2-1 SHA series selection
74
1
2
3
4
5
6
7
8
9
10
11
付
S
e
le
c
tion gui
de
line
s
Model
SHA65A
81
101
121
161
Reduction ratio
81:1
101:1
121:1
161:1
Max. speed
(rpm)
34.6
27.7
23.1
17.4
Actuator
inertia
(without brake)
kg
･
m
2
110
171
245
433
kgf
･
cm
･
s
2
1120
1740
2500
4420
Actuator
inertia (with
brake)
kg
･
m
2
120
187
268
475
kgf
･
cm
･
s
2
1230
1910
2740
4850
Max allowable
load inertia
kg
･
m
2
360
560
810
1420
kgf
･
cm
･
s
2
3700
5700
8200
14500
CG
Model
SHA20A
50
80
100
120
160
Reduction ratio
50:1
80:1
100:1
120:1
160:1
Max. speed
(rpm)
120
75
60
50
37.5
Actuator
inertia
(without brake)
kg
･
m
2
0.21
0.53
0.82
1.2
2.1
kgf
･
cm
･
s
2
2.1
5.4
8.0
12
22
Actuator
inertia (with
brake)
kg
･
m
2
0.23
0.60
0.94
1.3
2.4
kgf
･
cm
･
s
2
2.4
6.1
9.6
14
24
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
SHA32A
50
80
100
120
160
50
80
100
120
160
Reduction ratio
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
Max. speed
(rpm)
112
70
56
46.7
35
96
60
48
40
30
Actuator
inertia
(without brake)
kg
･
m
2
0.50
1.3
2.0
2.9
5.1
1.7
4.3
6.7
9.7
17
kgf
･
cm
･
s
2
5.1
13
20
29
52
17
44
68
99
175
Actuator
inertia (with
brake)
kg
･
m
2
0.60
1.5
2.4
3.4
6.1
2.0
5.1
7.9
11
20
kgf
･
cm
･
s
2
6.1
16
24
35
62
20
52
81
116
207
Max allowable
load inertia
kg
･
m
2
5.6
8.8
11
14
20
20
32
40
50
70
kgf
･
cm
･
s
2
57
90
112
144
201
200
320
400
510
710
Model
SHA40A
50
80
100
120
160
Reduction ratio
50:1
80:1
100:1
120:1
160:1
Max. speed
(rpm)
80
50
40
33.3
25
Actuator
inertia
(without brake)
kg
･
m
2
4.8
12
19
27
49
kgf
･
cm
･
s
2
49
124
194
280
497
Actuator
inertia (with
brake)
kg
･
m
2
5.8
15
23
33
59
kgf
･
cm
･
s
2
59
150
235
338
601
Max allowable
load inertia
kg
･
m
2
58
92
114
137
182
kgf
･
cm
･
s
2
590
930
1170
1400
1860
