2-1 SHA series selection
73
1
2
3
4
5
6
7
8
9
10
11
付
S
e
le
c
tion gui
de
lin
e
s
SG/HP
Model
SHA20A
51
81
101
121
161
Reduction ratio
51:1
81:1
101:1
121:1
161:1
Max. speed
(rpm)
117.6
74.1
59.4
49.6
37.3
Actuator
inertia
(without brake)
kg
･
m
2
0.23
0.58
0.91
1.3
2.3
kgf
･
cm
･
s
2
2.4
6.0
9.3
13
24
Actuator
inertia (with
brake)
kg
･
m
2
0.26
0.65
1.0
1.4
2.6
kgf
･
cm
･
s
2
2.6
6.6
10
15
26
Max allowable
load inertia
kg
･
m
2
2.4
3.8
4.8
5.8
7.7
kgf
･
cm
･
s
2
25
39
49
59
78
Model
SHA25A
11
51
81
101
121
161
Reduction ratio
11:1
51:1
81:1
101:1
121:1
161:1
Max. speed
(rpm)
509.1
109.8
69.1
55.4
46.3
34.8
Actuator
inertia
(without brake)
kg
･
m
2
0.029
0.56
1.4
2.2
3.2
5.6
kgf
･
cm
･
s
2
0.30
5.7
14
22
32
57
Actuator
inertia (with
brake)
kg
･
m
2
0.034
0.66
1.7
2.6
3.7
6.6
kgf
･
cm
･
s
2
0.35
6.7
17
26
38
67
Max allowable
load inertia
kg
･
m
2
0.32
5.6
8.8
11
14
20
kgf
･
cm
･
s
2
3.3
57
90
112
144
201
Model
SHA32A
11
51
81
101
121
161
Reduction ratio
11:1
51:1
81:1
101:1
121:1
161:1
Max. speed
(rpm)
436.4
94.1
59.3
47.5
39.7
29.8
Actuator
inertia
(without brake)
kg
･
m
2
0.091
2.0
5.1
8.0
11
20
kgf
･
cm
･
s
2
0.93
21
52
81
117
207
Actuator
inertia (with
brake)
kg
･
m
2
0.11
2.3
5.9
9.2
13
23
kgf
･
cm
･
s
2
1.1
24
60
94
135
238
Max allowable
load inertia
kg
･
m
2
0.99
20
32
40
50
70
kgf
･
cm
･
s
2
10
200
320
400
510
710
Model
SHA40A
SHA58A
51
81
101
121
161
81
101
121
161
Reduction ratio
51:1
81:1
101:1
121:1
161:1
81:1
101:1
121:1
161:1
Max. speed
(rpm)
78.4
49.4
39.6
33.1
24.8
37.0
29.7
24.8
18.6
Actuator
inertia
(without brake)
kg
･
m
2
5.0
13
20
28
50
96
149
214
379
kgf
･
cm
･
s
2
51
130
202
290
513
980
1520
2180
3870
Actuator
inertia (with
brake)
kg
･
m
2
6.1
15
24
34
61
106
165
237
420
kgf
･
cm
･
s
2
62
157
244
350
619
1090
1690
2420
4290
Max allowable
load inertia
kg
･
m
2
58
92
114
137
182
290
450
640
1140
kgf
･
cm
･
s
2
590
930
1170
1400
1860
2900
4600
6500
11600
