Harmonic Drive SHA CG Series, Руководство пользователя

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2-1 SHA series selection
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付
S
e
le
c
tion gui
de
line
s
Model
SHA65A
81 101 121 161
Reduction ratio 81:1 101:1 121:1 161:1
Max. speed (rpm) 34.6 27.7 23.1 17.4
Actuator
inertia
(without brake)
kg
･
m
2
110 171 245 433
kgf
･
cm
･
s
2
1120 1740 2500 4420
Actuator
inertia (with
brake)
kg
･
m
2
120 187 268 475
kgf
･
cm
･
s
2
1230 1910 2740 4850
Max allowable
load inertia
kg
･
m
2
360 560 810 1420
kgf
･
cm
･
s
2
3700 5700 8200 14500
CG
Model
SHA20A
50 80 100 120 160
Reduction ratio 50:1 80:1 100:1 120:1 160:1
Max. speed (rpm)
120 75 60 50 37.5
Actuator
inertia
(without brake)
kg
･
m
2
0.21 0.53 0.82 1.2 2.1
kgf
･
cm
･
s
2 2.1 5.4 8.0 12 22
Actuator
inertia (with
brake)
kg
･
m
2
0.23 0.60 0.94 1.3 2.4
kgf
･
cm
･
s
2
2.4 6.1 9.6 14 24
Max allowable
load inertia
kg
･
m
2
2.4 3.8 4.8 5.8 7.7
kgf
･
cm
･
s
2 25 39 49 59 78
Model
SHA25A SHA32A
50 80 100 120 160 50 80 100 120 160
Reduction ratio 50:1 80:1 100:1 120:1 160:1 50:1 80:1 100:1 120:1 160:1
Max. speed (rpm)
112 70 56 46.7 35 96 60 48 40 30
Actuator
inertia
(without brake)
kg
･
m
2
0.50 1.3 2.0 2.9 5.1 1.7 4.3 6.7 9.7 17
kgf
･
cm
･
s
2 5.1 13 20 29 52 17 44 68 99 175
Actuator
inertia (with
brake)
kg
･
m
2
0.60 1.5 2.4 3.4 6.1 2.0 5.1 7.9 11 20
kgf
･
cm
･
s
2
6.1 16 24 35 62 20 52 81 116 207
Max allowable
load inertia
kg
･
m
2
5.6 8.8 11 14 20 20 32 40 50 70
kgf
･
cm
･
s
2
57 90 112 144 201 200 320 400 510 710
Model
SHA40A
50 80 100 120 160
Reduction ratio 50:1 80:1 100:1 120:1 160:1
Max. speed (rpm)
80 50 40 33.3 25
Actuator
inertia
(without brake)
kg
･
m
2
4.8 12 19 27 49
kgf
･
cm
･
s
2
49 124 194 280 497
Actuator
inertia (with
brake)
kg
･
m
2 5.8 15 23 33 59
kgf
･
cm
･
s
2
59 150 235 338 601
Max allowable
load inertia
kg
･
m
2
58 92 114 137 182
kgf
･
cm
･
s
2
590 930 1170 1400 1860