A-2 Regenerative resistor
A-17
A
ppendi
x
Apx
Actuator model No.
SHA32A-CG(-S)
Actuator reduction ratio
50
80
100
120
160
Combined driver
HA-800A-6D/E-200
Max. rotational
speed
r/min
96
60
48
40
30
Actuator inertia
moment
(no brake)
kg
･
m
2
1.7
4.3
6.7
9.7
17
kgf
･
cm
･
s
2
17
44
68
99
175
Actuator inertia
moment
(with brake)
kg
･
m
2
2.0
5.1
7.9
11
20
kgf
･
cm
･
s
2
20
52
81
116
207
Allowable load
inertia moment
when a built-in
regenerative
resistor is used
(repeat cycle)
kg
･
m
2
2.4
6.1
9.5
13
24
kgf
･
cm
･
s
2
24
62
97
133
245
Allowable load
inertia moment
when a built-in
regenerative
resistor is used
(non-repeat cycle)
kg
･
m
2
6
15
24
34
61
kgf
･
cm
･
s
2
61
153
245
347
622
Allowable load
inertia moment
when an external
regenerative
resistor is used
kg
･
m
2
20
32
40
50
70
kgf
･
cm
･
s
2
200
320
400
510
710
External
regenerative
resistor
RH220B33ΩJ
Actuator model No.
SHA40A-CG(-S)
Actuator reduction ratio
50
80
100
120
160
50
80
100
120
160
Combined driver
HA-800A-6D/E-200
HA-800A-24D/E-200
Max. rotational
speed
r/min
80
50
40
33.3
25
80
50
40
33.3
25
Actuator inertia
moment
(no brake)
kg
･
m
2
4.8
12
19
27
49
4.8
12
19
27
49
kgf
･
cm
･
s
2
49
124
194
280
497
49
124
194
280
497
Actuator inertia
moment
(with brake)
kg
･
m
2
5.8
15
23
33
59
5.8
15
23
33
59
kgf
･
cm
･
s
2
59
150
235
338
601
59
150
235
338
601
Allowable load
inertia moment
when a built-in
regenerative
resistor is used
(repeat cycle)
kg
･
m
2
1.04
2.7
4.1
5.9
11
40
92
114
137
182
kgf
･
cm
･
s
2
11
28
42
60
112
408
930
1170 1400 1860
Allowable load
inertia moment
when a built-in
regenerative
resistor is used
(non-repeat cycle)
kg
･
m
2
5.8
15
23
33
59
58
92
114
137
182
kgf
･
cm
･
s
2
59
153
235
337
602
590
930
1170 1400 1860
Allowable load
inertia moment
when an external
regenerative
resistor is used
kg
･
m
2
58
92
114
137
182
(58)
(92)
(114) (137) (182)
kgf
･
cm
･
s
2
590
930
1170 1400 1860 (590) (930) (1170) (1400) (1860)
External
regenerative
resistor
RH220B33ΩJ
Connect two RH500_20ΩJ in parallel, or
connect four RH500_10ΩJ in series and
parallel.
Summary of Contents for H A - 800A
Page 60: ...2 6 Wiring the host device 2 21 4 2 2 1 9 8 7 6 9 8 Installation wiring...
Page 86: ...3 6 Normal operation 3 25 4 3 3 1 9 8 7 6 9 8 Startup...
Page 152: ...5 8 Connection example in control mode 5 35 1 2 3 4 5 6 7 8 9 10 11 Appe I O signals...
Page 166: ...6 1 Operating display panel 6 13 11 10 9 4 7 6 5 4 3 2 1 Panel display and operation...
Page 206: ...8 2 Function extension parameter 8 17 1 2 3 4 5 6 7 8 9 10 11 Appe System parameter mode...
Page 222: ...9 2 Details of test mode 9 15 1 2 3 4 5 6 7 8 9 Test mode...
Page 270: ...11 2 Warnings and remedial actions 11 17 1 2 3 4 5 6 7 8 9 10 11 Appe Troubleshooting...
Page 271: ...1 16 Chapter 12 Option Options you can purchase as necessary are explained 12 1 Option 12 1...
Page 276: ...12 1 Option 12 5 1 2 3 4 5 6 7 8 12 Option...
