Harmonic Drive SHA Series, Руководство пользователя

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1-4 Specifications
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1
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付
Ou
tlin
e
SG type
Model
Item
SHA58A SHA65A
81 101 121 161 81 101 121 161
Servo Drive HA-800
□
-24D/E-200 HA-800
□
-24D/E-200
Max. torque
*1
Nm
1924 2067 2236 2392 2400 2990 3263 3419
kgf
･
m 196 211 228 244 245 305 333 349
Allowable
continuous
torque
*1*2
Nm
714 905 969 969 921 1149 1236 1236
kgf
･
m 73 92 99 99 94 117 126 126
Max. rotational
speed
*1
rpm
37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Torque constant
*1
Nm/A
rms
54 68 81 108 54 68 81 108
kgf
･
m/A
rms
5.5 6.9 8.3 11.0 5.5 6.9 8.3 11.0
Max. current
*1
A
rms
45 39 36 30 55 55 51 41
Allowable
continuous
current
*1*2
A
rms
17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3
EMF constant
*3
V/(rpm) 6.1 7.6 9.1 12.1 6.1 7.6 9.1 12.1
Phase resistance
（
20
℃ ）
Ω
0.028 0.028
Phase inductance mH
0.29 0.29
Inertia
moment
(without
brake)
GD
2
/4 kg
･
m
2
96 149 214 379 110 171 245 433
J
kgf
･
cm
･
s
2
980 1520 2180 3870 1120 1740 2500 4420
Inertia
moment
(with
brake)
GD
2
/4 kg
･
m
2
106 165 237 420 120 187 268 475
J
kgf
･
cm
･
s
2
1090 1690 2420 4290 1230 1910 2740 4850
Reduction ratio 1:81 1:101 1:121 1:161 1:81 1:101 1:121 1:161
Permissible
moment load
Nm 2180 2740
kgf
･
m
222 280
Moment stiffness
Nm/rad 531 x 10
4
741 x 10
4
kgf
･
m/arc
min
158 220
One-way positional
accuracy
arc-sec 40 40 40 40 40 40 40 40
Encoder type Magnetic absolute encoder
Single motor revolution
Encoder resolution
2
17
（
131,072
）
Output resolution Pulse/rev
10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592
Mass
(without brake)
kg 29.5 37.5
Mass (with brake) kg 32 40
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 more (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: When combined with HA-800 driver.
*2: Value after temperature rise and saturation when the 650 x 650 x 30 [mm] aluminum radiation plate is installed.
*3: Value of phase induced voltage constant multiplied by 3.
*4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).