HarmonicDrive SHA - Y series, Manual, Page: 18 / 103

1-4 Specifications
1-6
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
s
SG/HP
Model
Item
SHA32Y
11 51 81 101 121 161
Combined Servopack SGD7S-120A20A
□□□
F81
Max. torque
*1
Nm 62 281 395 433 459 484
kgf
･
m 6.3 28.7 40.3 44.2 46.8 49.4
Allowable
continuous
torque
*1*2
Nm 20 92 153 178 178 178
kgf
･
m 2.1 9.4 15.6 18.2 18.2 18.2
Max. rotational
speed
*1
rpm 436.4 94.1 59.3 47.5 39.7 29.8
Torque constant
*1
Nm/A 4.5 21 33 42 50 66
kgf
･
m/A 0.46 2.1 3.4 4.2 5.1 6.8
Max. current
*1
A 19 17.3 15.2 13.5 12.2 9.9
Allowable
continuous
current
*1*2
A 6.0 6.0 6.0 5.7 5.0 4.1
MEF constant
*3
V/(rpm)
0.51 2.3 3.7 4.7 5.6 7.4
Phase resistance
（
20
℃ ）
Ω
0.33
Phase inductance mH 1.4
Inertia
moment
(without
brake)
GD
2
/4 kg
･
m
2
0.091 2.0 5.1 8.0 11 20
J
kgf
･
cm
･
s
2
0.93 21 52 81 117 207
Inertia
moment
(with brake)
GD
2
/4 kg
･
m
2
0.11 2.3 5.9 9.2 13 23
J
kgf
･
cm
･
s
2
1.1 24 60 94 135 238
Reduction ratio - 1:11 1:51 1:81 1:101 1:121 1:161
Permissible
moment load
Nm 932 580
kgf
･
m 95 59.1
Moment stiffness
Nm/rad 86.1
×
10
4
100
×
10
4
kgf
･
m/arc
min
25.7 29.6
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 9.4 5.9
Mass (with brake) kg 9.7 6.2
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 combine
d with Σ
-7 (driven using an ideal sine wave).
*2: Value after temperature rise and saturation when the 400 x 400 x 20 [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).