HarmonicDrive SHA - Y series, Manual, Page: 17 / 103

1-4 Specifications
1-5
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
s
1-4 Specifications
SG/HP
Model
Item
SHA25Y
11 51 81 101 121 161
Combined Servopack
SGD7S-3R8A20A
□□□
F81
Max. torque
*1
Nm
26 127 178 204 217 229
kgf
･
m
2.7 13 18.2 20.8 22.1 23.4
Allowable
continuous
torque
*1*2
Nm 9.0 41 67 81 81 81
kgf
･
m 0.92 4.2 6.8 8.2 8.2 8.2
Max. rotational
speed
*1
rpm
509.1 109.8 69.1 55.4 46.3 34.8
Torque constant
*1
Nm/A
4.2 19 31 39 46 62
kgf
･
m/A 0.43 2.0 3.2 4.0 4.7 6.3
Max. current
*1
A 8.9 8.6 7.5 7.0 6.3 5.2
Allowable continuous
current
*1*2
A 3.0 3.0 3.0 2.9 2.6 2.1
MEF constant
*3 V/(rpm)
0.47 2.2 3.5 4.3 5.2 6.9
Phase resistance
（
20
℃ ）
Ω
1.2
Phase inductance mH
3
Inertia moment
(without brake)
GD
2
/4 kg
･
m
2
0.029 0.56 1.4 2.2 3.2 5.6
J
kgf
･
cm
･
s 2 0.30 5.7 14 22 32 57
Inertia moment
(with brake)
GD
2
/4 kg
･
m
2
0.034 0.66 1.7 2.6 3.7 6.6
J
kgf
･
cm
･
s
2 0.35 6.7 17 26 38 67
Reduction ratio -
1:11 1:51 1:81 1:101 1:121 1:161
Permissible
moment load
Nm 410 258
kgf
･
m
41.8 26.3
Moment stiffness
Nm/rad 37.9
×
10
4
39.2
×
10
4
kgf
･
m/arc
min
11.3 11.6
One-way positional
accuracy
Sec. 120 50 40 40 40 40
Encoder type - Magnetic absolute encoder
Single motor
revolution
Encoder resolution
Pulse/rev 2
17
（
131,072
）
Motor multi
revolution counter
Count
2
16
（
65,536
）
Output shaft
resolution
Pulse/rev
1,441,792 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592
Mass (without brake) kg 5.0 2.95
Mass (with brake) kg 5.1 3.1
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 insulation 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: Indicates typical characteristics when com
bined with Σ
-7 (driven using an ideal sine wave).
*2: Value after temperature rise and saturation when the 350 x 350 x 18 [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] (P1-36) and [1-13 Resistance to vibration] (P1-37).