Harmonic Drive SHA Series, Руководство пользователя

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1-14 Operable range
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1-14 Operable range
The graph on the next page indicates the torque/speed operating range for the SHA actuators (combined with a
HA-800 driver) is selected. For details, refer to [Chapter 2 SHA series selection].
1. Continuous motion range
The range allows continuous operation of the actuator.
2. 50% duty range
range indicates the torque/speed where 50% duty cycle operation is permitted (the ratio of operating time and idle
time is 50:50).
Limit the operation cycle to a period of several minutes, and keep it within a range where the overload alarm of
the driver does not sound.
3. Acceleration and deceleration range
This range indicates the torque/speed which the actuator can be operated momentarily. The range allows
instantaneous operation like acceleration and deceleration.
The continuous and 50% duty motion ranges in each graph are measured when the actuator is mounted to an
aluminum heatsink as specified in the graph.

When the SHA SG is operated at a constant speed (motor shaft speed of 1,000 rpm or less) in the
same direction under a constant load torque in a condition where the output shaft is facing up
(output shaft is facing down with CG type), improper lubrication of the built-in speed reducer may
cause abnormal sound or wear, leading to a shorter life. Improper lubrication can be prevented by
changing the speed in the operation pattern, such as by periodically stopping the actuator.
However, the planetary speed reducer (11:1) is not included.