Harmonic Drive SHA CG Series, Руководство пользователя

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3-3 Location and installation
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Installation
The SHA series actuator drives mechanical load system at high accuracy.
When installing the actuator, pay attention to precision and do not tap the actuator output part with a
hammer, etc. The actuator houses an encoder. Excessive impact may damage the encoder.
Installation procedure
1
Align the axis of rotation of the actuator and the
load mechanism precisely.
Note 1: Perform this alignment carefully, especially when
a rigid coupling is used. Even slight
misalignment may cause the permissible load of
the actuator to be exceeded, resulting in
damage to the output shaft.
2
Connect the driver and wiring.
An extension cable is provided. Use it when wiring the driver. For details on wiring, refer to [1-15
Cable specifications].
3
Wire the motor cable and encoder cable.
Do not pull the cables with a strong force. The connection points may be damaged. Install the
cable with slack not to apply tension to the actuator. Provide a sufficient bending radius (at least
6 times the cable diameter), especially when the cable flexes.

Do not bring strong magnetic objects (magnet chucks, permanent magnets, etc.) near
the rear cover of the actuator. Encoder abnormality may result.

This encoder retains absolute positions when the power is turned OFF by means of
the driver's battery or its own built-in capacitor. If the encoder cable is disconnected for
maintenance, etc., turn on the driver power and charge the backup capacitor first.
After 3 hours of charge, the encoder cable can be disconnected for 30 minutes,
provided that the axis is stopped and ambient temperature is 25
℃
. However, when the
backup capacitor is deteriorated, the absolute positions may not be retained.
Do not disassemble/reassemble the actuator.
May cause damage to electrical and mechanical components.
Output
shaft
Flange
WARNING