Harmonic Drive SHA Series, Manual

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1-4 Specifications
19
1
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付
Ou
tlin
e
SG type
Model
Item
SHA40A
51 81 101 121 161 51 81 101 121 161
Servo Drive HA-800
□
-6D/E-200
*1
REL-230-36, REL-230-40
HA-800
□
-24D/E-200
Max. torque
*2
Nm 340 560 686 802 841 523 675 738 802 841
kgf
･
m 34.7 57.1 70 81.8 85.8 53.4 68.9 75.3 81.8 85.8
Allowable continuous
torque
*2*3
Nm 94 158 198 237 317 160 263 330 382 382
kgf
･
m 9.6 16.1 20.2 24.2 32.3 16.3 26.8 33.7 39 39
Max. rotational speed
*2
rpm 78.4 49.4 39.6 33.1 24.8 78.4 49.4 39.6 33.1 24.8
Torque constant
*2
Nm/A
rms
25 41 51 61 81 25 41 51 61 81
kgf
･
m/A
rms
2.6 4.1 5.2 6.2 8.2 2.6 4.1 5.2 6.2 8.2
Max. current
*2
A
rms
18 18 18 17.9 14.6 26.7 21.8 19.4 17.9 14.6
Allowable continuous
current
*2*3
A
rms
6.0 6.0 6.0 6.0 6.0 9.0 9.0 9.0 8.8 7.2
EMF constant
*4
V/(rpm) 2.9 4.6 5.7 6.8 9.1 2.9 4.6 5.7 6.8 9.1
Phase resistance
（
20
℃ ）
Ω
0.19
Phase inductance mH 1.2
Inertia moment
(without brake)
GD
2
/4 kg
･
m
2
5.0 13 20 28 50 5.0 13 20 28 50
J
kgf
･
cm
･
s
2
51 130 202 290 513 51 130 202 290 513
Inertia moment
(with brake)
GD
2
/4 kg
･
m
2
6.1 15 24 34 61 6.1 15 24 34 61
J
kgf
･
cm
･
s
2
62 157 244 350 619 62 157 244 350 619
Reduction ratio 1:51 1:81 1:101 1:121 1:161 1:51 1:81 1:101 1:121 1:161
Permissible
moment load
Nm 849
kgf
･
m 86.6
Moment stiffness
Nm/rad 179 x 10
4
kgf
･
m/arc
min
53.2
One-way positional
accuracy
arc-sec 50 40 40 40 40 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
10,616,
832
13,238,
272
15,859,
712
21,102,
592
6,684,
672
10,616,
832
13,238
,272
15,859,
712
21,102,
592
Mass
(without brake)
kg 9.9
Mass (with brake) kg 10.7
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 *5
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 m
ore (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: If a HA-800
□
-6D/E driver is combined with a SHA40A actuator, the maximum torque and allowable continuous torque are limited.
*2:
When combined with HA-800 driver.
*3: Value after temperature rise and saturation when the 500 x 500 x 25 [mm] aluminum radiation plate is installed.
*4: Value of phase induced voltage constant multiplied by 3.
*5: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).