Harmonic Drive SHA CG Series, Руководство пользователя

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1-4 Specifications
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付
Ou
tlin
e
CG type
Model
Item
SHA25A(Motor input voltage 100V) SHA25A(Motor input voltage 200V)
50 80 100 120 160 50 80 100 120 160
Servo Drive
REL-230-18
REL-230-36
HA-800
□
-6D/E-100
*1
REL-230-18
REL-230-36
HA-800
□
-3D/E-200
Max. torque
*1
Nm 127 178 204 217 229 127 178 204 217 229
kgf
･
m 13 18.2 20.8 22.1 23.4 13 18.2 20.8 22.1 23.4
Allowable continuous
torque
*1*2
Nm 34 57 72 81 81 40 66 81 81 81
kgf
･
m 3.5 5.8 7.3 8.2 8.2 4.1 6.8 8.2 8.2 8.2
Max. rotational speed
*1
rpm 96 60 48 40 30 112 70 56 46.7 35
Torque constant
*1
Nm/A
rms
10.9 17.7 22 27 35 19 31 38 46 61
kgf
･
m/A
rms
1.1 1.8 2.3 2.7 3.6 1.9 3.1 3.9 4.7 6.3
Max. current
*1
A
rms
15.1 13.2 12.2 11.0 9.0 8.7 7.6 7.0 6.3 5.2
Allowable continuous
current
*1*2
A
rms
4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.6 2.1
EMF constant
*3
V/(rpm) 1.2 2.0 2.5 3.0 4.0 2.1 3.4 4.3 5.2 6.9
Phase resistance
（
20
℃
）
Ω
0.4 1.2
Phase inductance mH 1.0 3.0
Inertia
moment
(without
brake)
GD
2
/4 kg
･
m
2
0.50 1.3 2.0 2.9 5.1 0.50 1.3 2.0 2.9 5.1
J
kgf
･
cm
･
s
2
5.1 13 20 29 52 5.1 13 20 29 52
Inertia
moment
(with brake)
GD
2
/4 kg
･
m
2
0.60 1.5 2.4 3.4 6.1 0.60 1.5 2.4 3.4 6.1
J
kgf
･
cm
･
s
2
6.1 16 24 35 62 6.1 16 24 35 62
Reduction ratio mH 50:1 80:1 120:1 1:120 160:1 50:1 80:1 120:1 1:120 160:1
Permissible moment load
Nm 258
kgf
･
m 26.3
Moment stiffness
Nm/rad 39.2
×
10
4
kgf
･
m/arc
min
11.6
One-way positional
accuracy
arc-sec 50 40 40 40 40 50 40 40 40 40
Repeatability
arc-sec
±
5
Bi-directional positional
accuracy
arc-sec 60 25 25 25 25 60 25 25 25 25
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
6,553,
600
10,485,
760
13,107,
200
15,728,
640
20,971,
520
6,553,
600
10,485,
760
13,107,
200
15,728,
640
20,971,
520
Mass
(without brake)
kg 3.95
Mass (with brake) kg 4.1
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: Typical characteristics when combined (driven by ideal sine wave) with our drivers.
*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] (P51) and [1-13 Vibration resistance ] (P52).