Harmonic Drive SHA Series, Руководство пользователя

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1-1 Overview
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1-1 Overview
The SHA series of AC Servo Actuators provide high torque and high accuracy rotary motion. These AC Servo Actuators are
each composed of a Harmonic Drive® speed reducer for precise control and a flat, high performance AC servo motor with an
integral absolute multi-turn encoder. The SHA series AC Servo Actuators all feature a large hollow shaft through the axis of
rotation.
There are 3 types of speed reducers: SG with SHG series incorporated, HP with HPF series incorporated, and CG with the
CSG series incorporated. They are an advanced version of current FHA series AC Servo Actuators having a flat, hollow
structure.
One key feature of the SHA actuators is their compact size. The outside diameter has been minimized, providing a maximum
torque/volume ratio which is approximately double that of conventional FHA actuators. A through hole is provided in the
center of the actuator, through which wiring, air lines, laser beams or concentric shafts may be passed.
The HA-800 series driver is a dedicated family of servo drive units for position/speed control, developed exclusively for driving
SHA series actuators. The small, multi-functional drivers control the SHA series actuators' operations with great accuracy and
precision. Additionally, the REL driver series may be used, which provides interface to many network field buses.
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Improved Torque Density
High-torque SHG or CSG series Harmonic Drive® speed reducers are incorporated into the actuator for precise control and
the outer diameter of the actuator has been reduced by 20% compared to our conventional products. As a result, the maximum
torque/volume ratio has approximately doubled compared to our previous actuator designs. Based on maximum torque, you
can select a model which is one size smaller. Also, the output torque is much higher than direct drive motors of similar
volume/weight. This is another reason why the SHA series has an outstanding performance advantage.
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Expanded product lineup
6 models are available for SG, accommodating high torque up to 3,400 Nm. The SHA line also includes models with reduction
ratios of 51 to 161. CG series has 4 frame sizes available with 5 reduction ratios of 50:1 to 160:1.
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Modular design
The components of the SHA series, such as speed reducers, output shaft bearing, motor, brake and encoder, are arranged
based on a modular design. We can also custom-design a model to meet your specific requirements. Please contact your
HDLLC sales representative for details.
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Standard 17-bit magnetic absolute encoder
The newly developed AC servo motors are equipped with our original, highly reliable 17-bit magnetic* absolute encoder with
safety functions. The serial communication reduces wiring and provides not only a multi-turn encoder, which is a must-have
feature on actuators with speed reducers, but it also has an internal backup to retain absolute positions even when the
encoder cable is disconnected for short periods of time.
The encoder circuitry also constantly compares two separate sets of encoder signals. If any abnormality is detected, the
encoder's built-in failsafe function outputs an alarm signal to the host system.
*SHA 20 comes with an optical encoder.
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Support for network controls
By using a dedicated HA-800 series driver, you can control your actuator on a MECHATROLINK-II or CC-Link network. The
REL series drivers support EtherCat, CANOpen, and DeviceNet.
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For high speeds
Also supports high speeds in combination with the HPF hollow shaft planetary speed reducer.