1-4 Specifications
18
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
SG/HP type
Model
Item
SHA32A
11
51
81
101
121
161
Servo Drive
REL-230-18, REL-230-36
HA-800
□
-6D/E-200
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
rms
4.5
21
33
42
50
66
kgf
･
m/A
rms
0.46
2.1
3.4
4.2
5.1
6.8
Max. current
*1
A
rms
19
17.3
15.2
13.5
12.2
9.9
Allowable
continuous
current
*1*2
A
rms
6.0
6.0
6.0
5.7
5.0
4.1
EMF 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 x 10
4
100 x 10
4
kgf
･
m/arc
min
25.7
29.6
One-way positional
accuracy
arc-sec
120
50
40
40
40
40
Encoder type
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
2
17
（
131,072
）
Motor multi
revolution counter
2
16
（
65,536
）
Output 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: When combined with a HA-800 driver.
*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] (P51) and [1-13 Vibration resistance ] (P52).
Содержание SHA CG Series
Страница 1: ...AC Servo Actuator SHA SG and CG series manual ISO14001 Hotaka plant ISO9001...
Страница 93: ...Chapter 4 Options This chapter explains the options available for the SHA series actuator 4 1 Options 94...
Страница 95: ...Options 95 1 2 3 4 Apx 6 7 8 9 10 11 Appendix Outline drawing of the actuator with an optional stand Nameplate...
Страница 100: ...Options 100 1 2 3 4 Apx 6 7 8 9 10 11 Appendix Appendix A 1 Unit conversion 101 A 2 Calculating inertia moment 103...
Страница 107: ......
