1-4 Specifications
17
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
SG/HP type
Model
Item
SHA25A
(Motor input voltage 100V)
SHA25A (Motor input voltage 200V)
51
81
101
121
161
11
51
81
101
121
161
Servo Drive
REL-230-18
HA-800
□
-6D/E-100
REL-230-18
REL-230-36
HA-800
□
-3D/E-200
Max. torque
*1
Nm
127
178
204
217
229
26
127
178
204
217
229
kgf
･
m
13
18.2
20.8
22.1
23.4
2.7
13
18.2
20.8
22.1
23.4
Allowable
continuous
torque
*1*2
Nm
35
58
73
81
81
9.0
41
67
81
81
81
kgf
･
m
3.6
5.9
7.4
8.2
8.2
0.92
4.2
6.8
8.2
8.2
8.2
Max. rotational
speed
*1
rpm
94.1
59.3
47.5
39.7
29.8
509.1
109.8
69.1
55.4
46.3
34.8
Torque constant
*1
Nm/A
rms
11.1
17.9
22
27
36
4.2
19
31
39
46
62
kgf
･
m/A
1.1
1.8
2.3
2.7
3.6
0.43
2.0
3.2
4.0
4.7
6.3
Max. current
*1
A
rms
14.9
13.0
12.1
10.9
9.0
8.9
8.6
7.5
7.0
6.3
5.2
Allowable
continuous
current
*1*2
A
rms
4.7
4.7
4.7
4.5
3.7
3.0
3.0
3.0
2.9
2.6
2.1
EMF constant
*3
V/(rpm)
1.3
2.0
2.5
3.0
4.0
0.47
2.2
3.5
4.3
5.2
6.9
Phase resistance
（
20
℃
）
Ω
0.4
1.2
Phase inductance
mH
1.0
3
Inertia moment
(without brake)
GD
2
/4
kg
･
m
2
0.56
1.4
2.2
3.2
5.6
0.029
0.56
1.4
2.2
3.2
5.6
J
kgf
･
cm
･
s
2
5.7
14
22
32
57
0.30
5.7
14
22
32
57
Inertia moment
(with brake)
GD
2
/4
kg
･
m
2
0.66
1.7
2.6
3.7
6.6
0.034
0.66
1.7
2.6
3.7
6.6
J
kgf
･
cm
･
s
2
6.7
17
26
38
67
0.35
6.7
17
26
38
67
Reduction ratio
1:51
1:81
1:101
1:121
1:161
1:11
1:51
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
258
410
258
kgf
･
m
26.3
41.8
26.3
Moment stiffness
Nm/rad
39.2 x 10
4
37.9
x 10
4
39.2 x 10
4
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
Encoder type
Magnetic absolute encoder
Single motor revolution
Encoder resolution
2
17
（
131,072
）
Motor multi revolution counter
2
16
（
65,536
）
Output resolution
Pulse/rev
6,684,
672
10,61
6,
832
13,238,
272
15,859,
712
21,102,
592
1,441,
792
6,684,
672
10,616,
832
13,238,
272
15,859,
712
21,102,
592
Mass
(without brake)
kg
2.95
5.0
2.95
Mass (with brake)
kg
3.1
5.1
3.1
Environmental conditions
Operating temperature: 0 to 40
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s
2
(frequency: 10 to 400Hz)/Shock resistance: 300 m/s
2 *4
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class: A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: When combined with a HA-800 driver.
*2: Value after temperature rise and saturation when the 350 x 350 x 18 [mm] aluminum radiation plate is installed.
*3: Value of phase induced voltage constant multiplied by 3.
*4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).
