1-4 Specifications
20
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
SG type
Model
Item
SHA58A
SHA65A
81
101
121
161
81
101
121
161
Servo Drive
HA-800
□
-24D/E-200
HA-800
□
-24D/E-200
Max. torque
*1
Nm
1924
2067
2236
2392
2400
2990
3263
3419
kgf
･
m
196
211
228
244
245
305
333
349
Allowable
continuous
torque
*1*2
Nm
714
905
969
969
921
1149
1236
1236
kgf
･
m
73
92
99
99
94
117
126
126
Max. rotational
speed
*1
rpm
37.0
29.7
24.8
18.6
34.6
27.7
23.1
17.4
Torque constant
*1
Nm/A
rms
54
68
81
108
54
68
81
108
kgf
･
m/A
rms
5.5
6.9
8.3
11.0
5.5
6.9
8.3
11.0
Max. current
*1
A
rms
45
39
36
30
55
55
51
41
Allowable
continuous
current
*1*2
A
rms
17.7
17.8
16.4
13.4
22.0
21.9
20.1
16.3
EMF constant
*3
V/(rpm)
6.1
7.6
9.1
12.1
6.1
7.6
9.1
12.1
Phase resistance
（
20
℃
）
Ω
0.028
0.028
Phase inductance
mH
0.29
0.29
Inertia
moment
(without
brake)
GD
2
/4
kg
･
m
2
96
149
214
379
110
171
245
433
J
kgf
･
cm
･
s
2
980
1520
2180
3870
1120
1740
2500
4420
Inertia
moment
(with
brake)
GD
2
/4
kg
･
m
2
106
165
237
420
120
187
268
475
J
kgf
･
cm
･
s
2
1090
1690
2420
4290
1230
1910
2740
4850
Reduction ratio
1:81
1:101
1:121
1:161
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
2180
2740
kgf
･
m
222
280
Moment stiffness
Nm/rad
531 x 10
4
741 x 10
4
kgf
･
m/arc
min
158
220
One-way positional
accuracy
arc-sec
40
40
40
40
40
40
40
40
Encoder type
Magnetic absolute encoder
Single motor revolution
Encoder resolution
2
17
（
131,072
）
Output resolution
Pulse/rev
10,616,832
13,238,272
15,859,712
21,102,592
10,616,832
13,238,272
15,859,712
21,102,592
Mass
(without brake)
kg
29.5
37.5
Mass (with brake)
kg
32
40
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 HA-800 driver.
*2: Value after temperature rise and saturation when the 650 x 650 x 30 [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).
