1-4 Specifications
21
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
CG
type
Actuator Model
Item
SHA20A
50
80
100
120
160
Servo Drive
REL-230-18
HA-800
□
-3D/E-200
Max. torque
*1
Nm
73
96
107
113
120
kgf
･
m
7.4
9.8
10.9
11.5
12.2
Allowable continuous
torque
*1*2
Nm
21
35
43
48
48
kgf
･
m
2.1
3.6
4.4
4.9
4.9
Max. rotational speed
*1
rpm
120
75
60
50
37.5
Torque constant
*1
Nm/A
rms
16
26
33
39
53
kgf
･
m/A
rms
1.7
2.7
3.4
4.0
5.4
Max. current
*1
A
rms
6.1
5.0
4.6
4.1
3.4
Allowable continuous
current
*1*2
A
rms
2.1
2.1
2.1
2.0
1.7
EMF constant
*3
V/(rpm)
1.8
2.9
3.7
4.4
5.9
Phase resistance
（
20
℃）
Ω
1.4
Phase inductance
mH
2.5
Inertia
moment
(without
brake)
GD
2
/4
kg
･
m
2
0.21
0.53
0.82
1.2
2.1
J
kgf
･
cm
･
s
2
2.1
5.4
8.0
12
22
Inertia
moment
(with
brake)
GD
2
/4
kg
･
m
2
0.23
0.60
0.94
1.3
2.4
J
kgf
･
cm
･
s
2
2.4
6.1
9.6
14
24
Reduction ratio
1:50
1:80
1:100
1:120
1:160
Permissible moment
load
Nm
187
kgf
･
m
19.1
Moment stiffness
Nm/rad
25.2
×
10
4
kgf
･
m/arc
min
7.5
One-way positional
accuracy
arc-sec
60
50
50
50
50
Repeatability
arc-sec
±
5
Bi-directional
repeatability
arc-sec
75
30
30
30
30
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
6,553,600
10,485,760
13,107200
15,728,640
20,971,520
Mass
(without brake)
kg
2.6
Mass (with brake)
kg
2.7
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: Typical characteristics when combined with our 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).
