Harmonic Drive SHA Series, Руководство пользователя

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1-5 Motor shaft brake
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付
Ou
tlin
e
1-5 Motor shaft brake
The brake is used to hold the motor shaft in place when the power is turned off. With smaller sizes (SHA25A, 32A), the
actuator's built-in circuit controls the voltage supplied to the brake in order to reduce the power consumption while the brake is
actuated.
Be sure to use a DC power supply having proper brake excitation voltage and capable of outputting enough current for the
brake actuation (release).
Specifications
SG/HP type
Model
Item
SHA20A
51 81 101 121 161
Type
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
0.37
Current
consumption
during holding
(at 20
℃
)
A
rms
Same as current consumption during suction
Holding torque
*3
Nm 31 49 61 73 97
kgf·m 3.1 5.0 6.2 7.4 9.9
Inertia moment
*3
(Actuator total)
(with brake)
(GD
2
/4)
kg·m
2
0.26 0.65 1.0 1.4 2.6
(J)
kgf·cm·s
2
2.7 6.6 10 15 26
Mass
(with brake)
*4 kg 2.1
Allowable number
of normal stops
*5
100,000 times
Allowable number
of emergency
stops
*6
200 times
Model
Item
SHA25A SHA32A
11 51 81 101 121 161 11 51 81 101 121 161
Type Dry non-excitation actuation type (with power-saving control)
Brake excitation
voltage
V DC24V ± 10% (no polarity)
*1
Current
consumption
during suction
(at 20
℃
)
A
rms
0.8
*2
0.8
*2
Current
consumption
during holding
(at 20
℃
)
A
rms
0.3 0.3
Holding torque *3
Nm 11 51 81 101 121 161 22 102 162 202 242 322
kgf·m 1.1 5.2 8.3 10 12 16 2.2 10 17 21 25 33
Inertia moment *3
(Actuator total)
(with brake)
(GD
2
/4)
kg·m
2
0.034 0.66 1.7 2.6 3.7 6.6 1.7 2.3 5.9 9.2 13 23
(J)
kgf·cm·s
2
0.35 6.7 17 26 38 67 17 24 60 94 135 238
Mass
(with brake)
*4 kg 5.1 3.1 9.7 6.2
Allowable number
of normal stops *5
100,000 times
Allowable number
of emergency
stops *6
200 times