HarmonicDrive SHA - Y series, Manual, Page: 12 / 103

Chapter 1
Outlines
This chapter explains the features, functions and specifications of the actuator.
1-1 Outlines ·············································································· 1-1
1-2 Model ················································································ 1-3
1-3 Combinations with Servopacks and extension cables ········································ 1-4
1-4 Specifications ······································································ 1-5
1-5 Motor shaft holding brake ···················································· 1-12
1-6 External dimensions ··························································· 1-15
1-7 Mechanical accuracy ·························································· 1-25
1-8 Positional accuracy ···························································· 1-27
1-9 Detector specifications (Absolute encoder)··········································· 1-29
1-10 Stiffness ········································································ 1-31
1-11 Rotation direction ···························································· 1-35
1-12 Shock resistance ····························································· 1-36
1-13 Resistance to vibration ····················································· 1-37
1-14 Operable range ······························································· 1-38
1-15 Cable specifications ························································· 1-47