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SHA User Manual PDF - Harmonic Drive LLC

1. 16 n 27 65 536 6 684 10 616 13 238 15 859 21 102 6 684 10 616 13 23 15 859 21 102 Output resolution Pulse rev 572 832 272 712 592 672 832 8272 712 592 Mass without brake kg 9 9 Mass with brake kg 10 7 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 TOOMO 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 If a HA 800L1 6D E driver is combined with a SHA40A actuator the maximum torque and allowable continuous torque are limited 2 When combined with HA 800 driver 8 Value after temperature rise and saturation when the 500 x 500 x 25 mm aluminum radiation plate is installed 4 Value of phase induced voltage constant multiplied by 3 5 For testing conditions refer to 1 12 Shock resistance P1 42 and 1 13 Vibration
2. JOPSUUGS JBPOLUJ awv i 699088 Fd 100w JoeIUOS uid anv 13058 MAN 1040W peuo Uld anwv i cLLoGE BuisnoH Sr 559 JO S Jojoeuuoo JOJOJA wep ejqes Jeddn Wouj o 002 SET 1 24 a x g E Je L g oroo Ep 0 1910 SOF episul 1 6 External dimensions e SHA32A SG UMOUS 104 seoueJo9Jo uoisueuuip 40 sn 19e1uoo 10 BuiweJp uoreuuuuoo y 49euo poujewW Buunjoejnueui ay uo Buipuedep Mea payloads jou ere yey segueJajo UDISUBWIP ay 913oN Unit mm SZI S02 T sve Foe E S EL S 524x999 dr g1Xg60 d a 7 92 9590 dn 7000 4 50004 0 eu YE 7006 4 Tal ZHS ejoy uid Buluonisog xi 8 lou uid Buluonisoq a T 503 1 i e ut Ul zb u N sel Jesse de em 8 d e e gt EE N S M fe rr E T i son zs FT D aale l gt o S e A CN ORE 46 E i J 49 sayewelp Jano lqs y 29 zejurep ano S ssejo poy L ES 11 pl lus 8195 X 2 E A 9102 p
3. Model SHA40A o Item 51 81 101 121 161 51 81 101 121 161 c REL 230 36 REL 230 40 emt 1 m Servo Drive HA 800L1 6D E 200 800 240 200 p i Nm 340 560 686 802 841 523 675 738 802 841 Max torque kgf m 34 7 57 1 70 81 8 85 8 53 4 68 9 75 3 81 8 85 8 Allowable Nm 94 158 198 237 317 160 263 330 382 382 continuous torque kgf m 9 6 16 1 20 2 24 2 32 3 16 3 26 8 33 7 39 39 dio dn rimin 784 494 396 33 1 248 784 494 39 6 33 1 248 Tordus constant Nm A 25 41 51 61 81 25 41 51 61 81 3 m A 2 6 4 1 5 2 6 2 8 2 2 6 4 1 5 2 6 2 8 2 Max current A 18 18 18 17 9 14 6 26 7 21 8 19 4 17 9 14 6 Allovvable continuous A 6 0 6 0 6 0 6 0 6 0 9 0 9 0 9 0 8 8 7 2 current 7 EMF constant V r min 2 9 4 6 5 7 6 8 9 1 2 9 4 6 5 7 6 8 9 1 Phase resistance 20 C Q 0 19 Phase inductance mH 1 2 Inertia GD 4 kg m 5 0 13 20 28 50 5 0 13 20 28 50 moment kab vvithout J g 2 51 130 202 290 513 51 130 202 290 513 brake cms Inertia GD 4 kg m 6 1 15 24 34 61 6 1 15 24 34 61 27 157 24 co 619 62 157 244 350 ets Reduction ratio 1 51 1 81 1 101 1 121 1 161 1 51 1 81 1 101 1 121 1 161 Permissible Nm 849 moment load kgf m 86 6 Nm rad 179 x 10 Moment stiffness kgf m arc 53 2 min Ona wave sion ore 50 40 40 40 40 50 40 40 40 40 accuracy Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Motor multi revolution 217 131 072
4. 2 4 2 9 EO AC fi 10 e U 2 orn 2 10 2 5 M Maximum load moment load 2 6 Mechanical accuracy 1 19 MOU nA i apa nu as Ere Caesia 1 2 Moment stiffness 1 22 Motor cable specifications 1 38 Motor shaft holding brake 1 9 N Notices on 3 2 O One way positional accuracy 1 20 Operable range 1 29 Options ror cite Tete Li eate eset 4 1 DTO euntes 1 1 P Positioning pins a 3 4 Precautions on installation 3 3 R Receiving inspectfion 3 1 Related manual u ua Aa 7 Resistance to vibration 1 28 Rigidily eee sasa 1 22 Rotation direction 1 26 S SHA series selection 2 1 Shock resistance Specifications Static safety coefficient 2 8 Surface treatment 3 4 T Torsional stiffness 1 23 1 25 Tra
5. dWV v 0616061 1 BuisnoH Jopoeuuoo JapCLUJ dWv 1 69905 1040W joeyuon uid dINVIL O69056 YAAN 10001 joejuoo Uid dwv i sL1088 luIsnoH JO0199UUO2 JOJOIN Outlines 1 21 1 6 External dimensions o gi L N lt w Outlines Unit mm UMOUS Jou SADUBJA O uoisueuuip 40 sn 12e1uoo JO BUIMBIP uoljeuuljuoo y yo u esee d Poujew Buunjoejnueu y uo Buipuedep Mea paiioads jou eje yey sesueJajo uoisueuiip OU 8 oN G L 559 d N 8c SS E 21 8 eei xg vo dr LX7W 9L 2 19 vajaweip lqeO Bie us sjes X YZOMV eqe 1epoou3 9495 lqeo 9J02 y x 0ZOMV S31929 JOJOW ss Jo G eS 7006 gx 999 dn e sooo 78 gjoy uid Buiuonisoq se 00Z TD EEE EA asa asss dead ES FRERE 4 Bas 5 815 2 mis B i H F 4 SEN BW o o 5 e y ALE wnAmondpo 7002 V 220 8 joy uid Buruonisod dayli e990s6 3d 1040W peyuos uid dWy 069098 M A Nojow peyuos uld 13 1 6 2088 Buisnoy Jo O uuo3 JOJON av Z ZLLEOBL ouquoo gaj laWvlr ogLEO8L Busnoy 1010990009 JapoouJ 1 22 1 6
6. and deceleration Torque Nm 5 Rotation speed r min MSHA40A121SG HA 800 6D E Radiation plate 500 500 25 Motion range during acceleration and deceleration Torque Nm Continuous motion range 75 10 Rotation speed r min 1 14 Operable range SG type MSHA40A51SG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration E x N Continuous motion V 1 range 20 Rotation speed r min M SHA40A101SG HA 800 24D E E z o Sg e Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Rotation speed r min M SHA40A161SG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration 5096 duty motion range m Rotation speed r min MSHA40A81SG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration F and deceleration L50 duty motion range 7 N Continuous motion X r range 10 Rotation speed r min ISHA40A121SG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm 7 Motion range during acceleration and deceleration Rotation speed r min 1 50 s ulno seuino 1 14 Operable range SG type SHA58A MSHA58A81SG Torque Nm
7. suondo gt 4 1 Options 4 1 Origin and end limit sensors option code L This option includes sensors that are directly connected to the output shaft on the rear of the actuator Use this option if a mechanical origin is required when the virtual origin of the absolute encoder is not sufficient or you want to define an operation range as a safety measure SHA20A is not compatible Option for side exit cables option code Y This option allows the motor and encoder cables te exit from the side of the actuator Use this option if the actuator is housed in a system and there is not enough room for cables to exit at the rear of the housing This option is not available with the SHA20 SG type SHA58 and SHA65 Contact us for details YA p S a A Output shaft single revolution absolute model option code S With the standard encoder when it continues to rotate in just one direction the absolute encoder eventually exceeds the number of revolutions that can be detected with multi revolution detection and it becomes impossible to manage position information accurately With the output shaft single revolution absolute model each time the output shaft turns through single revolution the cumulative multi revolution counter is cleared to 0 This is how position information is accurately managed when the shaft continuously turns in just one direction To use this function it is necessary to setup a driver Refer t
8. 5 3 Calculating moment of inertia Object form Rhombus pillar Mass inertia gravity center 1 m ABCp 2 Ix 1 mf c 24 1 2 2 m C 2A ye a mie 247 Iz le Object form Hexagonal pillar Mass inertia gravity center Isosceles triangle pillar m BOS 2 2 5 a 20 12 2 3 ly A e 12 3 2 kn A x 12 2 go 3 e Example of specific gravity The following tables show references of specific gravity Confirm the specific gravity for the material of the drive load Material Specific Material Specific Material Specific gravity gravity gravity SUS304 7 93 Aluminum 2 70 Epoxy resin 1 90 S45C 7 86 Duralumin 2 80 ABS 1 10 SS400 7 85 Silicon 2 30 Silicon resin 1 80 Cast iron 7 19 Quartz glass 2 20 Polyurethane rubber 1 25 Copper 8 92 Teflon 2 20 Brass 8 50 Fluorocarbon resin 2 20 2 For cases where the center of gravity is not coincident with the axis of rotation The following formula calculates the inertia moment when the rotary center is different from the gravity center I Ig mF I Inertia moment when the gravity center axis does not match the rotational axis kg m Ij Inertia moment when the gravity center axis matches the rotational axis kg m Calculate according to the shape by using formula 1 mass kg m F Distance between rotary center and gravity center m 3 Moment of
9. Torque Nm Continuous motion range Motion range during acceleration and deceleration Rotation speed r min 1 52 s ulno 1 14 Operable range CG type SHA20A I SHA20A50CG Ii SHA20A80CG seuiino Torque Nm Radiation plate 320 320 16 mm m T 1 i I l r 1 Motion range during and deceleration m I Continuous motion range l 20 40 100 120 140 Rotation speed r min MSHA20A100CG z o e Radiation plate 320 320 16 mm Motion range during acceleration and deceleration 50 duty motion range 3 o Continuous motion range 40 Rotation speed r min i SHA20A160CG 1 53 Torque Nm Radiation plate 320 320 16 mm Motion range during acceleration and deceleration mE M 50 duty motion 9 range x km am an Y Continuous motion range 10 20 Rotation speed r min Torque Nm Radiation plate 320 320 16 mm Motion range during acceleration and deceleration o 50 duty motion L range n motion range N 20 40 Rotation speed r min MSHA20A120CG Torque Nm Radiation plate 320 320 16 mm Motion range during acceleration and deceleration 5096 duty motion Continuous motion range Ro
10. s ulno Motion range during acceleration and deceleration 7 T 1 5096 duty motion range N Continuous motion range l 20 Rotation speed r min MSHA32A1015G Torque Nm Radiation plate 400 400 20 mm 1 Motion range during acceleration and _ deceleration 50 duty motion range Z N T Continuous motion range Rotation speed r min MSHA32A161 SG Torque Nm Radiation plate 400 400 20 mm acceleration and deceleration Continuous F motion range Rotation speed r min 1 48 seuino 1 14 Operable range SG type SHA40A E SHA40A515SG HA 800 6D E Radiation plate 500 500 25 5 Motion range during acceleration and deceleration Torque Nm Continuous motion range 20 Rotation speed r min E SHA40A101SG HA 800 6D E Radiation plate 500 500 25 Motion range during acceleration and deceleration E 2 g e Continuous motion H range Rotation speed r min E SHA40A161SG HA 800 6D E Radiation plate 500 500 25 and deceleration Torque Nm S Continuous motion _ x range Motion range during acceleration Rotation speed r min 1 49 Ii SHA40A81SG HA 800 6D E Radiation plate 500 500 25 1 1 1 Motion range during
11. Allovvable continuous torque 28 Continuous M HEIC X UCM motion range Na a LI NE LI A 0 L 0 20 40 60 80 100 120 Rotation speed r min Contents The nameplate values of various models are shown below SG HP type Model SHA20A Item 51 81 101 121 161 1 Output at point A W 99 109 109 106 86 2 Voltage at point A V 113 117 117 119 122 3 Allowable continuous A 2 1 2 0 2 0 1 9 1 6 current 4 Speed at point A rpm 44 30 24 21 17 S Frequency at Hz 187 203 202 212 228 point A 6 Allowable range cc 40 temperature 7 Number of phase 3 Model SHA25A h am Motor input voltage 100V SHA25A Motor input voltage 200V 51 81 101 121 161 11 51 81 101 121 161 1 Output atpointA W 165 188 190 178 127 133 175 203 207 178 127 2 Voltage atpointA V 61 64 65 64 62 101 115 122 125 125 120 3 Allowable continuous A 4 7 4 7 4 7 45 3 7 30 30 30 29 26 21 current 4 Speed atpointA rpm 45 31 25 21 15 141 41 29 245 21 15 S Frequency at Hz 191 209 210 212 201 129 174 196 206 212 201 point A 6 Allowable range C 40 temperature 7 Number of phase 3 Model SHA32A SHA40A Item 11 51 81 101 121 161 51 81 101 121 161 1 Output at point A W
12. Outer diameter 913 4 Brake yellow 86 3 PE green yellow 0001 FLETE HHI ITTIHWNWITTT 1111 Angle plug YA Unit mm 4 3 4 1 Options Absolute encoder extension cable SHA 20 25 32 40 EWD S A08 3M14 Cable length 03 3m 05 5m 10 10m in the model code indicates the cable length 3m 5m 10m Actuator side Cable length Driver side 39 12 7 Outer diameter 8 4 EN m 2 S d o 3 Unit mm o SHA 58 65 EWD S D10 3M14 L Cable length 03 3m 05 5m 10 10m Actuator side Driver side Cable length 39 Outer diameter 98 4 Unit mm suondo gt 4 1 Options 4 5 Appendix A 1 Unit conversion AENA A 2 Calculating inertia moment xipueddy H Unit conversion mg Unit conversion This manual employs SI system for units Conversion factors between the SI system and other systems are as follows 1 Length SI system m Unit ft in 44 Factor 0 3048 0 0254 Unit ft in Factor 3 281 39 37 SI system m 2 Linear speed SI system m s Unit m min ft min ft s in s E Factor 0 0167 5 08x10 0 3048 0 0254 Unit m min in s Factor 60 196 9 3 281 39 37 SI system m s 3 Linear acceleration SI system m s Unit mimina ft min ft
13. 60 48 40 30 112 70 56 467 35 speed Nm A 10 9 17 7 22 27 35 19 31 38 46 61 zA Y V n nn doque constan kgf m A 1 1 18 23 27 36 19 31 39 47 63 Max current A 15 1 13 2 12 2 11 0 9 0 8 7 7 6 7 0 6 3 5 2 A A 47 47 47 45 37 30 30 30 26 21 EMF constant V rpm 1 2 2 0 2 5 3 0 4 0 2 1 3 4 4 3 5 2 6 9 Phase resistance 20 C Q 0 4 1 2 Phase inductance mH 1 0 3 0 I _ Ko _ Inertia GD 4 kg m 0 50 1 3 2 0 2 9 5 1 0 50 1 3 2 0 2 9 5 1 moment UT without J gre 51 13 20 29 52 54 13 20 29 52 brake s I eee Inertia GD 4 kg m 0 60 1 5 2 4 3 4 6 1 0 60 1 5 2 4 3 4 6 1 77 7 1 ci ic 24 35 62 61 16 3 62 Reduction ratio mH 50 1 80 1 120 1 1 120 160 1 50 1 80 1 120 1 1 120 160 1 Permissible moment Nm 258 load kgf m 26 3 Nm rad 39 2 x 104 kgf M ff oment stiffness r 11 6 min One way positional accuracy Sec 50 40 40 40 40 50 40 40 40 40 Repeatability Sec 5 Bi directional positional accuracy Sec 60 25 25 25 25 60 25 25 25 25 Encoder type Magnetic absolute encoder Single motor revolution 17 Encoder resolution 27 131 072 Motor multi revolution counter 215 65 536 6553 10485 13 107 15728 20 97 6 553 10485 13 107 15728 20 971 Output re
14. where the CAUTION actuator could easily fall 3 Do not connect the actuator terminals directly to the power supply The actuator may burn and cause fire or electric shock 4 The allowable storage temperature is 20 to 60 C Do not expose the actuator to direct sunlight for long periods of time or store it in areas in low or high temperature 5 The allowable relative storage humidity is 8096 or less Do not store the actuator in a very humid place or in areas where temperatures are likely to fluctuate greatly during day and night 6 Do not use or store the actuator in locations subject to flammable or corrosive gases or dust particles 7 The large models SHA58A SHA65A are heavy Handling these models may cause lower back pain Injury may occur if the actuator falls and you are pinned underneath Handle your actuator with due care by wearing safety shoes or take other proper precautions Use supporting fixtures and lifting equipment as necessary for safe handling Installation and transmission torque Examples of actuator assembly are shown below Assembly examples 1 and 2 are for SHA SG Assembly examples 3 and 4 are for SHA CG Use high tension bolts and tighten them with a torque wrench to control the tightening torque In assembly example 2 use flat washers because the tightening torque is high and the actuator flange is made of aluminum SHA SG assembly example Machine base Output structure Output stru
15. Option symbol 21 Size 58 65 L With near origin and end limit sensors 8 Brake M Side exiting cable A Without brake V With stand CG only S Output shaft single revolution absolute B With brake model CG only 9 Motor input voltage Please contact us for option compatible models 100 100V 15 Special specification Blank Standard product 200 200V SP Special specification product 100V is compatible with size 25 only s ulno EN p s ulno 1 3 Drivers and extension cables The proper combination of SHA actuators drivers and extension cables are as follows XE Drivers and extension cables SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A REL230 36 REL Servo Drive REL 230 18 REL 230 18 REL 230 40 o HA 800A HA 800 Standard HA 800A 3D E 200 HA 800A Gr HA 800A 24D E command type 3D E 200 HA 800A 6D E 200 yn eooa oapje 24D E 200 306 6D E 100 200 i HA 800B HA 800 HA 800B 3D E 200 HA 800B HA 800B MECHATROLINK 3D E 200 HA 800B 6D E 200 E 24D E 200 HA 800B 24D E 200 6D E 100 200 15 x HA 800C HA Oo CC TINE HA 800C 3D E 200 HA 800C e HA 800C DE 2 3D E 200 HA 800C 6D E 200 24D E 200 HA 800C 24D E 200 6D E 100 200 Extension pi cables option Encoder cable EWD MB A06 TN3 Driver side connector supplied separately EWD S A08 3M14 HA 800LI 6D E EWD MBx x A06
16. REL 230 18 Servo Drive REL 230 36 HA 800L1 6D E 200 Max tordue Nm 281 395 433 459 484 kgf m 28 7 40 3 44 2 46 8 49 4 Allowable continuous Nm 90 151 178 178 178 torque kgf m 9 2 15 4 18 2 18 2 18 2 Max rotational speed r min 96 60 48 40 30 Torque constant Nm A 20 33 41 49 66 kgf m A 2 1 3 4 4 2 5 0 6 7 Max current A 17 7 15 4 13 7 12 2 10 Allowable continuous HERE A 6 0 6 0 5 7 5 0 4 1 EMF constant V rpm 2 3 3 7 4 6 5 5 7 4 Phase resistance 20 C Q 0 33 Max current mH 1 4 Inertia 5014 kg m 1 7 4 3 6 7 9 7 17 moment without J 17 44 68 99 175 brake Inertia GD7 4 kg m 2 0 5 1 7 9 11 20 moment with J anemi 20 52 81 116 207 brake Reduction ratio 50 1 80 1 100 1 120 1 160 1 Permissible moment Nm 580 load kgf m 59 2 Nm rad 100 x 10 T kgf Moment stiffness aye 29 6 min One way positional accuracy Sec 40 30 30 30 30 Repeatability Sec 4 Bi directional repeatability Sec 60 25 25 25 25 Encoder type Magnetic absolute encoder Single motor revolution 217 131 072 Encoder resolution Motor multi revolution 16 counter 2 65 536 Output resolution Pulse rev 6 553 600 10 485 760 13 107 200 15 728 640 20 971 520 Mass without brake kg del Mass with brake kg 8 0 s ulno s ulno 1 4 Specifications Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vib
17. Radiation plate 650 650 30 mm Motion range during acceleration and deceleration Continuous motio range Rotation speed r min MSHA58A121SG Radiation plate 650 650 30 mm Torque Nm Motion range during acceleration and deceleration 1 51 Rotation speed r min i 5HA58A101SG Torque Nm Radiation plate 650 650 30 mm i E Motion range during acceleration and deceleration A Continuous motion 4 range Rotation speed r min MSHA58A1615G Torque Nm Radiation plate 650 650 30 mm L Motion range during acceleration and deceleration range Rotation speed r min 1 14 Operable range SG type SHA65A E SHA65A81SG Radiation plate 650 650 30 mm Torque Nm as motion _ Motion range during acceleration and deceleration 50 duty motion range _ Continuous Rotation speed r min MSHA65A121SG Radiation plate 650 650 30 mm E 2 g e Motion range during acceleration and deceleration Continuous motion range Rotation speed r min MSHA65A101SG Radiation plate 650 650 30 mm Torque Nm Continuous motion range r Motion range during acceleration and deceleration 50 duty motion range N a 5 MSHA65A161SG 25 Rotation speed r min Radiation plate 650 650 30 mm
18. acceleration and acceleration and deceleration 125 F deceleration 100 Torque Nm Torque Nm 75 50 Continuous F Continuous motion range motion range 20 Rotation speed r min Rotation speed r min MSHA25A1015G MSHA25A1215G Radiation plate 350 350 18 mm 250 250 Ep z vel Motion range during acceleration and Motion range during deceleration acceleration and deceleration l LI Cu 50 duty motion range Torque Nm Torque Nm Z a ta Fa E h Continuous i E Contin motion range Continuous motion range M WA EN NEM Rotation speed Rotation speed r min MSHA25A1615G Radiation plate 350 350 18 mm 250 l l l l Motion range during _ acceleration and deceleration E Z o 5 g e F Continuous motion range Rotation speed r min 1 46 seuino 1 14 Operable range SG HP type SHA25A Specifications for motor input voltage of 200V MSHA25A11HP i SHA25A51SG Radiation plate 350 350 18 mm Radiation plate 350 350 18 mm Motion range during acceleration and deceleration Motion range during _ acceleration and deceleration E Z 33 g e Torque Nm F Continuous Continuous motion range motion range 20 40 Rotation speed r min Rotation speed r min i SHA25A81SG MSHA25A101SG Radiation plate 350 350 18
19. p n5 uon l s 2 1 SHA series selection SG HP SHA20A 2 5 51 81 101 121 161 Reduction ratio 51 1 81 1 101 1 121 1 161 1 Max speed rpm 117 6 74 1 59 4 49 6 37 3 Actuator kg m 023 058 0 91 1 3 2 3 inertia 2 without brake kgf cm s 2 4 6 0 9 3 13 24 Actuator kg m2 0 26 0 65 1 0 1 4 2 6 inertia with 2 brake kgf cm s 2 6 6 6 10 15 26 Max allowable kg m 2 4 3 8 4 8 5 8 7 7 load inertia kgf cm s 25 39 49 59 78 SHA25A 5 11 51 81 101 121 161 Reduction ratio 11 1 51 1 81 1 1013 121 1 161 1 Max speed rpm 509 1 109 8 69 1 55 4 46 3 34 8 Actuator kg m 0 029 0 56 1 4 2 2 3 2 5 6 inertia kgf cm s 0 30 57 14 22 32 57 without brake gems Actuator kg m 0 034 0 66 1 7 2 6 3 7 6 6 inertia with 2 brake kgf cm s 0 35 6 7 17 26 38 67 Max allowable kg m 0 32 5 6 8 8 11 14 20 load inertia kgf cm s 3 3 57 90 112 144 201 SHA32A 2557 11 51 81 101 121 161 Reduction ratio 11 1 51 1 81 1 1013 121 1 161 1 Max speed rpm 4364 941 59 3 47 5 39 7 29 8 Actuator kg m 0 091 2 0 5 1 8 0 11 20 kgf cm s2 0 93 21 52 et 117 207 without brake K9cm s 0 Actuator kg m 0 11 2 3 5 9 9 2 13 23 inertia with 2 brake kgf cm s 1 1 24 60 94 135 238 Max allowable kg m 0 99 20 32 40 50 70 load inertia kgf cm s 10 200 320 400 510 710 A SHA40A SHA58A g b 51
20. r min and t 1 s to the above formulas 80 2 x 177 80 x 0 091 80 2 x 141 i Nav 20r mn 2 14 s ul p n5 uon l s s ul p n5 uon l s 2 4 Examining operating conditions 5 The figure on the right shows the point of operation determined by the effective torque and average rotation speed calculated above plotted on the graph of operable range of SHA25A51 exceeding the continuous motion range The conclusion is that this actuator cannot be operated continuously under these conditions Accordingly Radiation plate 350 350 18 the operation pattern 4 load possible reduction 150 actuator model No i l 125 etc must be reexamined 100 bit Motion range during 55 acceleration and E deceleration The following formula is a modified 75 ME MUS IPM di ETE pen version of the formula for effective torque i l By applying the value of allowable m s mn n M d continuous torque to Tm in this formula 50 F ue duty motion range 7 603227 s the allowable cycle time can be calculated I x TN 2 25 Continuous da ate S motion range N x Ji Ix e TI T xt m ME m 0 20 40 60 80 100 120 m Rotation speed r min Operable range of SHA25A51 Apply the following Ta 98 Nm Tr Nm 90 Nm Tm 241 Nm ta 0 177 s tr 0 091 s td 0 141 s Then the following equation is obtained t 98 x 0 177 90 x 0 141
21. 034 0 66 1 7 2 6 3 7 6 6 1 7 2 3 5 9 9 2 13 23 Actuator total J ith brak with brake kgf cm s 0 35 6 7 17 26 38 67 17 24 60 94 135 238 Mass with brake kg 5 1 3 1 9 7 6 2 Allowable number of normal stops 100 000 times Allovvable number of emergency 200 times stops s ulno 1 5 Motor shaft brake Item Model SHA40A SHA58A 51 81 101 121 161 81 101 121 161 Type Dry non excitation actuation t e without power saving control Brake excitation voltage V DC24V x 10 no polarity Current consumption during suction at 20 C gt 0 7 0 9 consumen A Same as current consumption during suction during holding at 20 C m Nm 204 324 404 484 644 1220 1520 1820 2420 kgf m 21 33 41 49 66 124 155 185 246 GD7 4 Inertia moment kg m 6 1 15 24 34 61 106 165 237 420 Actuator total J With brake katran 62 157 244 350 619 1090 1690 2420 4290 Mass with brake kg 10 7 32 Allowable number of normal stops 100 000 times Allowable number of emergency stops 200 times Model SHA65A Item 81 101 121 161 T Dry non excitation actuation type without ype i power saving control s Brake excitation voltage V DC24V 10 no polarity Current con
22. 1 l 1 I 1 1 I 1 l l 1 l 1000 I F E 4 1000 I R 4 m 1 l l mM 100 1 100 4 I BAS bam 1 1 1 I 577 81 SHA58A121 SHA58AB1 SHA65A121 SHA65A81 I 10 id SHA58A 01 7 3 10 1 1 l l I l 1 l l 1 l 1 1 I 1 0 5 10 15 20 25 30 35 40 5 10 15 20 25 30 35 4 Max rotational speed r min Max rotational speed r min 2 1 2 1 SHA series selection CG type kg m2 Allowable load inertia moment 100 SHA25A120 SHA25A160 10 SHA20A160 SHA20A120 SHA20A80 SHA20A50 0 20 40 60 80 100 120 140 Max rotational speed r min kg m2 Allowable load inertia moment 1000 SHA40A120 SHA40A100 TT SHA40A80 SHA32A100 SHA32A120 SHA32A80 SHA32A50 ll 0 40 60 80 100 100 SHA40A160 SHA32A160 Max rotational speed r min When making a preliminary selection of the actuator make certain that the moment of inertia and maximum speed do not exceed the allowable values shown in the table below When a load with a large inertia moment is stopped and started frequently a greater regenerative energy will be produced during braking If the regenerative energy produced exceeds the absorption capacity of the built in regenerative resistor of the servo driver an additional regenerative resistor must be connected externally to the driver For details refer to the manual of your driver 2 2 souijapin6 uon l s s ul
23. 41 1 69 5 Based on the result setting the cycle time to 1 7 seconds or more to provide a longer stopped time gives Tm 41 Nm or less thereby permitting continuous operation within the allowable continuous torque The aforementioned continuous duty range represents an allowable range when the actuator is installed on the specified aluminum heatsink and operated under natural air cooling If the radiation area of the mounting member is smaller or the heat conduction of the material is poor adjust the operating conditions to limit the temperature rise of the actuator to 40 C or less as a guide Chapter 3 Installing the SHA act The following explains the installation procedures of the actuator 3 1 Receiving Inspection u 3 2 Notices on handling 3 3 Location and installation 4oyenyoe WHS ou Bulllelsul 3 1 Receiving Inspection ca B Receiving Inspection Check the following items after unpacking the package Inspection procedure 1 Checkthe items thoroughly for damage sustained during transportation If any item is damaged immediately contact the dealer 2 Confirm the actuator is what you ordered The nameplate is found on the rear end face of the SHA series actuator Check the TYPE field on the nameplate to confirm that it is indeed the model you have ordered If any item is wrong immediately c
24. 54 ear 82 25 414 51 61 82 Max current A 18 18 18 17 6 14 3 27 2 22 19 6 18 14 7 Allowable continuous A 6 0 6 0 6 0 6 0 6 0 9 0 9 0 9 0 8 8 7 2 current EMF constant V rpm 28 45 56 67 90 28 45 56 67 90 Phase resistance 20 C Q 0 19 Phase inductance mH 1 2 Inertia GD 4 kg m 4 8 12 19 27 49 4 8 12 19 27 49 moment kaf without J 9 2 49 124 194 280 497 49 124 194 280 497 brake emus Inertia 6074 kq m 5 8 15 23 33 59 5 8 15 23 33 59 moment with J Kat 2 59 150 235 338 601 59 150 235 338 601 brake En Reduction ratio 50 1 80 1 100 1 120 1 160 1 50 1 80 1 100 1 120 1 160 1 Permissible moment Nm 849 load kgf m 86 6 Nm rad 179 x 10 M ff oment stiffness mac 53 2 min One way positional accuracy Sec 40 30 30 30 30 40 30 30 30 30 Repeatability Sec 4 Bi directional repeatability Sec 50 20 20 20 20 50 20 20 20 20 Encoder type Magnetic absolute encoder Single motor revolution 2 131 072 Encoder resolution Motor multi 16 revolution counte 27 65 536 Pulse re 6553 10485 13 107 15 728 20971 6 553 10 485 13 107 15 728 20 971 Output resolution v 600 760 200 640 520 600 760 200 640 520 Mass without brake kg 13 0 Mass with brake kg 13 8 s ulno 1 4 Specifications Environmental conditions Motor insulation
25. 6 14 24 Max allowable kg m 2 4 3 8 4 8 5 8 7 7 load inertia kgf cm s 25 39 49 59 78 Actuator model 57 cpm 50 80 100 120 160 50 80 100 120 160 Reduction ratio 50 1 80 1 100 1 120 1 160 1 50 1 80 1 100 1 120 1 160 1 Max speed rpm 112 70 56 46 7 35 96 60 48 40 30 Actuator kg m 0 50 1 3 2 0 2 9 5 1 1 7 4 3 6 7 9 7 17 inertia without brake kgf cm s2 5 1 13 20 29 52 17 44 68 99 175 Actuator kg m 0 60 1 5 24 3 4 6 1 2 0 5 1 7 9 11 20 rake Dkgeems 61 16 24 as 62 20 52 at ft 207 Max allowable kg m 5 6 8 8 11 14 20 20 32 40 50 70 load inertia kgf cm s 57 90 112 144 201 200 320 400 510 710 2015 50 80 n 120 160 Reduction ratio 50 1 80 1 100 1 120 1 160 1 Max speed rpm 80 50 40 33 3 25 Actuator kg m 4 8 12 19 27 49 inertia 2 without brake kgf cm s 49 124 194 280 497 Actuator kg m 5 8 15 23 33 59 inertia with 2 brake kgf cm s 59 150 235 338 601 Max allowable kg m 58 92 114 137 182 load inertia kgf cm s 590 930 1170 1400 1860 2 4 s ul p n5 uon l s 2 1 SHA series selection 2 5 2 2 Change in load moment of inertia 748 Change in load moment of inertia SHA series actuators include Harmonic Drive amp gearing that has a high reduction ratio Because of this the effects of changes in the load moment of inertia on the servo performance are minimal In comparison to direct servo drive mechanisms this benefit allows the load to be dr
26. 81 101 121 161 81 101 121 161 Reduction ratio 51 1 81 1 101 1 121 1 1611 81 1 1013 121 1 161 1 Max speed rpm 78 4 49 4 39 6 33 1 24 8 37 0 29 7 24 8 18 6 Actuator kg m 5 0 13 20 28 50 96 149 214 379 inertia 2 without brake Kgf em s 51 130 202 290 513 980 1520 2180 3870 Actuator kg m 6 1 15 24 34 61 106 165 237 420 5 kgf cm s 62 157 244 350 619 1090 1690 2420 4290 Max allowable kg m 58 92 114 137 182 290 450 640 1140 load inertia kgf cm s 590 930 1170 1 1400 1860 2900 4600 6500 11600 2 3 2 1 SHA series selection s ul p n5 uon l s Actuator model 81 1 AUS 1 161 Reduction ratio 81 1 101 1 121 1 161 1 Max speed rpm 34 6 27 7 23 1 17 4 Actuator kg m 110 171 245 433 inertia kgf cm without brake E 1120 1740 2500 4420 Actuator kg m 120 187 268 475 inertia with kgf cm brake E 1230 1910 2740 4850 ND MIA ES m 360 560 810 1420 load inertia g 5 3700 5700 8200 14500 CG 50 80 I 120 160 Reduction ratio 50 1 80 1 10043 120 1 160 1 Max speed rpm 120 75 60 50 37 5 Actuator kg m 0 21 0 53 0 82 1 2 2 1 inertia 2 without brake Kgfem s 2 1 5 4 8 0 12 22 Actuator kg m 0 23 0 60 0 94 1 3 24 kof cm s2 24 6 1 9
27. Buunjoejnueui ay uo Buipuedep Men payloads jou yey seougJe o UOISUSWIP 91oN Jejeureip 9 G uajno aged 7 OM v 699066 1344010JA 12 61400 Uld 1 069062 L A uoloW 1961u00 Ul div 11 9 06 Guisnoy 40 9 UUOO JOJON 960 24 Lo 0 SED yun Arejou indino Duuejueuo g oodr1 1 udad zog LH 79 Unit mm e SHA25A HP 1 6 External dimensions UMOUS JOU SeoueJoJo uoisueuuip 10 SN 19e1uoo JO Buimbup uoneuuguoo SU YOOYD esee gd poujow Buunjoejnueu ay uo Buipuedep Hea payloads jou ase yey sedueJajo UOISUSWIP au 9JON uzu Lus Y aN I dN i 702 ze Ee Sal ls 9 e D sra d dm la 5 8 e A LI E 219 sano sigeg Y PIBIYS SIOS x YZOMV 51983 Jepoou3 uejeure p 480 S sr ZI El 909 p X Z MV anas mer S lQE FE an 01 8 www sss XX 999 ec Sel 86 w p IF Bibi eyi dwe ejqeo seddn woy 002 dWv 2 2116061 jouyuoo
28. Motor multi revolution 16 Co ntar 2 65 536 Output resolution Pulse rev 6 684 672 10 616 832 13 238 272 15 859 712 21 102 592 Mass without brake kg 2 0 Mass with brake kg 2 1 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 100MQ 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 Typical characteristics when combined driven by ideal sine wave with our drivers 2 Value after temperature rise and saturation when the 320 x 320 x 16 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 P1 42 and 1 13 Vibration resistance P1 43 1 4 1 4 Specifications s ulno SHA25A m Model Motor input voltage 100V SHA25A M
29. S17b A G 0 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 Model SHA series actuator 2 Size 20 25 32 40 58 65 SG 3 Version 25 32 HP 20 25 32 40 CG 4 Reduction ratio R 1 Reduction ratio 11 is for the HPF hollow planetary speed reducer Size 25 32 Reduction ratios 50 and higher are for the HarmonicDrive gears HPF SHG CSG 51 51 1 50 50 1 81 81 1 80 80 1 11 11 1 101 101 1 100 100 1 121 121 1 120 120 1 161 161 1 160 160 1 5 Gearhead 10 Encoder format HP HPF hollow shaft planetary 10 Conforming to A format transmission rate 2 5 UR Mbps 1 on 1 connection SG HarmonicDrive SHG series 11 Encoder type resolution CG HarmonicDrive CSG series S17b 17 bit absolute encoder 131 072 6 Motor version symbol poke ev an A Size 58 65 11 D250 Incremental encoder size 25 32 and 40 E Biss C Absolute encoder size 25 ize 25 32 40 12 Encoder phase angle Phase difference between C Size 20 induced voltage in motor phase U and absolute origin 7 Motor size A 0 degree 08 Size 20 13 Connector specification m With standard connector 09 Size 25 2 for extension cables 12 Size 32 N Without connector 15 Size 40 14
30. TN3 HA 8000 24D E EWD MBxx A06 TMC EWD MB D09 TMC EWD S D10 3M14 in the extension cable model indicates the cable length 03 3m 05 5m 10 10m The models shown in parenthesis are those with 100V motor input voltage combinations 1 3 1 4 Specifications LEM Specifications seuino SG type Model SHA20A Item 51 81 101 121 161 Servo Drive HA 800L1 3D E 200 Max torque Nm 73 96 107 113 120 kgf m 7 4 9 8 10 9 11 5 12 2 Allowable continuous Nm 21 35 43 48 48 torque 2 kgf m 2 1 3 6 4 4 4 9 4 9 Max rotational speed rpm 117 6 74 1 59 4 49 6 37 3 ucro UM Nm A 16 5 27 33 40 53 kgf m A 1 7 2 7 3 4 4 1 5 4 Max current A 6 0 4 9 4 5 4 0 3 4 20000 A 2 1 2 0 2 0 1 9 1 6 EMF constant V rpm 1 9 3 0 3 7 4 5 5 9 Phase resistance Q 1 4 20 C j Phase inductance mH 2 5 Inertia moment 6074 kg m 0 23 0 58 0 91 13 23 without brake J kgf cm s 24 6 0 9 3 13 24 Inertia moment GD 4 kg m 0 26 0 65 1 0 1 4 2 6 with brake J kgf cm s 2 6 6 6 10 15 26 Reduction ratio 51 1 81 1 101 1 121 1 161 1 Permissible Nm 187 moment load kgf m 19 1 Nm rad 25 2 x 10 Moment stiffness kgf m arc min 75 One way positional CURRY Sec 60 50 50 50 50 Encoder type Absolute encoder Single motor revolution 17 Encoder resolution 2 131 072
31. acceleration and deceleration times for the selected actuator Acceleration time t k x Ja Ji x Dece 2 13 2x7 N 60 Tu T 2xx N 60 l Tu 2xTr T x ta Acceleration time s td Deceleration time s k Acceleration reduction coefficient 1 to 1 5 The total positioning time may become shorter if the acceleration is lovvered for the purpose of reducing the settling time after positioning leration time ta kx Ja Ji x JA Actuator inertia moment kg m J Load inertia moment kg m N Actuator rotation speed r min Tw Maximum actuator torque Nm Tr Actuator friction torque Nm Tr2Kr x IR TR Kr Torque constant Nm A Tr Allowable continuous torque Nm IR Allowable continuous current A TL Load torque Nm The polarity is positive when the torque is applied in the rotation direction or negative when it is applied in the opposite direction Calculation example 1 Select an actuator that best suits the following operating conditions Rotation speed 80 rpm Load inertia moment 1 5 kg m Since the load mechanism is mainly inertia the load torque is negligibly small 1 After applying these conditions to the graph in 2 1 SHA25A51SG B09A200 is tentatively selected 2 From the rated table the following values are obtained JA 0 56 kg m Tu 127 Nm 41 Nm Kr 19 Nm A In 3 Based on the above formula the actuator s friction torque Tr is c
32. and installing to the driven equipment amp HARMONIC DRIVE ICING SYSTEMS HarmonicDrive HarmonicPlanetary HarmonicGrease Ti E F Z 7 E 7 x r MWEZI HamonicGearhead HarmonicLinear BEAM SERVO Harmonicsyn JES TE NETI ere META Registered Trademark in Japan Certified to ISO14001 HOTAKA Plant 41509001 T V Management Service GmbH All specifications and dimensions in this manual subject to change without notice This manual is correct as of June 2014 Head Office Believe Omori 7F 6 25 3Minami Ohi Shinagawa ku Tokyo Japan T 140 0013 TEL 81 0 3 5471 7800 FAX 81 0 3 5471 7811 Overseas Division 1856 1 Hotakamaki Azumino shi Nagano Japan T 399 8305 TEL 81 0 263 83 6935 FAX 81 0 263 83 6901 HOTAKA Plant 1856 1 Hotakamaki Azumino shi Nagano Japan T 399 8305 TEL 81 0 263 83 6800 FAX 81 0 263 83 6901 Harmonic Drive AG Hoenbergstra B e 14 65555 Limburg Germany TEL06431 5008 0 FAX06431 5008 18 Harmonic Drive L L C 247 Lynnfield Street Peabody MA 01960 U S A TEL 1 978 532 1800 FAX 1 978 532 9406 Harmonic Drive is a registered trademark of Harmonic Drive LLC 20151026 Harmonic Drive LLC Boston US Headguarters 247 Lynnfield Street Peabody MA 01960 New York Sales Office 100 Motor Parkway Suite 116 Hauppauge NY 11788 California Sales Office 333 W San Carlos Street Suite 1070 San Jose CA 95110 Chicago Sales Office 137 N Oak Park Ave Suite 410 Oak
33. and static safety coefficient of the cross roller bearing Checking procedure 1 Verifying the maximum load moment load Mmax Calculating the maximum load moment load Mmax Verifying the maximum load moment load Mmax is less than or equal to the permissible moment load Mc 2 Verifying life Calculate the average radial load Frav and average axial load Faav Calculate the radial load coefficient X and the axial load coefficient Y Calculate the life of the bearing and verify the life is allowable 3 Verifying the static safety coefficient Calculate the static equivalent radial load Po Verify the static safety coefficient fs Specifications of the main roller bearing The following table shows the specifications of the main roller bearings built in SHA actuators Table 1 Specifications of the cross roller bearings Circular Offset Basic static Permissible Moment Item pitch of the amount xd d load rated load moment stiffness Model roller dp R C Co load Mc Km mm mm kN kN Nm x10 Nm rad SHA20A SG 70 23 5 14 6 22 187 25 2 SHA20A CG 70 19 5 14 6 22 187 25 2 SHA25A SG 85 27 6 21 8 35 8 258 39 2 SHA25A CG 85 21 6 21 8 35 8 258 39 2 SHA25A HP 85 15 3 11 4 20 3 410 37 9 SHA32A SG 111 34 9 38 2 65 4 580 100 SHA32A CG 111 25 4 38 2 65 4 580 100 SHA32A HP 111 5 15 22 5 39 9 932 86 1 SHA40A SG 133 44 43 3 81 6 849 179 SHA40A CG 133 29 5 43 3 81 6 849 1
34. normal brakings 100 000 times at the motor shaft rotation speed of 150 rpm or less or WARNING allowable number of emergency stops 200 times with the motor shaft rotation speed of 3 000 rpm provided the load inertia moment is 3 times or less than that of the actuator Exceeding the allowable number of normal stops or allowable number of emergency stops may deteriorate holding torque and may consequently fail to properly serve as a brake 1 6 External dimensions Imensions EN IEW External d e SHA20A SG Outlines Unit mm UMOUS JOU SADUBIS O UOISUSUIIP JO SN 12ejuoo JO BuiweJp uormeuuuoo ay Yoyo eseajqg poyjew amp Buunjoejnueui y uo Buipuedep payloads jou ase yey seoueJej o UOISUBIP eu eYoN om anug oiuouueH Aq panssi Buimeup uoneoyioeds ay ees aseajd suoisueup pejiejep alow 104 S1ON GLIXVE kau k IXEN DI 4069 02 eip a lno lqeO L XN 9 6 O sajawejp sano EXBZOMY tug ET vX0ZOMV oe Ee Japoou3 9 qe2 3129 10104 gt 29 0L V SBOL 3 002 eli 7 111606 L wd Jo zauvoJ 7 0612061 1 Busnony 40j2euuoo J012euuoo JOJO VOCVH S 1 19 Outlines 1 6 External dimensions E E 9 temo lqeO e SHA20A CG 1 20 UMOUS JOU SeoutJoJo uoisuauiip 10 SN 19ejuoo JO BuiweJp uomneuuuoo ayi 49euo esee g poujew
35. of rotation AAA O S 1 41 1 12 Shock resistance a 1 42 1 13 Vibration resistance esses 1 43 Te TA Operable Tate ue eee soe A e trt S EM aa LU AE 1 44 1 15 Cable specifications akiw 1 59 Motor cable specifications ia 1 59 Encoder cable specifications rr 1 60 Contents Chapter2 Selection guidelines 2 1 SHA Series Selec and 2 1 Allowable load moment of inertia 2 1 2 2 Change in load moment of inertia 2 6 2 3 Verifying and examining load weights 2 7 Maximum load moment load et y EL 2 8 Meriyino life n 2 8 Verifying static safety coefficients 2 10 2 4 Examining the operating conditions 2 11 Calculate the actuator rotation speed mimina 2 11 Calculating and examining load moment of inertia 2 11 Load tongue calculators ae kan UR d s 2 12 Acceleration time and deceleration time sss rnn 2 13 Examining effective torque and average rotation speed 2 14 Chapter 3 Install
36. optical encoder other models are equipped with a magnetic encoder 2 Battery box is sold separately Recommended battery is Maxell ER 17 33 battery Resolution at the output shaft Encoder resolution 2 131 072 Reduction ratio 11 1 51 1 81 1 101 1 121 1 161 1 Pulse rev 1 441 792 6 684 672 10 616 832 13 238 272 15 859 712 21 102 592 output shaft Resolvable angle per Approx Approx Approx Approx pulse approximate 0 9 02 Approx 0 12 Approx 0 1 0 082 0 061 Reduction ratio 50 1 80 1 100 1 120 1 160 1 Resolution attheoutpul T Y 1 C n Resolution at Meoutpul bulselrev 6 553 600 10 485 760 13 107 200 15 728 640 20 971 520 Resolvable angle per Approx Approx Approx Approx pulse approximate Sec 0 2 0 12 Approx 0 1 0 082 0 062 Absolute position data Absolute position indicates the absolute position within one motor shaft revolution while multi revolution indicates the number of motor revolutions The position of the actuator output shaft is obtained by the following formula Position of actuator output shaft Absolute position Multi revolution data x Encoder resolution Reduction ratio Transfer of encoder data Data is transferred via bi directional communication in a normal condition while power is supplied When the driver control power supply is turned OFF and the driver enters the battery backu
37. 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 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 battery 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 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 For high speeds Also supports high speeds in combination with the hollow planetary speed reducer HPF series 1 1 1 2 Model 1 2 Model numbers for the SHA series actuators and how to interpret them are explained below Examples of standard models SHA 32 A 101 SG B 12 A 200 10
38. s ims 4 Factor 2 78 x10 8 47x10 0 3048 0 0254 Unit 1 m min ft min ft s in s x Factor 3600 1 18x10 3 281 39 37 SI system m s 4 Force S system N Unit kgf b force oz force 4 Factor 9 81 4 45 0 278 Unit kgf Ib force oz force E Factor 0 102 0 225 4 386 SI system N 5 Mass SI system kg Unit Ib oz Factor 0 4535 0 02835 Unit Ib oz Factor 2 205 35 27 SI system kg 6 Angle SI system rad Unit deg min sec 5 Factor 0 01755 2 93x10 4 88x10 Unit deg min sec Factor 57 3 3 44x10 2 06x10 SI system rad 7 Angular speed SI system rad s Unit deg s deg min r s r min 4 Factor 0 01755 2 93x10 6 28 0 1047 Unit deg s deg min r s r min 4 Factor 573 3 44x10 0 1592 9 55 SI system rad s 5 1 Unit conversion 8 Angular acceleration a a n SI system rad s Unit deg s deg min Jb Factor 0 01755 2 93x10 Unit deg s deg min Factor 57 3 3 44x10 SI system rad s 9 Torque SI system N m Unit kgf m Ib ft Ib in oz in 4 Factor 9 81 1 356 0 1130 7 06x10 Unit kgf m Ib ft b in oz in Factor 0 102 0 738 8 85 141 6 SI system N m 10 Inertia moment SI system kg m Unit kgf m s kgf cm s Ib ft Ib ft s Ib in Ib in s oz in oz in s Factor 0 102 10 2 23 73 0 7376 3 42x10 8 85 5 47x10 141 6 SS eee ee 0 0002 ee eee ak Ib ft lb ft s lb in l
39. type without O yp saving control power saving control c r A aem 5 v DC24V 1096 no polarity voltage 3 Current consumption o during suction at A 0 8 0 7 20 C Current consumption during holding at A 0 3 Same as current consumption during suction 20 C 2 Nm 100 160 200 240 320 200 320 400 480 640 Holding torque kgf m 10 16 20 24 33 20 33 41 49 65 2 Inertia moment nd 2 0 5 1 7 9 11 20 5 8 15 23 33 59 g m Actuator total J With brake kgf cm s2 20 52 81 116 207 59 150 235 338 601 Mass with brake kg 8 0 13 8 Allowable number of M stops 100 000 times Allowable number of emergency stops 00 mes 1 Power supply is user s responsibility Use a power supply capable of outputting enough current consumption during suction for the brake 2 The duration for current consumption during suction is 0 5 second or less for the power supply of DC24V 10 3 The values are converted for the output shaft of the actuator 4 The values present total mass of the actuator 5 The service time for normal holding is assured when the brake activates at motor shaft rotation speed of 150 rpm or less 6 The service time for emergency stop is assured when the brake activates at motor speed of 3 000 rpm or less provided the load inertia moment is 3 times of less than that of the actuator The motor shaft holding brake cannot be used for deceleration Do not use the holding brake more than the allowable number of
40. 0 s ulno 1 7 Mechanical accuracy rdi Mechanical accuracy SHA series mechanical accuracy of the output shaft and mounting flange Note All values are T I R Total Indicator Reading SG HP type unit mm Accuracy items SHA20A SHA25A SHA32A SHA40A SHAS8A SHAGBA 1 Output shaft surface runout 0 030 7 0 045 0 050 0 050 2 Output shaft radial run out 0 030 0 035 0 040 0 045 0 050 0 050 z 130000 11 27 shaft 00 0 035 0 040 0 045 0 050 0 050 quz s n 20 0 0 050 0 055 0 060 0 070 0 070 5 te ON ons ome sos om omo Concent between o om om com oom som The values in parenthesis are those combined with the hollow planetary speed reducer HPF series for precision control CG type unit mm Accuracy items SHA20A SHA25A SHA32A SHA40A 1 Output shaft surface runout 0 010 0 010 0 010 0 010 ERE shaft radial run out Outside 0 010 0 010 0 010 0 010 n shaft radial run out Inside 0 015 0 015 0 015 0 015 P o oo EUM ooo ooo vos 00 Shaft and actuator mounting diameter 0 090 0 050 0 055 0 060 Shaft and actuator mounting diameter ooo 0 060 0065 0 070 SG HP type 1 31 Note All values are T I R Total Indicator Reading 1 7 Mechanical accuracy The reported values are measured as follows 1 Output shaft surface runout The indicator is fixed and measures the axial run o
41. 1 7 current 4 Speed at point A rpm 44 295 24 21 17 5 Frequency at Hz 183 197 200 210 227 point A 6 Allowable range C 40 temperature 7 Number of phase 3 Model SHA25A Motor input voltage SHA25A Motor input Item 100V voltage 200V 50 80 100 120 160 50 80 100 120 160 1 Output at point A W 167 191 192 174 127 177 201 204 174 127 2 Voltage at point A V 62 65 65 63 61 115 121 123 123 119 3 Allowable continuous A 4 7 4 7 4 7 45 3 7 30 1 3 0 130 2 6 21 current 4 Speed at point A rpm 47 32 125 5 20 5 15 42 29 24 205 15 6 Hz 196 213 213 205 200 175 193 200 205 200 6 Allowable range C 40 temperature 7 Number of phase 3 Model SHA32A SHA40A Item 50 80 100 120 160 50 80 100 120 160 1 Output at point A W 321 372 373 308 233 493 558 568 568 488 2 Voltage at point A V 109 114 117 116 115 109 114 115 116 123 8 Allowable continuous A 6 0 6 0 5 7 50 41 90 90 9 0 88 72 current 4 Speed at point A rom 34 23 5 20 165 125 30 20 5 16 6 14 2 12 2 5 2 Hz 142 157 167 165 167 125 137 138 142 163 6 Allowable range cc 40 temperature 7 Number of phase 3 Contents Chapter 1 Overview This chapter explains the features functions and specifications o Combinations with drivers and extension cab
42. 20 Ko X10 Nm rad 1 8 2 5 3 4 5 0 7 8 11 14 20 kgf m arc min 0 52 0 75 1 0 1 5 2 3 3 2 4 2 6 0 02 x10 rad 15 4 11 3 15 7 11 1 15 7 11 6 15 4 11 1 arc min 5 8 3 9 5 4 3 8 5 4 4 0 5 3 3 8 K3 x10 Nm rad 2 3 2 9 4 4 5 7 9 8 12 18 23 kgf m arc min 0 67 0 85 1 3 1 7 2 9 3 7 5 3 6 8 1 38 s ulno s ulno 1 10 Output Stiffness Model SHA58A SHA65A Reduction ratio 81 1 or more 81 1 or more Ti Nm 168 235 kgf m 17 24 Ki x10 Nm rad 40 54 kgf m arc min 12 16 01 x107 rad 4 1 4 4 arc min 1 4 1 5 Nm 598 843 T2 Taa 61 86 m X10 Nm rad 61 88 kgf m arc min 18 26 2 x10 rad 11 1 11 3 arc min 3 8 3 9 YA x10 Nm rad 71 98 kgf m arc min 21 29 The table below shows reference torque values calculated for different torsional angle Unit N m Model SHA20A SHA25A SHA32A SHA40A Reduction 50 1 80 1 50 1 80 1 50 1 80 1 50 1 80 1 ratio 51 1 or more 51 1 or more 51 1 or more 51 1 or more 2 arc min 8 11 15 21 31 45 63 88 4 arc min 19 25 35 51 77 108 144 208 6 arc min 30 43 56 84 125 178 233 342 Model SHA58A SHA65A Reduction 81 1 81 1 ratio or more or more 2 arc min 273 360 4 arc min 636 876 6 arc min 1050 1450 1 39 1 10 Output Stiffness Torsional Stiffness Ratio 11 HPF If a torque is applied to the output shaft of the actuator with the input locked the output shaft will torsional deflect roughly in proportion to the torque Wh
43. 240 328 369 373 308 233 487 564 570 560 480 2 Voltage at point A V 97 110 114 118 116 115 109 115 115 116 122 3 Allowable continuous A 6 0 60 6 0 5 7 5 0 4 1 9 0 9 0 9 0 88 72 current 4 Speed at point A rom 115 34 23 20 1 16 5 1 12 5 1 29 205 16 5 14 12 S Frequency at Hz 105 145 155 168 166 168 123 138 139 141 161 point A 6 Allowable range C 40 temperature 7 Number of phase 3 Model SHA58A SHA65A Item 81 101 121 161 81 101 121 161 1 Output at point A W 897 948 863 731 964 963 958 802 2 Voltage at point A V 99 101 101 107 92 92 96 100 3 Allowable continuous A 17 7 17 8 16 4 13 4 22 0 21 9 20 1 16 3 current 4 Speed at point A rpm 12 10 8 5 72 10 8 7 4 62 5 Frequency at Hz 130 135 137 155 108 108 119 133 point A 6 Allowable range C 40 temperature 7 Number of phase 3 Contents CG type Model SHA20A Item 50 80 100 120 160 1 Output at point A W 97 108 108 106 85 2 Voltage at point A V 112 116 116 119 122 3 Allowable continuous A 2 1 2 1 2 1 2 0
44. 2e WHS eui Burjeisul e 3 2 Notices on handling Use of positioning pins The SHA series SG type actuator has positioning pin holes in the output rotary unit and flange fixed to the actuator The SHA series CG type has positioning pin holes only in the output rotary unit Use these pins as necessary For details refer to 1 6 External dimensions P1 11 or the illustrated specifications Positioning pin 2 1 4oyenyoe WHS ou Bulllelsul Output structure Machine Base Positioning pin 2 Example of use of positioning pins 1 Do not drive positioning pins into the output rotary unit but keep proper fitting clearances to the actuator parts Failure to do so may result in lower positional accuracy 2 The hollow planetary speed reducer model is not equipped with a positioning pin Surface treatments Standard SHA series actuators are given the following surface treatments SG HP type Location Surface treatments Housing No treatment aluminum material is exposed Output shaft bearing Raydent Speed reducer rotating part Chrome plating Output flange Nickel plating Raydent Hollow shaft sleeve Nickel plating Bolt Chrome plating CG type Location Surface treatments Housing No treatment aluminum material is exposed Output flange Raydent treatment Speed reducer rotating part Raydent treatment enamel resin is applied to some surfaces Hollow shaft sleeve N
45. 3338 Om e 25 w o S N ges L yen a ji al s 3 o Ui So O ESO iss A Bae 87 86 pan PEO m S 92 le n em K NO Tanpi L 7009 gt eSZ 8 e 0 5 04 7272 60433 ve Mad Joyseuucs 4030 aloy uid Buuonsoq 1 6 External dimensions e SHA58A SG Outlines 1 29 1 6 External dimensions e SHA65A SG Outlines Unit mm UMOUS 104 seouBl19 0 uoisueuulp JOJ sn 19e1uoo 10 BuiweJp uoreuuuuoo ayi xoeuo eseajq poujou Buunjoejnueu ay uo Buipuedep ABA 5 jou ae jeu seougJe o UOISUSWIP 810N Jojoeuuoo 8 qEO Jojoeuuoo ejqeo Jopoou ye uorsuejxo JO OW i Lil ZOL SL Sey mA OLX dr 77 I mos gj d m 9 soo Ez gun Aar indino de EE aloy uid Bujuogisod 599 020 in 70x7 Y mann za e K 5 e AA avan s g SoL N ww MN ooo iz 5 5 6 1 s A Hi a Je w a je 3 E a az r S giz iz 5 EC MES 82 Use Be amp SEE S So an T eS pe Poa m z ni og lez eo x AAN 952 pee a za 2 SLXOLW 9L e e D 82 69 dr e z sooo OD M8 Ca morros mo s pum Q sHBdll ZNv Z S032 ejou uid Buiuonisod iaa 40j2euuoo Jojo 1 3
46. 4 Operable range BE 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 5096 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 pl
47. 461 148917 0612056 1 ulsnoH 10 2euuoo 19poou3 ZH 86 82 8 dead cof ie 14 1 26 1 6 External dimensions e SHA40A SG Unit mm 6x9996 dr sonor 9 lqeo Jepoou3 Outlines 826 X 9LOMV SeJqeo Jojo UMOUS JOU S UE 4 1O uoisueuuip 40 sn joejuoo JO BUIMBIP UONBWIYUOD ayi xoeuo asea g poul ui Guunjoejnuew v uo Men pauioeds jou ase yey saoueJjajo UOISUSWIP ay 310N 2 amv z Z LL 061L peuo qe diAvlb 0212061 4 Busnoy Jojoeuuoo Jopooug 97 08 27 9c dri sira slala 6x996 di e 2009 zo H9 ajou uid Buluonisod 6 7 8 ejou uid Buluonisoq ES g e 3 a 4 8 ar 1 1 1 1 e R 32 RS ul g l 2 s L L 3 es ge Gi b be b R E 5 nas l a b bon da n b 8 5 sz x eoo dr yun Agos ndng EENE layiyli 699066 24 your joejuoo Uld 4 4 11 2950 As doyoul joejuoo uid avli si 0se Gursnoy Jojoeuuoo 1OJOW 1 27 1 6 External dimensions SHA40A CG Outlines Unit mm 2 0 191 uuelp so
48. 6 0 65 0 92 1 1 Transmission Nm 253 257 486 600 torque ve kgf m 26 26 50 61 Model SHA32A SHA40A Item pins Actuator Actuator Number of bolts size 12 M6 8 M10 Bolt installation mm 96 203 P C D Tightening Nm 15 3 52 torque Notes1 2 kgf m 1 6 5 3 Transmission Nm 918 1114 2012 2639 torque kgf m 94 114 205 269 Note 1 female thread material is premised to withstand the bolt tightening torque 2 Recommended bolt Hexagonal bolt per JIS B 1176 Intensity category JIS B 1051 12 9 or higher 3 Calculation conditions Torque efficiency 0 2 Tightening efficiency 1 4 Tightening friction coefficient 0 15 Precautions on installation When designing the assembly take note that application of any abnormal or excessive force that causes deformation of the installation surface may result in performance drop To demonstrate the excellent performance of the SHA series actuator fully take note of the following points When the installation method is as shown in assembly example 2 mentioned above the recessing shown to the right is recommended for the spigot corner section on the actuator fixing member Warping or deformation on the machine mounting surfaces Foreign matter on the mounting surfaces Raised burrs or deformation around the tapped mounting holes Insufficient chamfering of mounting pilot diameter Mounting pilot diameter is out of round 0 2 E 0 2 3 4 1olen1
49. 79 SHA58A SG 195 62 2 87 4 171 2180 531 SHA65A SG 218 69 130 223 2740 741 2 7 2 3 Verifying and examining load weights Maximum load moment load The formula below shows how to calculate the maximum load moment load Mmax Verify that the maximum load moment load Mmax is less than or equal to the allowable load Mc Actuator Load Formula 1 Maximum load moment load Fr max Lr R Fa max La M max g Yo 1000 Symbols used in the formula Mmax Maximum load moment load Frmax Max radial load Refer to Fig 1 Famax Max axial load Refer to Fig 1 Lr La Refer to Fig 1 R Offset amount Refer to Fig 1 and Table 1 Fig 1 External load action Verifying life Calculating average loads average radial and axial loads average output rotational speed When the radial and or axial loads vary during motion calculate and verify the life of the cross roller bearing converting the loads to their average values Formula 2 Average radial load Frav 10 3 ntiFr 10 8 x neta Fre 108 Nntn Fr 10 8 peo eipey Frav nili neto nata The maximum radial load in section t is given by Fri Fra I while the maximum radial load in section ts is given by Fra I I Formula 3 Average axial load Faav 10 3 nitbiFas 1 Fa 93 ngty Fan 108 Faav niti note o Nyt peoj eny
50. A20A Item 50 80 100 120 160 Servo Drive 17007 HA 800L1 3D E 200 Max orgue Nm 73 96 107 113 120 kgf m 7 4 9 8 10 9 11 5 12 2 Allowable Nm 21 35 43 48 48 continuous torque kgf m 2 1 3 6 4 4 4 9 4 9 r min 120 75 60 50 37 5 Torque cohstani Nm A 16 26 33 39 53 kgf m A 1 7 2 7 3 4 4 0 5 4 Max current A 6 1 5 0 4 6 4 1 3 4 2 1 2 1 24 2 0 1 7 EMF constant V rpm 1 8 2 9 3 7 4 4 5 9 Phase resistance 20 C Q 1 4 Phase inductance mH 2 5 Inertia GD 4 kg m 0 21 0 53 0 82 1 2 2 1 moment without J kgf cm s 2 1 5 4 8 0 12 22 brake Inertia GD 4 kq m 0 23 0 60 0 94 1 3 2 4 moment with J kgf cm s 2 4 6 1 9 6 14 24 brake Reduction ratio 1 50 1 80 1 100 1 120 1 160 Permissible moment Nm 187 load kgf m 19 1 Nm rad 25 2x 10 Moment stiffness kgf m arc 7 5 min One way positional accuracy Sec 60 50 50 50 50 Repeatability Sec 5 Bi directional repeatability Sec 75 30 30 30 30 Encoder type Magnetic absolute encoder Single motor revolution 17 Encoder resolution 27 131 072 Motor multi revolution counter 25 65 536 Output resolution Pulse rev 6 553 600 10 485 760 13 107200 15 728 640 20 971 520 Mass without brake kg 2 6 Mass with brake kg 2 7 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistan
51. AC Servo Actuator SHA series manual HarmonicDrive Introduction Introduction Thank you for purchasing our SHA series AC Servo Actuator e Improper handling or use of this product may result in an accident or reduced life of the product Read this document carefully and use the product correctly so that the product can be used safely for many years to come e Product specifications are subject to change without notice e Keep this manual in a convenient location and refer to it as necessary when operating or maintaining the actuator The end user of the actuator should have a copy of this manual SAFETY GUIDE SAFETY GUIDE To use this actuator safely and correctly be sure to read SAFETY GUIDE and other parts of this manual carefully It is important to fully understand the information provided herein before using the actuator NOTATION Important safety information you must note is provided herein Be sure to observe these instructions Indicates a potentially hazardous situation which if not avoided could result in death or serious personal injury WARNING Indicates a potentially hazardous situation which if not avoided may result in minor or moderate personal injury and or damage to the equipment CAUTION Caution Indicates what should be performed or avoided to prevent non operation Or malfunction of the product or negative effects on its performance or function LIMI
52. Color Signal name Remarks ct 1A Red Vcc Power supply input 5V o 1B Black GND Vcc Power supply input 0V GND o 2A Yellovv SD Serial signal differential output 2B Blue SD Serial signal differential output 3A No connection 3B Shield FG 4A Orange Vbat Battery 4B Gray GND bat Battery GND Connector pin layout Connector model 1 1903130 4 4A 1A Pin model 1903111 2 1903116 2 or 1903117 2 V P by AMP 4B 1B Size 58 65 Pin number Signal name Remarks 1 Vbat Battery 2 GND bat Battery GND 3 No connection 4 Vcc Power supply input 5V 5 GND Vcc Power supply input 0V GND 6 No connection 7 No connection 8 SD Serial signal differential output 9 SD Serial signal differential output 10 FG Connector pin layout Connector model CM10 R10P D3 01 by DDK 1 60 s ullino 1 15 Cable specifications 1 61 Chapter 2 Selection guidelines This chapter explains how to select the right SHA series actuator 2 1 SHA series selection 2 2 Change in load inertia moment 2 3 Verifying and examining load weights mi 2 4 Examining operating status mimbo uon l s 2 1 SHA series selection AN SHA series selection Allowable load moment of inertia To achieve high accuracy and performance select a SHA series actuator where the allowable load moment of inertia f
53. External dimensions Unit mm 2 10 19 J9ueIp s lnO lqeO SHA25A CG UMOUS JOU S99UBJOJO uoisueuuip 40 sn joejuoo JO umep uomeuuruoo ay Yoyo esee d poujow Bunnjoejnueu ay uo Buipuedep Mba peyuroeds jou ere y seguelajo UOISUSWIP SUL 8 ON qeo PIBIYS sjes E X PZOMV DMY roulo _ GL 9 qeo 1epoou3 Outlines 9 g amp ip jejno lqe 8109 YXOZ MY e qeo JOJO N i i i a n 5 gt un a Tho Till N w N o Y I do n oo o 1 ssa 40 poH Jun Asejou indino ssa 10 y OH 1 441 69906 3d 1 30101N 1281000 utiq Vds 15 06906E M A N 110101 1991000 Utd Lok MS ASE BuisnoH 40198uu0O9 10101N 2 11606 PROS qe e O0Z 1441 A ulsnoH I dHv P OELEO6L L J0 9euuoo Jepooug 8 udad afo LH 50 1 23 1 6 External dimensions e SHA32A HP Outlines Unit mm eui YO UD eseajg poujew Buunjoejnueu eui uo UMOUS JOU seougl19 0 UOISUSWIP 40 sn joejuoo JO BUIMBIP uomeuuruoo Bulpuedep Area peiioeds jou eje yey seouelejo UOISUBWIP eu ON Due ejqewojy rugp 6 T 10 eyeureip rena seo plelus sies X PZOMV aqe jepooug dWv z LLie081 3980000 del dv v o818061 4 1215 one Lu Leh ee r 1
54. Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 Insulation resistance 100MQ or more by DC500V insulation tester Dielectric strength AC1 500V 1 min Insulation class A Mounting direction Protection structure Can be installed in any direction Totally enclosed self cooled type IP54 The table shows typical output values of actuators 1 If a HA 800 L1 6D E driver is combined with a SHA40A actuator the maximum torque and allowable continuous torque are limited 2 Typical characteristics when combined driven by ideal sine wave with our drivers 3 Value after temperature rise and saturation when the 500 x 500 x 25 mm aluminum radiation plate is installed 4 Value of phase induced voltage constant multiplied by 3 5 For testing conditions refer to 1 12 Shock resistance P1 42 and 1 13 Vibration resistance P1 43 1 5 Motor shaft brake I gt 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
55. Park IL 60301 T 800 921 3332 T 978 532 1800 F 978 532 9406 www HarmonicDrive net Group Companies Harmonic Drive Systems Inc 6 25 3 Minami Ohi Shinagawa ku Tokyo 141 0013 Japan Harmonic Drive AG Hoenbergstrasse 14 D 6555 Limburg Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC Harmonic Drive Xu Rev 20150430
56. TATION OF APPLICATIONS The eguipment listed in this document may not be used for the applications listed below Space equipment Automobile automotive parts Aircraft aeronautic equipment Amusement equipment sport equipment game machines Nuclear equipment Machine or devices acting directly on the human body Household apparatus Instruments or devices to transport or carry people Vacuum equipment Apparatus or devices used in special environments If the above list includes your intending application for our products please consult us Safety measures are essential to prevent accidents resulting in death injury or damage of the equipment due to cauTION Malfunction or faulty operation SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR e PRECAUTIONS FOR ACTUATORS AT THE APPLICATION DESIGN PHASE Always use under followings conditions The actuator is designed to be used indoors Observe the following conditions Ambient temperature 0 C to 40 C CAUTION Ambient humidity 20 to 80 RH Non condensation Vibration Max 25 m s Nocontamination by water oil Nocorrosive or explosive gas Follow the exact instructions in the related manuals to install the actuator in the equipment Ensure precise alignment of the actuator shaft center and the corresponding center in the application Failure to observe this caution may lead to vibration resulting in damage o
57. The maximum axial load in section t is given by Fai while the maximum axial load in section ts is given by Fas Fas Formula 4 Average output rotational speed Nav niti nete nata Nav Time b t tp Fig 2 Illustration of load variation peeds peuonejou inding 2 8 uon l s s ul p n5 uon l s 2 3 Verifying and examining load weights Radial load coefficient and axial load coefficient Determine the values of radial load coefficient X and axial load coefficient Y based on the condition below Table 2 Radial load coefficient X axial load coefficient Y Formula 5 X Y Faav lt 1 5 Frav 2 Frav Lr R Faav La dp 1 0 45 Faav 1 5 Frav 2 Frav Lr R Faav La dp gt 0 67 0 67 Symbols used in the formulas Frav Average radial load N Refer to the average load Faav Average axial load N Refer to the average load Lr La mm Refer to Fig 1 R Offset amount mm Refer to Fig 1 and Table 1 dp Pitch circle diameter of a roller mm Refer to Fig 1 and Table 1 Dynamic equivalent radial load Formula 6 Dynamic equivalent radial load Pc x Fray Symbols used in the formulas Pc Dynamic equivalent radial load Average radial load _ 2 Frav Lr R Faav La de J Y Faav Obtained by formula 2 Average axial load Obtained by formula 3 Pitch circl
58. X I d e qeo Jepoou3 x goe Gb Sa qes JOJON R Rd s 148 1 698098 2 Sd 1010W Uld laWyl 1r909 M A n ou pequoo uid dAv 1 S1 4098 Joppauuos JOJOJN ci ooo N dwe ajqe 1 ddn wou L 5 00Z 2 ger U lanvi Z Z118061 Dpejuoo qu lawvir oeLeosL L Busnoy J0joeuuoo Outlines 1 25 1 6 External dimensions Unit mm e SHA32A CG Outlines UMOUS JOU S99UBJOJO uoisueuuip 40 sn joejuoo JO BuiweJp uolleuulluoo ay Yoyo esee d poujow Buunjoejnueui ay uo Buipuadap Mba peyroeds jou ere yey seguelajo uoisueullp SUL 8 ON 0 13 uueIp 1 1nO lqeo ajqeo jepoou3 Jejeurelp 8g L a L 8109 79 A pl lus 8195 X 2 oS E e qeo 10101 5 v OZL 7 gor za 07 08 82 S9Z 1 9 zd a 76 i I 50 i i E a r eje ay S 9 s e ea lols J R U IN I js 4513 12 LI bo o o o 5 5 YI il L 00Z ss l 10 y 0y PUN Asejou jndino 1 144711 69906 34 100W FORJUOD uld 1449 1172760866 W A 10104 OBIUOO Ul LV IL SLZOSE Busnop 10 29UU02 JOlON T Idwviz nicog 1081002
59. X10 38 40x 10 87 9 x 10 102 x 10 kgf m arc min 7 5 11 3 11 6 25 7 29 6 hed Model SHA40A SHA58A SHA65A Reduction ratio 50 1 or more 80 1 or more 80 1 or more ee MAA Nm rad 179x10 531x10 741x10 3 3 3 ieSe kgf uu 183x10 542 x 10 756 x 10 kgf m arc min 53 2 158 220 Do not apply torque load or thrust to the sleeve hollow shaft directly The sleeve hollow shaft is adhered to the output rotary shaft Accordingly the CAUTION adhered sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve hollow shaft Do not apply any torque moment load or thrust load directly to the sleeve hollow shaft Sleeve hollow shaft Output shaft 1 37 1 10 Output Stiffness Torsional Stiffness The speed reducer uses 1 speed ratio 50 or more for the HarmonicDrive gear and 2 speed ratio 11 for the HPF hollow planetary series The structures of the speed reducers are different so their rotation direction torsional stiffness are different Refer to individual characteristics shown on the graphs and tables If a torque is applied to the output shaft of the actuator with the input locked the output shaft will torsional deflect roughly in proportion to the torque The upper right figure shows the torsional angle of the output shaft when a torque starting from zero and increased to positive side To and negative side To is applied to the output shaft This torque Hyster
60. alculated as 19 x 3 41 16 Nm 4 If k 1 3 the acceleration time and deceleration time can be obtained as follows from the above formulas ta 1 3 x 0 56 1 5 x 2x x 60x 80 427 0 177 s td 1 3 x 0 56 1 5 x 2x x 60 x 80 127 2 x 16 0 141 s 5 If the calculated acceleration deceleration times are too long correct the situation by Reducing load inertia moment Selecting an actuator with a larger frame size 2 4 Examining operating conditions Examining effective torque and average rotation speed One way to check if the heat generated from the actuator during operation would present a problem is to determine if the point of operation determined by the effective torque and average rotation speed is inside the continuous motion range explained in 1 14 Operable range Using the following formula calculate the effective torque Tm and average rotation speed Nav when the actuator is operated repeatedly in the drive pattern shown to the right ta td tr t Tm Effective torque Nm Ta Torque during acceleration Nm Tr Torque at constant speed Nm Td Torque during deceleration Nm Nav Average rotation speed r min N 1 abe Test Test Rotation speed ts Stopped time t N 2 x ta Nx t N 2 x ta Nav t Acceleration time from speed 0 to N s Deceleration time from speed N to O s Operation time at constant speed N s Cycle time s Rotation speed at constant speed
61. anetary speed reducer 11 1 is not included 1 44 s ulno 1 14 Operable range SG type SHA20A s ulno i SHA20A51SG 80 E o B o Lr Radiation plate 320 320 16 mm Motion range during acceleration and deceleration S ou 5096 duty motion range N i Continuous motion range 60 80 100 120 140 Rotation speed r min MSHA20A1015G 120 100 80 60 Torque Nm 40 Radiation plate 320 320 16 mm Motion range during acceleration and deceleration Continuous motion range Rotation speed r min MSHA20A1615G 140 120 100 80 Torque Nm 60 40 1 45 acceleration and deceleration Continuous motion range Rotation speed r min E SHA20A81SG 120 100 80 60 Torque Nm 40 Radiation plate 320 320 16 mm Motion range during acceleration and deceleration 5096 duty motion range m n AT Continuous motion range 1 Rotation speed r min MSHA20A1215G 120 100 80 60 Torque Nm 40 Radiation plate 320 320 16 mm Motion range during acceleration and T Continuous motion range Rotation speed r min 1 14 Operable range SG type SHA25A Specifications for motor input voltage of 100V i SHA25A51SG MSHA25A81SG Radiation plate 350 350 18 mm 150 T Radiation plate 350 350 18 mm 200 175 s ulno 150 L Motion range during Motion range during
62. ase induced voltage constant multiplied by 3 4 For testing conditions refer to 1 12 Shock resistance P 1 42 and 1 13 Vibration resistance P1 43 1 5 1 4 Specifications SG HP type Model SHA32A Item 11 51 81 101 121 161 REL 230 18 REL 230 36 Servo Drive HA 8000 6D E 200 m Nm 62 281 395 433 459 484 Maks torque kgf m 6 3 28 7 40 3 44 2 46 8 49 4 Allowable Nm 20 92 153 178 178 178 kgf m 2 1 9 4 15 6 18 2 18 2 18 2 gar is cle r min 436 4 94 1 59 3 47 5 39 7 29 8 n F Nm A 4 5 21 33 42 50 66 orque constant L L WA 0 46 24 3 4 4 2 5 1 6 8 Max current A 19 17 3 15 2 13 5 12 2 9 9 Allowable continuous A 6 0 6 0 6 0 5 7 5 0 4 1 current 2 EMF constant V r min 0 51 2 3 3 7 4 7 5 6 7 4 Phase resistance 20 Q 0 33 Phase inductance mH 1 4 Inertia GD 4 kg m 0 091 2 0 5 1 8 0 11 20 moment kgf without J 2 0 93 21 52 81 117 207 brake cre Inertia GD 4 kg m 0 11 2 3 5 9 9 2 13 23 moment kgf with J a 1 1 24 60 94 135 238 brake eme Reduction ratio 1 11 1 51 1 81 1 101 1 121 1 161 Permissible Nm 932 580 moment load kgf m 95 59 1 Nm rad 86 1 x 107 100 x 107 kgf Moment stiffness dt 25 7 29 6 min 277117 120 50 40 40 40 40 accuracy Encoder type Magnetic absolute encoder Single motor revolution 2 131 072 Encoder resolution Motor multi 16 revolut
63. at 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 Improved Torque Density High torque SHG series Harmonic Drive amp speed reducers are incorporated into the actuator for precise control and the outer diameter of the actuator has been reduced by 2096 compared to our FHA series 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 approximately 10 times higher than direct drive motors of similar volume weight This is another reason why the SHA series has an outstanding performance advantage 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 Modular design The components of the SHA series such as speed
64. b in s oz in oz in S xipuaddy Unit kgf m s kgf cm s Factor 9 81 0 0981 0 0421 1 356 2 93x10 0 113 1 829x10 7 06x10 SI system kg m 11 Torsional spring constant moment stiffness SI system N m rad Unit kgf m rad kgf m arc min kgf m deg Ib ft deg Ib in deg Factor 0 102 2 97 x10 1 78x10 0 0129 0 1546 Unit kgf m rad kgf m arc min kgf m deg Ib ft deg Ib in deg Factor 9 81 3 37 x10 562 77 6 6 47 SI system N m rad 5 2 xipueddy H Calculating moment of inertia wa Calculating moment of inertia Formula for moment of inertia and mass 1 For cases where the center of gravity is coincident with the axis of rotation The following table includes formulas to calculate mass and inertia moment m mass kg Ix ly 12 inertia moments which rotates around x y z axes respectively kg m G distance from end face of gravity center m p Specific gravity Object form Cylinder Mass inertia gravity center m zR Lp Unit Length m Mass kg Inertia moment kg m Object form Circular pipe Ri Outer diameter Ra Inner diameter Mass inertia gravity center m z R R Lp Ix El R Slanted cylinder Ball m zR Lp m un R 3 I 2mR2 5 Cone m lam Lp 3 2 Ix 3 mR R 10 x Iy 3 m 12 Ge Y me 2 12 gel 4 Square pipe
65. bsolute encoder 1 21 Acceleration time 2 11 Allowable load inertia moment 2 1 Average rotation speed 2 12 C Cable specifications 1 38 Cable taken out from side 4 1 Combinations with drivers and extension cables 1 3 Conformance to overseas standards 7 D Deceleration time 2 11 Detector specifications 1 21 E Effective torque 2 12 Encoder cable specifications 1 39 Environmental conditions 3 5 Examining actuator rotation speed 2 9 Examining operating status 2 9 Extension cable 4 2 External dimensions 1 11 I Inertia momehnt 5 3 Inertia moment of a cylinder 5 5 Installation 3 2 3 5 3 6 Installation location 3 5 L Mi CN 2 6 Load inertia momehnit
66. ce 300 m s 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 100MO 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 Typical characteristics when combined with our HA 800 driver 2 Value after temperature rise and saturation when the 350 x 350 x 18 mm aluminum radiation plate is installed 8 Value of phase induced voltage constant multiplied by 3 4 For testing conditions refer to 1 12 Shock resistance P1 42 and 1 13 Vibration resistance P1 43 1 9 1 4 Specifications CG type m m Model SHA25A Motor input voltage 100V SHA25A Motor input voltage 200V Item 50 80 100 120 160 50 80 100 120 160 REL 230 18 REL 230 18 Sevo Drive REL 230 36 REL 230 36 HA 800L1 6D E 100 80011 30 200 o x Nm 127 178 204 217 229 127 178 204 217 229 o Max torque kaf atm 13 182 208 224 234 13 182 208 221 23 4 Allowable Nm 34 57 72 81 81 40 66 81 81 81 continuous torque kgf m 35 58 73 82 82 41 68 82 82 82 7 rmin 96
67. celeration and deceleration and deceleration Im L i 5096 duty motion range Torque Nm Torque Nm Continuous motion Continuous motion Anni range i range N l 20 10 30 Rotation speed r min Rotation speed r min MSHA32A160CG Radiation plate 400 400 20 mm T I L 2 ii E E DAAE 1 1 i Motion range during acceleration and deceleration i 50 duty motion range Re o Z o gt e Continuous motion range Rotation speed r min 1 56 1 14 Operable range CG type SHA40A E SHA40A50CG HA 800 6D E E SHA40A80CG HA 800 6D E seupnno Em Torque Nm 100 Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Continuous motion N range 40 Rotation speed r min E SHA40A100CG HA 800 6D E E z o e Radiation plate 500 500 25 mm Motion range during acceleration and deceleration 50 duty motion range Continuous motion range 20 Rotation speed r min E SHA40A160CG HA 800 6D E 1 57 Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Continuous motion range 10 15 20 Rotation speed r min Torque Nm Radiation plate 500 500 25 mm t 1 t Motion range during acceleration and deceleration 50 duty mot
68. cture ASS SA 27222 2222 ML LA A SS SE Assembly example 1 Assembly example 2 3 2 1ojenjoe WHS eui Bulllelsul E Jojenjoe WHS ou Bulllelsul 3 2 Notices on handling SHA CG assembly example Output shaft fixing parts Actuator fixing parts 2 Asse mblv example 3 Recommended tightening torque and transmission torque Actuator fixing parts SG HP type Model shaft Actuator Number of bolts size 16 M3 12 M3 Bolt installation mm 62 84 P C D Tightening no torque kgf m 0 20 Pot Nm 203 Transmission torque kgf m 21 The values in parenthesis ar e those combined with the H PF hollow planetary speed reducer Model SHA40A SHA58A SHA65A Item Output Output shaft Actuator shaft Actuator shaft Actuator Number of bolts size 16 M6 12 M6 12 M10 16 M8 16 M10 16 M10 Bolt installation mm 122 158 178 258 P C D Tightening Nm 15 3 15 3 74 74 torque 292 1 2 kgf m 1 56 1 56 7 5 7 5 Transmission Nm 1560 1510 4940 9550 torque ve kgf m 159 154 504 974 3 3 3 2 Notices on handling CG type SHA20A SHA25A Model Item un Actuator Actuator Number of bolts size 12 M4 6 M5 12 M5 8 M6 Bolt installation mm 60 107 72 131 P C D Tightening Nm 4 5 6 4 9 11 torque 5 kgf m 0 4
69. d from all directions The protection class against contact and entry of foreign matter is as follows 5 Protected against entry of dust dirt Entry of water or foreign matter caused by incomplete protection must not affect the operation of the system However rotating and sliding areas oil seal areas and connectors of SHA20 25 32 and 40 are not IP 54 compliant Connectors of SHA58 and 65 are protected in fitted conditions Locate the driver indoors or within an enclosure Do not expose it to the sunlight Altitude lower than 1 000 m above sea level The oil seals in rotating and sliding areas do not fully prevent leakage of lubricant If the actuator is used in a clean room etc provide additional oil leakage prevention measures 3 6 1olen12e WHS ou Burjeisul e 40jenjoe YHS ou Burpjeisu 3 3 Location and installation Installation The SHA 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 outpu
70. e diameter of a roller Refer to Table 1 Radial load coefficient Axial load coefficient Refer to Table 2 Refer to Table 2 Refer to Fig 1 Offset amount Life of cross roller bearing Calculate the life of cross roller bearing vvith the formula 7 Refer to Fig 1 and Table 1 Formula 7 Cross roller bearing life L x 105 x C 10 3 8 10 60xNav fw Pc Symbols used in the formulas Table 3 Load coefficient Te Loaded state fw Average output rotational Nav Speed Obtained by formula 4 Smooth operation free 44 45 C Basic dynamic rated load Refer to Table 1 from impact vibration Pc r equivalent radial Obtained by formula 6 Normal operation 1 2 to 1 5 oa Operation subject to fw Load coefficient Refer to Table 3 1 5to 3 2 9 impact vibration 2 3 Verifying and examining load weights Cross roller bearing life with oscillating motion Use formula 8 to calculate the cross roller bearing life against oscillating movement Formula 8 Cross roller bearing life oscillating 109 90 e ges x x 60xn 0 J Loc fw Pc Symbols used in the formulas Life hour Number of reciprocating oscillation per min C Basic dynamic rated load N Refer to Table 1 Pc Dynamic equivalent radial load__N Obtained by formula 6 fw Load coefficient Refer to Table 3 Fig 3 Oscillating movement 8 oscillating angle 2 m Refer to Fig 3 n cp
71. en the values for torque are gradually changed in sequence from 1 Rated output torque in the positive rotation direction 2 zero 3 Rated output torque in the negative rotation direction 4 zero 5 Rated output torque in the positive rotation direction the values follow a loop 1 2 3 4 5 returns to 1 shown in Fig 1 torque vs torsional angle diagram The gradient of the region Rated output torque from 0 15 x rated output torque is small and the torsional stiffness of the HPF series is the average of this gradient The gradient of the region 0 15 x rated output torque from zero torque is large This gradient is caused by semi partial contact in the meshing region and uneven load distribution from light loads and so forth on the planet gears An explanation is provided below on how to calculate the total torsional quantity on one side from a no load state after a load has been applied by the speed reducer 0 total torsional quantity D torsional quantity on one side given by rated output torque x 0 15 torque T load torque TL rated output torque x 0 15 torque TR x 0 15 A B torsional stiffness g p UE A B Fig 1 Torque vs torsional angle diagram The zero torque part widths of 2 and 4 in the figure on the right torque vs torsional angle diagram is called the hysteresis loss For the HPF series backlash is defined as hysteresis loss rated output torque in the negative rotat
72. eration N 50 duty motion range R Continuous motion range Rotation speed r min 1 58 s umno seuino 1 15 Cable specifications LF Cable specifications The following tables show specifications of the motor and encoder cables of the SHA series actuators Motor cable specifications Size 20 25 32 40 Pin number Color Name Without brake With brake 1 Red Motor phase U Motor phase U 2 White Motor phase V Motor phase V 3 Black Motor phase W Motor phase W 4 Green yellow PE PE 5 Blue No connection Brake 6 Yellow No connection Brake Connector pin layout 28 Connector model 350715 1 Pin model Model Nos Model Nos 20 25 32 40 Motor UVW 350690 1 350547 1 Brake 350690 1 350690 1 Motor PE 350669 1 350669 1 by AMP O Size 58 65 P Name Color zun VVithout brake VVith brake Extension cables A No connection Brake Blue B No connection Brake Yellovv C No connection No connection D Motor phase U Motor phase U Red E Motor phase V Motor phase V White E Motor phase W Motor phase W Black G PE PE Green yellow H PE PE connection connection Connector pin layout Connector model CE05 2A24 11PGHS D by DDK 1 59 1 15 Cable specifications Encoder cable specifications Size 20 25 32 40 O Pin number
73. esis loss vs torsional angle diagram typically follows a loop TE of 0 The torsional stiffness of the SHA series actuator is expressed by the slope of this torque vs torsional angle diagram representing a spring constant unit Nm rad As shown by lower right figure this torque vs torsional angle diagram is divided into three regions and the spring constants in these regions are expressed by Ki K2 and Ka respectively Ki Spring constant for torque region 0 to T1 K2 Spring constant for torque region Ti to T2 Ks Spring constant for torque region over T2 A ajbue 120015401 1800150 Torque Xn 73 Zo aa oo 3 The torsional angle for each region is expressed as follows e Range where torque T is T1 or below 1 Range where torque T is Ti to T 9 914 z T T2 K3 e Range where torque T is T to Ta P 02 o Torsional angle The table below shows the averages of Ti to T3 Ki to Ks and 01 to 02 for each actuator Model SHA20A SHA25A SHA32A SHA40A 80 1 or 50 1 80 1 or 50 1 80 1 or more 50 1 80 1 or Reduction ratio more 51 1 more 51 1 51 1 more T Nm 7 0 14 29 54 T kat m 0 7 14 3 0 5 5 K1 x10 Nm rad 1 3 1 6 2 5 3 1 5 4 6 7 10 13 kgf m arc min 0 38 0 47 0 74 0 92 1 6 2 0 3 0 3 8 01 x107 rad 5 2 4 4 5 5 4 4 5 5 4 4 5 2 4 1 arc min 1 8 1 5 1 9 1 5 1 9 1 5 1 8 1 4 T2 Nm 25 48 108 196 kgf m 2 5 4 9 11
74. f output elements e PRECAUTIONS FOR ACTUATORS IN OPERATION Comply with the towque limits for the actuator Be aware that if by accident the arm attached to the output element hits a solid object the output element may become uncontrollable WARNING Never connect cables directly to a power supply socket Each actuator must be operated with a proper driver Failure to observe this caution may lead to injury fire or damage of the actuator d not apply impacts and shocks The actuator directly connects with the encoder so do not use a hammer during installation Failure to observe this caution could damage the encoder and may cause uncontrollable operation Avoid handling of actuators by cables Failure to observe this caution may damage the wiring causing uncontrollable or faulty operation SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE DRIVER CAUTIONS RELATED TO THE DESIGN Always use drivers under followings conditions The driver generates heat Use under the following conditions while paying careful attention to the heat radiation Mount in a vertical position keeping sufficient clearance 0 C to 50 C 9596 RH or below No condensation No vibration or physical shock No dust dirt corrosive or inflammable gas CAUTION Use sufficient noise suppressing means and safe grounding Any noise generated on a signal wire will cause vibration or improper motion Conform to the following c
75. ickel platin Bolt Chrome plating or Nickel plating The surface treatments given to SHA series actuators do not fully prevent rust 3 5 3 3 Location and installation SEXE Location and installation Operating Environment The environmental conditions of the installation location for SHA series actuators must be as follows Select an appropriate installation location and observe these conditions without fail Operating temperature 0 to 40 C The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet Plan the cabinet size cooling system and device locations so the ambient temperature of the actuator is kept 40 C or below Operating humidity Relative humidity of 20 to 8096 Make sure no condensation occurs Take note that condensation is likely to occur in a place where there is a large temperature change between day and night or when the actuator is started stopped frequently Vibration 25 m s 10 to 400Hz or less Refer to 1 13 Vibration resistance P1 43 Impact 300 m s or less Refer to 1 12 Shock resistance P1 42 Use environment Free from condensation metal powder corrosive gases water oil mist flammable gases etc Protection class Standard products are structurally designed to meet the IP 54 requirements The protection class against water entry is as follows 4 Protected against water splashe
76. inertia of an object in linear motion The inertia moment converted to actuator axis of a linear motion object driven by a screw etc is calculated using the formula below 2 si 2n i CD I Rotary Gravity center center I Inertia moment of a linear operation object converted to actuator axis kg m m mass kg P Linear travel per actuator one revolution m rev 5 4 xipueddy xipueddy H Calculating moment of inertia Moment of inertia of a cylinder The inertia moment of a cylinder may be obtained from the graphs to the right Radius Length I Apply the top graph to aluminum materials specific gravity 2 7 and bottom graph to steel materials specific gravity 7 85 Example Material Aluminum Outer diameter 100mm Length 7mm Shape Column Since the outer diameter is 100mm the radius is 50mm Therefore the above graph gives the inertia moment as follows Approx 1 9 x 10 kg m Calculated value 0 000186 kg m Inertia moment kgm Inertia moment kgm Length mm 1000 1000 100 0 1 0 01 0 001 10 10 20 30 500 700 1000 200 300 50 70 100 Radius R mm Length mm 1000 1000 100 nertia moment specific gravity 7 85 100 0 1 0 01 0 001 50 70 100 200 300 500 700 1000 Radius R mm 10 20 30 Calculating moment of inertia xipueddy i 5 6 Index A A
77. ing the SHA actuator 3 1 Receiving Inspection isean dd 3 1 Inspection procedure m 3 1 3 2 Notices on Dahlia iae t tno 3 2 Installation and transmission torque assesassooooooonontoosnnan 3 2 Precautons on installation a eee iae tet o tet E M E 3 4 USE Of POSITIONING NI AS coo eese oa ben ida 3 5 Surface treatments dades 3 5 3 3 Location and installation ista italian 3 6 Environment once e aa erat Gee 3 7 Installation tco b dengue A R 3 7 Chapter 4 Options dALDDEUORNS a aya dio papa ko sab RON NE 4 1 With near origin and end limit sensors option code L 4 1 Cable taken out from side face option code Y 4 1 Extension GADI S Cc 4 2 Chapter 5 Appendix 5 1 Unit conversion REESE 5 1 5 2 Calculating inertia moment pi ai kil dak ko kad ke a ie nett 5 3 Formula of mass and inertia 5 3 Inertia m ment teylindehc ee p 5 5 Contents Overview of the SHA series Radiation plate 350 350 18 150 r 125 AAA A AA Motion range during 100 r T acceleration and deceleration 9 75 r E DANN s s Laba E h afe ki e 50 r 50 duty range 2p SS dic 2600 r m zr
78. ion counter 27 65 536 Output resolution Pulse rev 1 441 792 6 684 672 10 616 832 13 238 272 15 859 712 21 102 592 Mass without brake kg 9 4 5 9 Mass with brake kg 9 7 6 2 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 Mounting direction Can be installed in any direction Insulation resistance 100MQ or more by DC500V insulation tester Dielectric strength AC1 500V 1 min Insulation class A Protection structure Totally enclosed self cooled type IP54 The table shows typical output values of actuators 1 When combined with a HA 800 driver 2 Value after temperature rise and saturation when the 400 x 400 x 20 mm aluminum radiation plate is installed 8 Value of phase induced voltage constant multiplied by 3 4 For testing conditions refer to 1 12 Shock resistance P1 42 and 1 13 Vibration resistance P1 43 1 6 s ulno 1 4 Specifications
79. ion direction from rated output torque in the positive rotation direction 2 The HPF series has a backlash of less than 3 Tr minutes less than 1 minute with special products 5 with factory settings Torsional angle 4 1 5 x Torque Hysteresis loss TRXO 15 backlash Model speed ratio SHA25A SHA32A m Item 11 11 Ta rated output torque arci 3 3 an 7 stiffness 7 torsional quantity on one Backlash 107rad 87 8 7 3 side given b Tax 5 Rated torque TR Nm 21 44 Torsional quantity arc min 2 0 1 7 on one side given v by Ta x 0 15 D 10 rad 5 8 4 9 Torsional stiffness kgf m arc min 1 7 3 5 A B x10 Nm rad 5 70 11 7 1 40 seuino seuino 1 11 Direction of rotation IERI Direction of rotation SG HP As a default Forward rotation direction of the actuator is defined as counterclockwise CCW rotation as viewed from the load shaft when a Forward command FWD command pulse is given to a SHA series actuator from a HA 800 driver This rotation direction can be changed on the HA 800 driver by selecting SP50 Command polarity setting under System parameter mode 3 Setting of SP50 Command polarity setting Counterclockwise rotation direction FWD command REV command Set value pulse pulse Setting CCW 0 counterclockwise CW 277 Default direction CCW 1 cw clockwise countercl
80. ion range 1 Continuous motion range Rotation speed r min MSHA40A120CG HA 800 6D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration Continuous motion range 10 Rotation speed r min 1 14 Operable range CG type SHA40A IM SHA40A50CG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration __ and deceleration 50 duty motion range N Continuous N N motion range N N 20 40 60 Rotation speed r min MSHA40A100CG HA 800 24D E 2 o 22 g e 800 700 600 500 400 300 200 Radiation plate 500 500 25 mm Motion range during acceleration and deceleration a Rotation speed r min MSHA40A160CG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and deceleration b T 5096 duty motion range Continuous motion range 15 20 Rotation speed r min MSHA40A80CG HA 800 24D E Torque Nm 800 700 600 500 400 Radiation plate 500 500 25 mm Motion range during acceleration and deceleration 5096 duty motion range EN Continuous motion range Rotation speed r min E SHA40A120CG HA 800 24D E Torque Nm Radiation plate 500 500 25 mm Motion range during acceleration and decel
81. iven with a better servo response For example assume that the load moment of inertia increases by N times The total inertia reflected to the motor shaft having an effect on servo response is as follows The symbols in the formulas are Js Total inertia moment converted to motor shaft Jm Inertia moment of motor R Reduction ratio of SHA series actuator L Ratio of load inertia moment to inertia moment of motor N Rate of change in load inertia moment Direct drive Before Js Jm t L After Js Jm 1 NL Ratio ds gc itt Driven by SHA series 2 Before Js 1 E After da 1 EE Ratio Je Jg lt NL R R R 1 L R With the SHA series the value of R increases from 50 to 161 which means that the value increases substantially from R 2 500 to R 25 921 Then the ratio is Js Js 1 This means that SHA drive systems are hardly affected by the load variation Therefore it is not necessary to take changes of the load moment of inertia into consideration when selecting a SHA actuator or when setting up the initial driver parameters 2 6 s ul p n5 uon l s s ul p n5 uon l s 2 3 Verifying and examining load weights A3 Verifying and examining load weights The SHA series actuator incorporates a precise cross roller bearing for directly supporting an external load output flange To demonstrate the full ability of the actuator verify the maximum load moment load as well as the life
82. les Specifications iow saeco coke dee debe ewe ee asas teres ce Motor shaft holding brake ses Y YY YL T LL External dimensions Mechanical accuracy One Way positional G z 22 2 Detector specifications Absolute encoder HH 1 Rotation direction m MR 2 Shock resistance MH 3 Resistance to 4 5 gt B Oo O S O Qn Operable range Hem HH Cable specifications a s a EE a c lb 1 seuino 1 1 Overview IDE 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 amp 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 newly added 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 th
83. lute position and the number of revolutions is calculated with dual redundant systems and comparison checks are continually performed on the data This highly reliable design allows for encoder errors to be self detected should they ever occur In addition a backup capacitor is installed in the encoder to retain the absolute position data even when the actuator is disconnected from the driver for the purpose of maintenance etc Internal backup battery It is recommended that you replace the backup battery in the HA 800 driver while the driver is receiving power Specifications Magnetic sensor electronic battery backup type Single rotation optic multiple revolution magnetic sensor electronic battery backup type Type Resolution per motor revolution 17 bits 27 131 072 pulses Maximum cumulative motor shaft 16 voluti na 16 bits 2 65 536 revolutions cumulatively Maximum permissible motor shaft rotational speed 7000r min Check method in which two identical single revolution detectors are compared Check method in which two identical cumulative revolution counters are compared 1 year when power is not supplied Safety redundancy Backup time by external battery 30 minutes after 3 hours of charge ambient temperature of 25 C axis stopped For backup while the driver and encoder are disconnected briefly Backup time by internal battery 1 Size 20 is equipped with an
84. m If the oscillating angle is 5 or less fretting wear may occur because the oil film does not form effectively on the contact surfaces between the race and rolling elements of the cross roller bearing In such cases consult with our engineering staff Verifying static safety coefficients Static equivalent radial load Formula 9 Static equivalent radial load Po Frzax 4 e 0 44Fanax Symbols used in the formulas Frmax Max radial load N Refer to Fig 1 Famax Max axial load N Refer to Fig 1 Refer to the maximum load weight calculation methods dp Pitch circle diameter of a roller mm Refer to Table 1 Mmax Max moment load Nm Static safety coefficient Generally the static equivalent load is limited by the basic static rated load Co However the specific limit should be calculated according to the using conditions and required conditions In this case calculate the static safety coefficient fs by formula 10 Table 4 shows general values representing using conditions Calculate the static equivalent radial load Po by formula 9 Formula 10 Static safety coefficient Table 4 Static safety coefficients ijs Co Using conditions fs Po High rotational accuracy gt 3 is required etc E Symbols used in the formulas Operation subject to Sy fs Static safety coefficient Refer to Table 4 impact vibration Co Basic static rated load Refer to Table 1 Normal
85. mm Radiation plate 350 350 18 mm Motion range during r acceleration and Motion range during deceleration and deceleration Torque Nm Torque Nm 50 duty motion range M F Continuous motion range L Continuous motion range Rotation speed r min Rotation speed r min MSHA25A1215G MSHA25A161SG Radiation plate 350 350 18 mm Radiation plate 350 350 18 mm Motion range during acceleration and acceleration and deceleration deceleration Torque Nm Torque Nm L Continuous L Continuous motion range motion range Rotation speed r min Rotation speed r min 1 47 1 14 Operable range SG HP type SHA32A MSHA32A11HP Torque Nm Continuous motion Radiation plate 400 400 20 mm AI Motion range during acceleration and deceleration Rotation speed r min E SHA32A81SG Torque Nm Radiation plate 400 400 20 mm T Motion range during acceleration and deceleration Continuous motion range 20 Rotation speed r min MSHA32A1215G Torque Nm Radiation plate 400 400 20 mm Motion range during acceleration and deceleration Continuous F motion range Eto e beke base No 10 20 30 Rotation speed r min i SHA32A51SG Torque Nm Radiation plate 400 400 20 mm
86. ncoder resolution 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 Mass vvith brake kg 32 40 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 8095RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s No dust no metal povvder 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 Mounting direction nsulation resistance 100MO or more by DC500V insulation tester Dielectric strength AC1 500V 1 min Insulation class A 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 8 Value of phase induced voltage constant multiplied by 3 4 For testing conditions refer to 1 12 Shock resistance P 1 42 and 1 13 Vibration resistance P1 43 1 8 s ulno s ulno 1 4 Specifications CG type Actuator Model SH
87. ng lqeo pleius sies e x pzomv ajqeo jepoou3 A A ay yo u aseajd poyjew Buuniopjnupuu UMOUS JOU SeoutJoJo UOISUSUIIP 10 sn joejuoo JO BuiweJp uollguuljuoo uo Buipuadap ABA payloads jou eje yey seguelajo UOISUSWIP SUL 8 Jano ejqe5 8109 X 9LOMV i i T e t e a olm Ms Sem S8 B 3 ju Ti x d s SSIS S So I oblbo bo e aje o WIS 1 al egeo 1010 IdWvli 69905E 401011 JOBIUOD Lig LAWY IL LYSOSE Me Fu 1010W 1981009 Ul 144 11 5 066 _ ulsnoH 1O19 uuo2 JOJOWN pejuooqe BuisnoH 10 2euuoo 19poou3 Buwajweyo 19 dq OL lde q qo H 89 1 28 Unit mm UMOUS Jou SADUBJA O uoisueuuip 410 sn 12e1uoo JO BUIMBIP uoljeuuljuoo y 398u2 eseajg poul ui Buunjoejnueui ay uo Buipuedep Hea p ll ds jou ase Jey seougJo o UOISUSWIP Sy 9 ON 1ojo uuoo o qea Hm JOJOJN oc 1oppauuoo ajqea uoisuejxe Jepoou3 x Fri G29 EZ g D ES 7095 dpi OX 19 dr Z SE 4 9 Cast ZHOLO 922 S yun Anejos ndino g D s ejoy uid Butuonisodq VES t Ea e T W yl aao pl Tapan ere e N Pe
88. nsmission torque eee 3 2 U Unit ci eee eee eee eere 5 1 W With near origin and end limit sensors 4 1 Warranty Period and Terms The equipment listed in this document is warranted as follows ME Warranty period Under the condition that the actuator are handled used and maintained properly followed each item of the documents and the manuals all the applicable products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2 000 hours of operation time MH Warranty terms All the applicable products are warranted against defects in workmanship and materials for the warranted period This limited warranty does not apply to any product that has been subject to 1 user s misapplication improper installation inadequate maintenance or misuse 2 disassembling modification or repair by others than Harmonic Drive Systems Inc 3 imperfection caused by a non applicable product 4 disaster or others that does not belong to the responsibility of Harmonic Drive Systems Inc Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems Inc to be defective Harmonic Drive Systems Inc shall not be liable for consequential damages of other equipment caused by the defective products and shall not be liable for the incidental and consequential expenses and the labor costs for detaching
89. nt stiffness kgf m arc 11 6 11 3 11 6 min One way positional 2 Sec 50 40 40 40 40 120 50 40 40 40 40 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution 27 131 072 Motor multi revolution counter 215 65 536 10 61 6 684 13 238 15 859 21 102 1 441 6 684 10616 13 238 15859 21 102 Output resolution Pulse rev 672 As 272 712 592 792 672 832 272 712 592 Mass without brake kg 295 zu um Mass with brake kg 3 1 5 1 3 1 Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 80 RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 100MQ 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 a HA 800 driver 2 Value after temperature rise and saturation when the 350 x 350 x 18 mm aluminum radiation plate is installed 8 Value of ph
90. o HA 800 Series AC Servo Driver Manual This model is compatible with CG type only Stand CG type only Astand is available for purchase to use the CG type for table drive For details contact our sales office 4 1 Options Extension cables These extension cables are used to connect the SHA series actuators and HA 800 drivers Two types of extension cables are available for motor including brake wire and absolute encoder You must use an extension cable to connect your SHA series actuator and HA 800 driver Motor extension cable SHA 20 25 32 40 Size 40 requires an extension cable when combined with the HA 800 6D E EWD MB A06 TN3 Cable length 03 3m 05 5m 10 10m in the model code indicates the cable length 03 3m 05 5m 10 10m Cable length Driver side Solder processing Outer diameter 7 8 W black V V white x U red Wiring display seal Unit mm e SHA 40 when combined with the HA 800 24D E EWD MB A06 TMC Cable length 03 3m 05 5m 10 10m Cable length Solder processing Outer diameter 7 8 Driver side 80 wasa suondo Actuator side SHA20A 25A 32A 40A Actuator side HALOA Unit mm suondo gt 4 1 Options e SHA 58 65 EWD MB D09 TMC Cable length 03 3m 05 5m 10 10m Actuator side Driver side 44 4 41 3 Cable length
91. ockwise direction r direction CG As a default the rotation direction is defined as clockwise CW rotation as viewed from the output shaft when a FWD command pulse is given from a HA 800 driver This rotation direction can be changed on the HA 800 driver by selecting SP50 Command polarity setting under System parameter mode 3 Setting of SP50 Command polarity setting FWD command REV command Set value pulse pulse Setting CVV CCVV 0 clockwise direction counterclockwise Default direction CCW 1 counterclockwise CW TT direction clockwise direction 1 41 1 12 Shock resistance i P4 Shock resistance The actuator can withstand a 300 m s shock in all directions up down left right and front rear Impact acceleration 300 m s In our shock resistance test the actuator is tested 3 times in each direction Actuator operation is not guaranteed in applications where impact exceeding the above value is constantly applied 1 42 s ulno seuino 1 13 Vibration resistance IE Vibration resistance The actuator can withstand a 25 m s vibration acceleration frequency 10 to 400 Hz in all directions up down left right and front rear Vibration acceleration 25 m s frequency 10 to 400Hz In our test the actuator is tested for 2 hours in each direction at a vibration frequency sweep period of 10 minutes Vibration resistance test 1 43 1 1
92. on and deceleration 1 50 duty motion range 17 m N Continuous motion N range v 1 Torque Nm 20 30 40 Rotation speed r min MSHA25A160CG Radiation plate 350 350 18 mm Motion range during acceleration and deceleration 4 5096 duty motion range Torque Nm Continuous motion range 20 Rotation speed r min 1 55 i SHA25A80CG Radiation plate 350 350 18 mm 200 Motion range during acceleration and deceleration 5096 duty motion range Torque Nm Continuous motion range 40 Rotation speed r min MSHA25A120CG Radiation plate 350 350 18 mm Motion range during acceleration and deceleration Torque Nm 50 duty motion range r Continuous motion range 20 Rotation speed r min 1 14 Operable range CG type SHA32A MSHA32A50CG MSHA32A80CG Radiation plate 400 400 20 mm 300 450 s ulno 400 Motion range during acceleration Motion range during acceleration deceleration and deceleration mt 4 50 duty motion range Torque Nm Torque Nm ho e ai am am Continuous motion i i Continuous motion range range 40 Rotation speed r min Rotation speed r min i SHA32A100CG i SHA32A120CG Radiation plate 400 400 20 mm Radiation plate 400 400 20 mm 500 500 Motion range during acceleration 1 Motion range during ac
93. onditions Keep signal and power leads separated Keep leads as short as possible Ground actuator and driver at one single point minimum ground resistance class D less than 100 ohms Do not use a power line filter in the motor circuit Pay attention to negative torque by inverse load Inverse load may cause damages of drivers Please consult our sales office if you intent to apply products for inverse load Use a fast response type ground fault detector designed for PWM inverters Do not use a time delay type ground fault detector Safety measures are essential to prevent accidents resulting in death injury or damage of the equipment due to malfunction or faulty operation e CAUTIONS FOR USAGE Never change wiring while power is active Make sure of power non active before servicing the products Failure to observe this caution may result in electric shock or personal injury WARNING Do not touch terminals or inspect products at least 5 minutes after turning OFF power Otherwise residual electric charges may result in electric shock Make installation of products not easy to touch their inner electric components SAFETY GUIDE Do not make a voltage resistance test Failure to observe this caution may result in damage of the control unit Please consult our sales office if you intent to use a voltage resistance CAUTION test Do not operate control units by means of power ON OFF switching S
94. ontact the dealer Refer to the section 1 2 in this manual for the detail of the model codes 3 Check driver combinations The applicable SHA series actuator models are shown in the ADJUSTED FOR USE WITH field of the nameplate on the HA 800 driver 4 Check driver input voltages The driver s model code is shown in the TYPE field of the driver s nameplate The last three digits of this model code indicate the input voltage to be input 100 indicates a single phase 100VAC power supply 200 indicates a 3 phase single phase 200VAC power supply If the voltage to be supplied is different from the label voltage immediately contact the dealer it was purchased from Only connect the actuator specified on the driver label The characteristics of this driver have been adjusted according to the actuator Wrong combinations of drivers and actuators may cause low torque problems WARNING Or overcurrent that may cause thermal damage to the actuator injury or fire Do not connect a supply voltage other than the voltage specified on the driver label The wrong power supply voltage may damage the driver resulting in physical injury or fire 3 1 3 2 Notices on handling S272 Notices on handling Handle the SHA series actuator carefully by observing the notices specified below 1 Do not apply any excessive force or impact especially to the actuator s output shaft 2 Do not put the SHA series actuator on a table shelf etc
95. operation 21 5 Po Static eguivalent radial load Obtained by formula 9 2 10 uon l s s ul p n5 uon l s 2 4 Examining operating conditions Ad Examining operating conditions The actuator generates heat if started stopped repeatedly or operated continuously at high speed Accordingly examine whether or not the generated heat can be accommodated The study is as follows Calculate the actuator rotation speed Calculate the required rotation speed rpm of the load driven by the SHA series For linear operation use the rotation speed conversion formula below Screw pitch mm ion speed r mi Linear travel speed mm min Rotation speed r min SCION 1 30 100 300 1000 3000 Linear travel speed mm min Select an appropriate reduction ratio from 11 51 81 101 121 and 161 so that the calculated rotation speed does not exceed the maximum rotational speed of the SHA series actuator Calculating and examining load moment of inertia Calculate the load inertia moment of the load driven by the SHA series actuator Refer to A 2 Calculating moment of inertia P5 3 for the calculation Based on the calculated result tentatively select an SHA actuator by referring to Allowable load moment of inertia P2 1 2 11 2 4 Examining operating conditions Load torque calculation Calculate the load torque as follo
96. or the actuator is not exceeded Note The recommended values in the graphs below should be followed if you wish to shorten the transient vibration period during positioning moves or operate the actuator at a constant speed in a stable manner It is possible to operate the actuator when exceeding the allowable value if the actuator is accelerated and decelerated gradually commands given from the host to the servo driver are adjusted or the servo driver s vibration suppression function is used Refer to A 2 Calculating moment of inertia P5 3 for the calculation of inertia moment SG type kg m Allowable load inertia moment kg m Allowable load inertia moment 100 4 1000 I 5 l SHA40A121 SHA40A1011 I 2 121 100 SHA40A161 SHA40AB1 71 4 SHA25A161 SHA25A101 10 1 a J SHA40A51 t SHA25A81 A SHA25A51 k I i e SHA32A161 SHA32A101 SHA20AT61 SHA20A101 i SHA20A121 SHA20AB1 SHA20A51 SHA32A121 SHA32A81 SHA32A51 1 l 1 I 1 0 20 40 60 80 100 120 0 20 40 60 80 100 Max rotational speed r min Max rotational speed r min kg m Allowable load inertia moment Allowable load inertia moment 10000 r p 10000 a
97. 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 s ulno Specifications SG HP type Model SHA20A Item 51 81 101 121 161 Tvpe Dry non excitation actuation type without power yp saving control Brake excitation 5 duy voltage V DC24V 10 no polarity Current consumption during suction A 0 37 at 20 C Current Se n A Same as current consumption during suction at 20 C zA Nm 31 49 61 73 97 Holding torgue kgf m 3 1 5 0 6 2 7 4 9 9 6074 Inertia moment pu 0 26 0 65 1 0 1 4 2 6 Actuator total W with brake kgf cm s 2 7 6 6 10 15 26 Mass with brake kg 2 1 Allowable number of normal stops 100 000 times Allowable number of emergency 200 times stops Model SHA25A SHA32A Item 1 51 81 101 121 161 11 51 81 101 121 161 Type Dry non excitation actuation type with power saving control Brake excitation a LE voltage V DC24V x 10 no polarity Current consumption 3 during suction 2 0 8 0 8 at 20 C Current consumption during holding a 0 3 0 3 at 20 C Nm 11 51 81 101 121 161 22 102 162 202 242 322 Holding torque kgf m 1 1 5 2 8 3 10 12 16 2 2 10 17 21 25 33 E GD7 4 Inertia moment kg m 0
98. otor input voltage 200V 51 81 101 121 161 11 51 81 101 121 161 REL 230 18 Servo Drive H 100 REL 230 36 80011 30 200 ER Nm 127 178 204 217 229 26 127 178 204 217 229 m bn kgf m 13 182 208 221 234 27 13 182 208 221 23 4 Allowable Nm 35 58 73 81 81 90 4i 67 81 81 81 continuous ERE kgfm 36 59 74 82 82 092 42 68 82 82 82 WA rpm 941 593 475 397 298 509 1 109 8 69 1 554 463 348 oo 111 179 2 27 36 42 19 31 39 46 62 gu kg mA 1 1 18 23 27 36 043 20 32 40 47 63 Max current A 149 130 124 109 90 89 86 75 70 63 52 Allowable continuous A 47 az 47 45 87 30 30 30 29 26 21 current EMF constant V rpm 13 20 25 30 40 047 22 35 43 52 69 Phase resistance 200 Q 0 4 1 2 Phase inductance mH 1 0 3 GD 4 kg m 056 1 4 2 2 3 2 5 6 0 029 0 56 1 4 2 2 3 2 5 6 Inertia moment KS an without brake J g 57 14 22 32 57 0 30 57 14 22 32 57 3 GD 4 kg m 0 66 1 7 2 6 3 7 6 6 0 034 0 66 1 7 2 6 3 7 6 6 Inertia moment kerzen with brake J g Cu 67 17 26 38 67 035 67 17 26 38 67 Reduction ratio 1 51 1 81 1 101 1 121 1 161 1 11 1 51 1 81 1 101 1 121 1 161 Permissible Nm 258 410 258 moment load kgf m 26 3 41 8 26 3 Nm rad 39 2 x 107 39 2 x 10 Mome
99. p mode communication stops 1 35 1 9 Encoder specifications Absolute encoder Output shaft single revolution absolute model Option With the standard actuator when it continues to rotate in just one direction the absolute encoder eventually exceeds the number of revolutions that can be detected with multi revolution detection and it becomes impossible to manage position information accurately With the output shaft single revolution absolute model each time the output shaft turns through single revolution the cumulative multi revolution counter is cleared to 0 This is how position information is accurately managed when the shaft continuously turns in just one direction 1 36 seuino 1 10 Output Stiffness EN LE Output Stiffness Moment stiffness The moment stiffness refers to the torsional stiffness when a moment load is applied to the output shaft of the actuator shown in the figure For example when a load is applied to the end of an arm attached on the output shaft of the actuator the face of the output shaft of the actuator tilts in proportion to the moment load The moment stiffness is expressed as the load gradient angle s ulno Gradient Em Model sHa20A SHA25A SHA32A Reduction ratio 50 1 or more 11 1 50 1 or more 11 1 50 1 or more WARY Ad ooo nn Nm rad 25 2x 10 37 9x 10 39 2x 10 86 1 10 100 10 oment 3 8 7x 10 3 3 3 E ELEC kgf m rad 25 7
100. r min Calculation example 2 An example of SHA25A51SG B09A200 is explained Operating conditions Accelerate an inertia load and then let it move at a constant speed followed by deceleration based on conditions similar to those used in calculation example 1 The travel angle per cycle is 120 and the cycle time is 1 second 1 The travel angle is calculated from the area of the rotation speed vs time diagram shown above In other words the travel angle is calculated as follows 0 N 60 x tr ta td 2 x 360 Accordingly tr 0 6 x N ta td 2 When 0 1202 and ta 0 177 s td 0 141 s N 80 r min in calculation example 1 are applied to this formula tr is calculated as 0 091 s 2 Next calculate the torque during acceleration and torque during deceleration Based on the acceleration deceleration time formulas in the preceding section the relational expressions for torque during acceleration and torque during deceleration if k 1 are as follows Ta dard x2xz 60xN ta Ti land x 2x x GOXN ta 2xTe T When the values in calculation example 1 are applied to this formula Ta 98 Nm and Td 90 Nm are obtained 9 Calculate the effective torque Apply the values in 1 and 2 and Tr 0 Nm andt 1 s to the above formulas 53 Nm E x 177 0 x 0 094 902 x 0 141 ME 2 1 4 Calculate the average rotation speed Apply the values in 1 and N 80
101. ration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 Mounting direction Protection structure Insulation resistance 100MO or more by DC500V insulation tester Dielectric strength AC1 500V 1 min nsulation class A Can be installed in any direction Totally enclosed self cooled type IP54 The table shovvs typical output values of actuators 1 Typical characteristics when used with HA 800 2 Value after temperature rise and saturation when the 400 x 400 x 20 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 P1 42 and 1 13 Vibration resistance P1 43 1 4 Specifications CG type Model SHA40A Item 50 80 100 120 160 50 80 100 120 160 REL 230 36 REL 230 40 A Max toraue Nm 333 548 686 802 841 523 675 738 802 841 POEM kgf m 34 0 55 9 70 0 81 8 85 8 53 4 68 9 75 3 81 8 85 8 o Allovvable Nm 92 156 196 235 315 157 260 327 382 382 o continuous torque kgf m 9 4 15 9 20 0 24 0 32 1 16 0 26 5 33 3 39 39 pde rpm 80 50 40 333 25 80 50 40 333 25 Nm A 25 40 50 60 80 25 40 50 60 80 2 2 7 SUR 25 414
102. resistance P1 43 1 7 1 4 Specifications SG type Model SHA58A SHA65A Item 81 101 121 161 81 101 121 161 Servo Drive HA 800L1 24D E 200 HA 800L1 24D E 200 Nm 1924 2067 2236 2392 2400 2990 3263 3419 H i kgf m 196 211 228 244 245 305 333 349 Allowable Nm 714 905 969 969 921 1149 1236 1236 torque i 73 92 99 99 94 117 126 126 2 rpm 37 0 29 7 248 18 6 34 6 27 7 23 1 17 4 tant NA 54 68 81 108 54 68 81 108 watak kgf m A 5 5 6 9 8 3 11 0 5 5 6 9 8 3 11 0 Max current A 45 39 36 30 55 55 51 41 Allowable continuous A 17 7 17 8 16 4 13 4 22 0 21 9 20 1 16 3 current EMF constant V rpm 6 1 7 6 9 1 12 1 6 1 7 6 9 1 12 1 d Q 0 028 0 028 Phase inductance mH 0 29 0 29 Inertia GD 4 kg m2 96 149 214 379 110 171 245 433 moment kgf without J 2 980 1520 2180 3870 1120 1740 2500 4420 brake cos Inertia GD 4 kg m 106 165 237 420 120 187 268 475 moment kgf with J 2 1090 1690 2420 4290 1230 1910 2740 4850 brake cms Reduction ratio 1 81 1 101 1121 1 161 1 81 1 101 1 121 1 161 Permissible Nm 2180 2740 moment load kgf m 222 280 Nm rad 531 x 10 741 x 10 kgf Moment stiffness n 158 220 min One Way po sa 40 40 40 40 40 40 40 40 accuracy Encoder type Magnetic absolute encoder Single motor revolution 27 131 072 E
103. rse or forward direction and the difference between the stop position after this rotation and the reference position is measured The average value from repeating this 7 times in each direction is shown and the maximum value measured at the 4 locations on the output shaft is shown CG type Unit Second SHA20A SHA25A SHA32A SHA40A 50 1 75 60 60 50 80 1 of more 30 25 25 20 P1 P7 Stop position after forward rotation P1 P7 Stop position after reverse rotation X1 X7 Difference between the stop positions after forward and reverse rotations Bi directional repeatability X1 X2 X7 7 1 34 s ulno 1 9 Encoder specifications Absolute encoder LEM Encoder specifications Absolute encoder The absolute encoder used in the SHA series is a multi turn magnetic absolute encoder This encoder consists of 17 bit single turn absolute encoder and a 16 bit cumulative counter for detecting the number of total revolutions This encoder constantly monitors the absolute machine position and by means of a backup battery stores the position regardless of whether the driver or external controller power is turned ON or OFF Accordingly once the origin is detected when the machine is first installed homing is not required for subsequent power ON operation This facilitates an easy recovery after a power failure or machine breakdown Additionally when the power is ON the single revolution abso
104. sition The one way positional accuracy is shown in the table below SG HP type Unit Second Model Reduction SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A 11 1 120 120 51 1 60 50 50 50 81 1 or more 50 40 40 40 40 40 CG type Unit Second Model SHA20A SHA25A SHA32A SHA40A Reduction ratio 50 1 60 50 40 40 80 1 or more 50 40 30 30 Repeatability CG type The repeatability is measured by moving to a given theoretical position seven times each time approaching from the same direction The actual position of the output shaft is measured each time and repeatability is calculated as the 1 2 of the maximum difference of the seven data points Measured values are indicated in angles arc sec prefixed with CG type Unit Second SHA20A SHA25A SHA32A SHA40A Ratio to full speed 1 33 5 5 4 4 1 8 Positional accuracy penosa B L J U N N s ulno 128 k see P1 P7 Stop position X Maximum error Repeatability X 2 Bi directional repeatability CG type For the bi directional repeatability the shaft is rotated beforehand in the forward or reverse direction and the stop position for that rotation is set as the reference position An instruction is given to rotate the shaft in the same direction and from the stopped position the same instruction is given in the reve
105. solution Pulse rev 57 760 200 640 520 600 760 200 640 520 Mass without brake kg 3 95 Mass with brake kg 4 1 1 4 Specifications BN Environmental conditions Operating temperature 0 to 40 C Storage temperature 20 to 60 C Operating humidity storage humidity 20 to 8096RH no condensation Resistance to vibration 25 m s frequency 10 to 400Hz Shock resistance 300 m s 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 seuino Motor insulation Insulation resistance 100MQ 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 Typical characteristics when combined driven by ideal sine wave with our drivers 2 Value after temperature rise and saturation when the 350 x 350 x 18 mm aluminum radiation plate is installed 8 Value of phase induced voltage constant multiplied by 3 4 For testing conditions refer to 1 12 Shock resistance P1 42 and 1 13 Vibration resistance P1 43 1 4 Specifications CG type Model SHA32A Item 50 80 100 120 160
106. sumption A 0 9 during suction at 20 C Current consumption A Same as current consumption during during holding at 20 C suction A 3 Nm 1220 1520 1820 2420 Holding torque kgf m 124 155 185 246 Inertia moment n 120 187 268 475 Actuator total J With brak With brake kgf cm s 1230 1910 2740 4850 Mass with brake kg 40 Allowable number of ART stops 100 000 times Allowable number of emergency stops PUO times CG type h Model SHA20A SHA25A em 50 80 100 120 160 50 80 100 120 160 Type Dry non excitation actuation type without power Dry non excitation actuation type with power yp saving control saving control Brake excitation 6 LZ voltage V DC24V 10 no polarity Current consumption during suction at A 0 37 0 8 20 C Current consumption during holding at A Same as current consumption during suction 0 3 20 C Nm 30 48 60 72 96 50 80 100 120 160 Holding torque kgf m 3 1 4 9 6 1 7 3 9 8 5 1 8 2 10 12 16 Inertia moment RE 0 23 0 6 0 94 1 3 2 4 0 60 1 5 2 4 3 4 6 1 Actuator total J With brak With brake 2 4 6 1 9 6 14 24 6 1 16 24 35 62 Mass with brake kg 2 7 4 1 Allowable number of A stops 100 000 times Allowable number of 200 times emergency stops 1 5 Motor shaft brake Model SHA32A SHA40A Em Item 50 80 100 120 160 50 80 100 120 160 Ve Dry non excitation actuation type with power Dry non excitation actuation
107. t shaft Connect the driver and wiring An extension cable is provided Use it when wiring the driver For details on wiring refer to 1 15 Cable specifications P1 59 and the manual of your HA 800 driver 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 objects magnet chucks permanent magnets etc near the rear cover of the actuator Encoder abnormality may result e This encoder retains absolute positions when the power is turned OFF by means of the driver s battery or its own built in capacitor If the encoder cable is disconnected for maintenance etc turn on the driver 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 C However when the backup capacitor is deteriorated the absolute positions may not be retained Do not disassemble reassemble the actuator May cause damage to electrical and mechanical components WARNING 3 7 3 3 Location and installation 3 8 1olen12e WHS ou Bulllelsul E Chapter 4 Options This chapter explains the options available for the SHA series act 4 1 Optio DH
108. tart stop operation should be performed via input signals Failure to observe this caution may result in deterioration of electronic parts DISPOSAL All products or parts have to be disposed of as industrial waste Since the case or the box of drivers have a material indication classify parts and dispose them separately CAUTION Contents SAFETY GUIDE etc Sr 1 initam stades teet ta aar 1 NOTATION sk as ta kaha date eie rdc Ace mka e oa 1 LIMITATION OF APPLICATIONS a 1 SAFETY NOTE C mun uu OL 2 CONS art I editi cena Le Lei LU eere id ian 5 Chapter1 Outlines l li COVA ia 1 1 1 2 1 3 Drivers and extension 65 1 3 Mer AA nde 1 4 1 0 Brake snoras 1 16 1 6 External diimienstolis oda cian cian cian aya due 1 19 1 7 Mechanical accuracy aa 1 31 1 8 One way positional accuracy a azizi 1 33 1 9 Detector specifications Absolute encoder 1 35 1 37 1 37 Torsional stiffness HarmonicDrive speed reducer with ratio greater than 51 1 38 Torsional stiffness Hollow planetary HPF series with reduction ratio 11 1 40 1 11 Direction
109. tation speed r min 1 14 Operable range CG type SHA25A Motor input voltage 100V I SHA25A50CG Torque Nm Radiation plate 350 350 18 mm Motion range during acceleration and deceleration m Continuous motion range 40 60 Rotation speed r min MSHA25A100CG E z o g e Radiation plate 350 350 18mm Motion range during acceleration and deceleration 5096 duty motion range Pee eU Continuous motion range 20 Rotation speed r min MSHA25A160CG Torque Nm i Motion range during acceleration and deceleration Rotation speed r min E SHA25A80CG Torque Nm 200 Radiation plate 350 350 18mm Motion range during acceleration and deceleration Continuous motion range 20 40 Rotation speed r min MSHA25A120CG Torque Nm Radiation plate 350 350 18mm Motion range during acceleration and deceleration cum 50 duty motion range 277777 F Continuous motion range Rotation speed r min 1 54 s ulno s ulno 1 14 Operable range CG type SHA25A Motor input voltage 200V I SHA25A50CG Radiation plate 350 350 18 mm Motion range during acceleration and deceleration Torque Nm Continuous motion range 40 Rotation speed r min iB SHA25A100CG Radiation plate 350 350 18 mm Motion range during accelerati
110. ut of the outermost circumference of the output shaft for one revolution 2 Output shaft radial run out The indicator is fixed and measures the radial run out T I R of the output shaft for one revolution 3 4 Concentricity between the output shaft and actuator mounting diameter The indicator is mounted on the output shaft and measures the axial run out T I R of the outermost circumference of the mounting surface on both the output shaft side and opposite side for one revolution 5 6 Concentricity between the output shaft and actuator mounting diameter The indicator on the output rotary unit 5 measures the radial on ma null runout vvidth of the fitting part both on the output shaft side and opposite side of the output rotary unit per revolution 1 32 s ulno s ulno 1 8 Positional accuracy ikem Positional accuracy One way positional accuracy The one way positional accuracy is defined as the maximum positional difference between the actual measured angle from the datum position and its theoretical rotational angle when a series of positioning moves are performed in the same rotational direction Refer to JIS B 6201 1987 Since the SHA series incorporates a speed reducer for precision control the impact of motor shaft positioning error becomes 1 multiple of reduction ratio Positioning Theoritical error stop position y ES T Actual stop position atum po
111. ws e Rotary motion The rotary torque for the rotating mass W on the ring of radius r from the center of rotation is shown in the figure to the right T 9 8xuxW xr T Rotary torque Nm Friction coefficient W Mass kg r Average radius of friction side m The right graph gives a calculation example when the friction coefficient u is assumed as 0 1 and the horizontal axis and vertical axis represent mass and rotational radius of friction side respectively The actuator toque value shown in the graph indicates 2096 of the maximum torque Radius r of friction side mm Linear operation horizontal operation The rotary torque when the mass W moves horizontal T29 8xuxWx E 2xm Rotary torque Nm friction coefficient mass kg Screw feed pitch m ugr A Linear operation vertical operation Friction u Example of rotary torque calculation friction coefficient 0 1 SHA 20 torque of maximum torque is shown 500 Nm XM 5 Nm 10000 200 Nm 1000 10 100 1000 3000 Mass W kg ly due to the screw of pitch P is shown below The rotary torque when the mass W moves vertically due to the screw of pitch P is shown below T29 8xWx E 2xT Mass W Pitch P 2 12 uon l s s ul p n5 uon l s 2 4 Examining operating conditions Acceleration and deceleration time Calculate

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