HarmonicDrive SHA - Y series, Руководство пользователя

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3-3 Location and installation
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Installation
The SHA-Y 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
Hard wire the actuator with the Servopack.
An extension cable is provided for wiring the Servopack. For details on wiring, refer to [1-15
Cable specifications] (P1-47) and the Servopack manual.
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 bodies (magnet chucks, permanent magnets, etc.) near
the rear cover of the actuator. Encoder abnormality may result.

This encoder retains absolute positions by means of the Servopack's battery or its
own built-in capacitor when the power is turned OFF. If the encoder cable is
disconnected for maintenance, etc., turn ON the Servopack 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.
The actuator uses many precision parts. If the actuator is
disassembled/reassembled by the customer, it may cause burned damage or
uncontrollable operation of the actuator, resulting in fire or injury.
Output
shaft
Flange
WARNING