Harmonic Drive SHA CG Series, Manual

Page: 26 / 109

1-5 Motor shaft brake
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Model
Item
SHA40A SHA58A
51 81 101 121 161 81 101 121 161
Type Dry non-excitation actuation type (without power-saving control)
Brake excitation voltage V DC24V ± 10% (no polarity)
*1
Current consumption
during suction (at 20
℃
)
A
rms
0.7 0.9
Current consumption
during holding (at 20
℃
)
A
rms
Same as current consumption during suction
Holding torque
*3
Nm 204 324 404 484 644 1220 1520 1820 2420
kgf·m 21 33 41 49 66 124 155 185 246
Inertia moment *3
(Actuator total)
(With brake)
(GD 2 /4)
kg·m 2
6.1 15 24 34 61 106 165 237 420
(J)
kgf·cm·s
2
62 157 244 350 619 1090 1690 2420 4290
Mass
(with brake)
*4
kg 10.7 32
Allowable number of
normal stops
*5
100,000 times
Allowable number of
emergency stops
*6
200 times
Model
Item
SHA65A
81 101 121 161
Type
Dry non-excitation actuation type (without
power-saving control)
Brake excitation voltage V DC24V±10% (no polarity)
*1
Current consumption
during suction (at 20
℃
)
A
rms
0.9
Current consumption
during holding (at 20
℃
)
A
rms
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)
(GD
2
/4)
kg·m
2
120 187 268 475
(J)
kgf·cm·s
2
1230 1910 2740 4850
Mass
(with brake)
*4
kg 40
Allowable number of
normal stops
*5
100,000 times
Allowable number of
emergency stops
*6
200 times
CG
type
Model
Item
SHA20A SHA25A
50 80 100 120 160 50 80 100 120 160
Type
Dry non-excitation actuation type (without power-
saving control)
Dry non-excitation actuation type (with power-
saving control)
Brake excitation
voltage
V DC24V
±
10%(no polarity)
*1
Current consumption
during suction (at
20
℃
)
A
rms
0.37 0.8
*2
Current consumption
during holding (at
20
℃
)
A
rms
Same as current consumption during suction 0.3
Holding torque *3
Nm 30 48 60 72 96 50 80 100 120 160
kgf·m
3.1 4.9 6.1
7.3 9.8 5.1 8.2 10 12 16
Inertia moment *3
(Actuator total)
(With brake)
(GD 2 /4)
kg·m 2
0.23 0.6 0.94 1.3 2.4 0.60 1.5 2.4 3.4 6.1
(J)
kgf·cm·s 2
2.4 6.1 9.6
14 24 6.1 16 24 35 62
Mass
(with brake)
*4
kg 2.7 4.1
Allowable number of
normal stops *5
100,000 times
Allowable number of
emergency stops *6
200 times