Harmonic Drive SHA CG Series, Руководство пользователя

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1-5 Motor shaft brake
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付
Ou
tlin
e
Model
Item
SHA32A SHA40A
50 80 100 120 160 50 80 100 120 160
Type
Dry non-excitation actuation type (with power-
saving control)
Dry non-excitation actuation type (without
power-saving control)
Brake excitation
voltage
V DC24V±10%(no polarity)
*1
Current consumption
during suction (at
20
℃
)
A
rms
0.8
*2
0.7
Current consumption
during holding (at
20
℃
)
A
rms
0.3 Same as current consumption during suction
Holding torque
*3
Nm 100 160 200 240 320 200 320 400 480 640
kgf·m 10 16 20 24 33 20 33 41 49 65
Inertia moment *3
(Actuator total)
(With brake)
(GD
2
/4)
kg·m
2
2.0 5.1 7.9 11 20 5.8 15 23 33 59
(J)
kgf·cm·s
2
20 52 81 116 207 59 150 235 338 601
Mass (with brake) *4 kg 8.0 13.8
Allowable number of
normal stops
*5
100,000 times
Allowable number of
emergency stops
*6
200 times
*1: Power supply is user’s responsibility. Use a power supply capable of outputting enough current consumption during suction for the brake.
*2: The duration for current consumption during suction is 0.5 second or less for the power supply of DC24V ± 10%.
*3: The values are converted for the output shaft of the actuator.
*4: The values present total mass of the actuator.
*5: The service time for normal holding is assured when the brake activates at motor shaft rotation speed of 150 rpm or less.
*6: The service time for emergency stop is assured when the brake activates at motor speed of 3,000 rpm or less provided the load inertia
moment is 3 times of less than that of the actuator.
The motor shaft holding brake cannot be used for deceleration.
Do not use the holding brake more than the allowable number of normal brakings (100,000
times at the motor shaft rotation speed of 150 rpm or less) or allowable number of
emergency stops (200 times with the motor shaft rotation speed of 3,000 rpm, provided
the load inertia moment is 3 times or less than that of the actuator).
Exceeding the allowable number of normal stops or allowable number of emergency stops
may deteriorate holding torque, and may consequently fail to properly serve as a brake.
WARNING