HarmonicDrive SHA - Y series, Manual

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1-14 Operable range
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1-14 Operable range
The graph on the next page indicates the operable range when a SHA-Y series actuator (combined with
Σ
-
7) is selected. For details, refer to [Chapter 2 SHA-Y series selection].
1. Continuous motion range
The range allows continuous operation for the actuator.
2. 50% duty motion range
This range indicates the torque rotation speed which is operable in the 50% duty operation (the ratio of
operating time and delay time is 50:50).
Limit the operation cycle to a period of several minutes, and keep it within a range where the overload alarm
of the Servopack does not sound.
3. Motion range during acceleration and deceleration
This range indicates the torque rotation speed which is operable momentarily. The range allows
instantaneous operation like acceleration and deceleration, usually.
The continuous and 50% duty motion ranges in each graph are measured on the condition where the
radiation plate specified in the graph is installed.

When the SHA-Y series SG type is operated at a constant speed (motor shaft speed of
1,000 rpm or less) in the same direction under a constant load torque in a condition where
the output shaft is facing up (output shaft is facing down with CG type), improper lubrication
of the built-in speed reducer may cause abnormal sound or wear, leading to a shorter life.
Improper lubrication can be prevented by changing the speed in the operation pattern, such
as by periodically stopping the actuator. However, the planetary speed reducer model
(speed ratio 11) is not included.

The continuous motion range and 50% duty motion range represent allowable ranges where
the actuator installed on a specified aluminum radiation plate is operated under natural air
cooling. If the radiation area of the mounting member is small or heat conduction of the
material is poor, adjust the operating conditions to keep the rise in the actuator's ambient
temperature to 40 K or less as a guide.