1-4 Specifications
23
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
CG
type
Model
Item
SHA32A
50
80
100
120
160
Servo Drive
REL-230-18
REL-230-36
HA-800
□
-6D/E-200
Max. torque
*1
Nm
281
395
433
459
484
kgf
･
m
28.7
40.3
44.2
46.8
49.4
Allowable continuous
torque
*1*2
Nm
90
151
178
178
178
kgf
･
m
9.2
15.4
18.2
18.2
18.2
Max. rotational speed
*1
rpm
96
60
48
40
30
Torque constant
*1
Nm/A
rms
20
33
41
49
66
kgf
･
m/A
rms
2.1
3.4
4.2
5.0
6.7
Max. current
*1
A
rms
17.7
15.4
13.7
12.2
10
Allowable continuous
current
*1*2
A
rms
6.0
6.0
5.7
5.0
4.1
EMF constant
*3
V/(rpm)
2.3
3.7
4.6
5.5
7.4
Phase resistance
（
20
℃）
Ω
0.33
Max. current
*1
mH
1.4
Inertia
moment
(without
brake)
GD
2
/4
kg
･
m
2
1.7
4.3
6.7
9.7
17
J
kgf
･
cm
･
s
2
17
44
68
99
175
Inertia
moment
(with
brake)
GD
2
/4
kg
･
m
2
2.0
5.1
7.9
11
20
J
kgf
･
cm
･
s
2
20
52
81
116
207
Reduction ratio
50:1
80:1
100:1
120:1
160:1
Permissible moment load
Nm
580
kgf
･
m
59.2
Moment stiffness
Nm/rad
100
×
10
4
kgf
･
m/arc
min
29.6
One-way positional
accuracy
arc-sec
40
30
30
30
30
Repeatability
arc-sec
±
4
Bi-directional
repeatability
arc-sec
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
Mass
(without brake)
kg
7.7
Mass (with brake)
kg
8.0
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 insulat
ion 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 used with HA-800.
*2: Value after temperature rise and saturation when the 400 x 400 x 20 [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).
