1-4 Specifications
22
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
CG
type
Model
Item
SHA25A(Motor input voltage 100V)
SHA25A(Motor input voltage 200V)
50
80
100
120
160
50
80
100
120
160
Servo Drive
REL-230-18
REL-230-36
HA-800
□
-6D/E-100
*1
REL-230-18
REL-230-36
HA-800
□
-3D/E-200
Max. torque
*1
Nm
127
178
204
217
229
127
178
204
217
229
kgf
･
m
13
18.2
20.8
22.1
23.4
13
18.2
20.8
22.1
23.4
Allowable continuous
torque
*1*2
Nm
34
57
72
81
81
40
66
81
81
81
kgf
･
m
3.5
5.8
7.3
8.2
8.2
4.1
6.8
8.2
8.2
8.2
Max. rotational speed
*1
rpm
96
60
48
40
30
112
70
56
46.7
35
Torque constant
*1
Nm/A
rms
10.9
17.7
22
27
35
19
31
38
46
61
kgf
･
m/A
rms
1.1
1.8
2.3
2.7
3.6
1.9
3.1
3.9
4.7
6.3
Max. current
*1
A
rms
15.1
13.2
12.2
11.0
9.0
8.7
7.6
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
2.6
2.1
EMF constant
*3
V/(rpm)
1.2
2.0
2.5
3.0
4.0
2.1
3.4
4.3
5.2
6.9
Phase resistance
（
20
℃
）
Ω
0.4
1.2
Phase inductance
mH
1.0
3.0
Inertia
moment
(without
brake)
GD
2
/4
kg
･
m
2
0.50
1.3
2.0
2.9
5.1
0.50
1.3
2.0
2.9
5.1
J
kgf
･
cm
･
s
2
5.1
13
20
29
52
5.1
13
20
29
52
Inertia
moment
(with brake)
GD
2
/4
kg
･
m
2
0.60
1.5
2.4
3.4
6.1
0.60
1.5
2.4
3.4
6.1
J
kgf
･
cm
･
s
2
6.1
16
24
35
62
6.1
16
24
35
62
Reduction ratio
mH
50:1
80:1
120:1
1:120
160:1
50:1
80:1
120:1
1:120
160:1
Permissible moment load
Nm
258
kgf
･
m
26.3
Moment stiffness
Nm/rad
39.2
×
10
4
kgf
･
m/arc
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 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
13,107,
200
15,728,
640
20,971,
520
6,553,
600
10,485,
760
13,107,
200
15,728,
640
20,971,
520
Mass
(without brake)
kg
3.95
Mass (with brake)
kg
4.1
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: Typical characteristics when combined (driven by ideal sine wave) with our drivers.
*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).
