Harmonic Drive SHA CG Series, Руководство пользователя

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1-4 Specifications
24
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
CG type
Model/Ratio
Item
SHA40A
50 80 100 120 160 50 80 100 120 160
Combined driver
REL-230-36, REL-230-40
HA-800
□
-6D/E-200
*1
REL-230-36, REL-230-40
HA-800
□
-24D/E-200
Max. torque
*2
Nm 333 548 686 802 841 523 675 738 802 841
kgf
･
m 34.0 55.9 70.0 81.8 85.8 53.4 68.9 75.3 81.8 85.8
Allowable continuous
torque
*2*3
Nm 92 156 196 235 315 157 260 327 382 382
kgf
･
m 9.4 15.9 20.0 24.0 32.1 16.0 26.5 33.3 39 39
Max. rotational speed
*2
rpm 80 50 40 33.3 25 80 50 40 33.3 25
Torque constant
*2
Nm/A
rms
25 40 50 60 80 25 40 50 60 80
kgf
･
m/A
rms
2.5 4.1 5.1 6.1 8.2 2.5 4.1 5.1 6.1 8.2
Max. current
*1
A
rms
18 18 18 17.6 14.3 27.2 22 19.6 18 14.7
Allowable continuous
current
*1*2
A
rms
6.0 6.0 6.0 6.0 6.0 9.0 9.0 9.0 8.8 7.2
EMF constant V/(rpm) 2.8 4.5 5.6 6.7 9.0 2.8 4.5 5.6 6.7 9.0
Phase resistance
（
20
℃
）
Ω
0.19
Phase inductance mH 1.2
Inertia
moment
(without
brake)
GD
2
/4 kg
･
m
2
4.8 12 19 27 49 4.8 12 19 27 49
J
kgf
･
cm
･
s
2
49 124 194 280 497 49 124 194 280 497
Inertia
moment
(with brake)
GD
2
/4 kg
･
m
2
5.8 15 23 33 59 5.8 15 23 33 59
J
kgf
･
cm
･
s
2
59 150 235 338 601 59 150 235 338 601
Permissible moment
load
Nm 849
kgf
･
m 86.6
Moment stiffness
Nm/rad 179
×
10
4
kgf
･
m/arc
min
53.2
One-way positional
accuracy
arc-sec 40 30 30 30 30 40 30 30 30 30
Repeatability arc-sec
±
4
Bi-directional
repeatability
arc-sec
50 20 20 20 20 50 20 20 20 20
Encoder type
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
2
17 （
131,072
）
Motor multi revolution
count
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 13.0
Mass (with brake) kg 13.8
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 mor
e (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: If a HA-800
□
-6D/E driver is combined with a SHA40A actuator, the maximum torque and allowable continuous torque are limited.
*2: Typical characteristics when combined (driven by ideal sine wave) with our drivers.
*3: Value after temperature rise and saturation when the 500 x 500 x 25 [mm] aluminum radiation plate is installed.
*4: Value of phase induced voltage constant multiplied by 3.
*5: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).