do not use or store the actuator in locations subject to flammable or corrosive gases or dust particles 7 The large models SHA58A SHA65A are heavy Handli...

Page 88: ...ue Nm 203 206 433 325 430 381 900 675 891 754 kgf m 21 21 44 33 2 44 38 9 92 68 9 91 76 9 The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer Model Item SHA4...

Page 89: ...e 2 Recommended bolt Hexagonal bolt per JIS B 1176 Intensity category JIS B 1051 12 9 or higher 3 Calculation conditions Torque efficiency 0 2 Tightening efficiency 1 4 Tightening friction coefficient...

Page 90: ...ot equipped with a positioning pin Surface treatments Standard SHA series actuators are given the following surface treatments SG HP type Location Surface treatments Housing No treatment aluminum mate...

Page 91: ...er to 1 13 Vibration resistance P52 Impact 300 m s2 or less Refer to 1 12 Shock resistance P51 Use environment Free from condensation metal powder corrosive gases water oil mist flammable gases etc Pr...

Page 92: ...cable and encoder cable Do not pull the cables with a strong force The connection points may be damaged Install the cable with slack not to apply tension to the actuator Provide a sufficient bending...

Page 93: ...Chapter 4 Options This chapter explains the options available for the SHA series actuator 4 1 Options 94...

Page 94: ...pe SHA58 and SHA65 Contact us for details Output shaft single revolution absolute model option code S With the standard encoder when it continues to rotate in just one direction the absolute encoder e...

Page 95: ...Options 95 1 2 3 4 Apx 6 7 8 9 10 11 Appendix Outline drawing of the actuator with an optional stand Nameplate...

Page 96: ...0 234 288 k 12 M4 7 12 M5 8 12 M6 10 12 M8 12 m mm 60 72 96 116 n mm 170 160 150 130 o Note1 mm 0 050 0 055 0 060 0 070 p Note1 mm 0 080 0 080 0 090 0 100 r 60 22 5 45 90 s mm 107 131 162 203 t mm 2 M...

Page 97: ...an extension cable when combined with the HA 800 6D E EWD MB A06 TN3 in the model code indicates the cable length 03 3m 05 5m 10 10m SHA 40 when combined with the HA 800 24D E EWD MB A06 TMC Cable le...

Page 98: ...11 Appendix SHA 58 65 EWD MB D09 TMC Cable length 03 3m 05 5m 10 10m Cable length Outer diameter 13 4 Unit mm Actuator side Driver side U red V white W Black PE green yellow Brake blue Brake yellow W...

Page 99: ...0 EWD S A08 3M14 in the model code indicates the cable length 3m 5m 10m SHA 58 65 EWD S D10 3M14 Cable length Unit mm Outer diameter 8 4 Cable length 03 3m 05 5m 10 10m Cable length 03 3m 05 5m 10 10m...

Page 100: ...Options 100 1 2 3 4 Apx 6 7 8 9 10 11 Appendix Appendix A 1 Unit conversion 101 A 2 Calculating inertia moment 103...

Page 101: ...m min2 ft min2 ft s2 in s2 Factor 2 78 x10 4 8 47x10 5 0 3048 0 0254 Unit m min2 ft min2 ft s2 in s2 Factor 3600 1 18x104 3 281 39 37 SI system m s2 4 Force SI system N Unit kgf lb force oz force Fact...

Page 102: ...stem kg m2 Unit kgf m s2 kgf cm s2 lb ft2 lb ft s2 lb in2 lb in s2 oz in2 oz in s2 Factor 0 102 10 2 23 73 0 7376 3 42x103 8 85 5 47x104 141 6 Unit kgf m s2 kgf cm s2 lb ft2 lb ft s2 lb in2 lb in s2 o...

Page 103: ...Mass inertia gravity center Cylinder Circular pipe Slanted cylinder Ball Ellipsoidal cylinder Cone Rectangular pillar Square pipe A R L z x y L R m 2 2 R m 2 1 Ix 3 L R m 4 1 Iy 2 2 3 L R m 4 1 Iz 2...

Page 104: ...different from the gravity center I Inertia moment when the gravity center axis does not match the rotational axis kg m2 Ig Inertia moment when the gravity center axis matches the rotational axis kg...

Page 105: ...7mm Shape Column Since the outer diameter is 100mm the radius is 50mm Therefore the above graph gives the inertia moment as follows Approx 1 9 x 10 4kg m2 Calculated value 0 000186 kg m2 Radius Length...

Page 106: ...location 94 Life 80 Load inertia moment 78 83 Load torque 84 Load weight 79 Maximum load moment load 80 Mechanical accuracy 41 Model 14 Moment stiffness 47 Motor cable specifications 69 Motor shaft ho...

Page 107: ......

Page 108: ...han Harmonic Drive Systems Inc 3 imperfection caused by a non applicable product 4 disaster or others that does not belong to the responsibility of Harmonic Drive Systems Inc Our liability shall be li...

Page 109: ...NY 11788 Chicago Office 137 N Oak Park Ave Suite 410 Oak Park IL 60301 California Office 333 W San Carlos St Suite 1070 San Jose CA 95110 20190125 Harmonic Drive is a registered trademark of Harmonic...

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