Harmonic Drive SHA Series User manual

AC Servo Actuator
SHA SG and CG series manual
ISO14001
(Hotaka plant)
ISO9001

Introduction
Introduction
Thank you for purchasing our SHA series AC Servo Actuator.
•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.
•Product specifications are subject to change without notice.
•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
3
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.
Indicates a potentially hazardous situation, which, if not avoided, may result in
minor or moderate personal injury and/or damage to the equipment.
Indicates what should be performed or avoided to prevent non-operation or
malfunction of the product or negative effects on its performance or function.
LIMITATION OF APPLICATIONS
The equipment 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 intended application, please consult us.
Safety measures are essential to prevent accidents resulting
in death, injury or damage of the equipment due to
malfunction or faulty operation.
WARNING
CAUTION
CAUTION

SAFETY GUIDE
4
SAFETY NOTE
ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR
•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℃to 40℃
・Ambient humidity: 20% to 80%RH (Non-condensation)
・Vibration: Max 25 m/s2
・No contamination by water, oil
・No corrosive 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 of
output elements.
•PRECAUTIONS FOR ACTUATORS IN OPERATION
Comply with the toque 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.
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.
Do 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.
CAUTION
WARNING

SAFETY GUIDE
5
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℃to 50℃, 95%RH or below (No condensation)
・No vibration or physical shock
・No dust, dirt, corrosive or inflammable gas
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 conditions.
・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.
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.
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.
CAUTION
WARNING

SAFETY GUIDE
6
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
test.
Do not operate control units by means of power ON/OFF
switching.
・Start/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 should 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
CAUTION

Contents
Introduction .............................................................................................................4
SAFETY GUIDE......................................................................................................3
NOTATION.............................................................................................................3
LIMITATION OFAPPLICATIONS ...........................................................................3
SAFETY NOTE ......................................................................................................4
Contents..................................................................................................................7
Overview 12
1-1 Overview.........................................................................................................13
1-2 Model………………………………………………………………………………..14
1-3 Drivers and extension cables........................................................................15
1-4 Specifications................................................................................................16
1-5 Motor shaft brake..........................................................................................25
1-6 External dimensions .....................................................................................28
1-7 Mechanical accuracy....................................................................................40
1-8 One-Way Positional accuracy.......................................................................42
Repeatability (CG type)........................................................................................43
Bi-directional repeatability (CG type) ....................................................................43
1-9 Encoder specifications (Absolute encoder) ..................................................................44
1-10 Output Stiffness.......................................................................46
Moment stiffness..................................................................................................46
Torsional Stiffness ................................................................................................47
Torsional Stiffness (Ratio 11: HPF).......................................................................49
1-11 Direction of rotation .................................................................50
1-12 Shock resistance .....................................................................51
1-13 Vibration resistance.................................................................52
1-14 Operable range........................................................................53
1-15 Cable specifications.................................................................68
Motor cable specifications....................................................................................68
Encoder cable specifications................................................................................69

1-1 Overview
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Outline
Selection guidelines 70
2-1 SHA series selection.......................................................................................71
Allowable load moment of inertia..........................................................................71
2-2 Change in load moment of inertia.................................................................75
2-3 Verifying and examining load weights .................................................................76
Maximum load moment load.................................................................................77
Verifying life..........................................................................................................77
Verifying static safety coefficients.........................................................................79
2-4 Examining operating conditions....................................................................80
Calculate the actuator rotation speed...................................................................80
Calculating and examining load moment of inertia................................................80
Load torque calculation ........................................................................................81
Acceleration and deceleration time.......................................................................82
Examining effective torque and average rotation speed .......................................83
Installing the SHA actuator 85
3-1 Receiving Inspection.......................................................................................86
Inspection procedure............................................................................................86
3-2 Notices on handling ........................................................................................87
Installation and transmission torque .....................................................................87
Precautions on installation....................................................................................89
Use of positioning pins .........................................................................................90
Surface treatments...............................................................................................90
3-3 Location and installation..................................................................................91
Operating Environment.........................................................................................91
Installation............................................................................................................92
Options 93
4-1 Options............................................................................................................94
Origin and end limit sensors (option code: L)........................................................94
Option for side exit cables (option code: Y) ..........................................................94
Output shaft single revolution absolute model (option code: S) ......................................94
Stand (CG type only)............................................................................................94
Extension cables..................................................................................................97
Appendix 100
5-1 Unit conversion...........................................................................................101
5-2 Calculating moment of inertia .....................................................................103
Formula for moment of inertia and mass ............................................................103
Moment of inertia of a cylinder............................................................................105
Index.......................................................................................................................0

1-1 Overview
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Outline
1 Overview of the SHA series
放熱板：350*350*18
0
25
50
75
100
125
150
020 40 60 80 100 120
回転速度 [r/min]
トルク [Nm]
加減速運転領域
連続使用領域
50%ﾃﾞｭｰﾃｨ領域
Allowable continuous torque
A
Radiation plate: 350*350*18
Torque [Nm]
Motion range during
accel
eration and
deceleration
50% duty range
Continuous
motion range
Rotation speed [rpm]

1-1 Overview
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7
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Outline
.
SG/HP type
Model
Item
SHA20A
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
current
Arms 2.1 2.0 2.0 1.9 1.6
(4) Speed at point A
rpm
44
30
24
21
17
(5) Frequency at
point A
Hz 187 203 202 212 228
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA25A
(Motor input voltage 100V)
SHA25A (Motor input voltage 200V)
51
81
101
121
161
11
51
81
101
121
161
(1) Output at point A
W
165
188
190
178
127
133
175
203
207
178
127
(2) Voltage at point A
V
61
64
65
64
62
101
115
122
125
125
120
(3) Allowable
continuous
current
Arms 4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.9 2.6 2.1
(4) Speed at point A
rpm
45
31
25
21
15
141
41
29
24.5
21
15
(5) Frequency at
point A
Hz 191 209 210 212 201 129 174 196 206 212 201
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA32A
SHA40A
11
51
81
101
121
161
51
81
101
121
161
(1) Output at point A
W
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
current
Arms 6.0 6.0 6.0 5.7 5.0 4.1 9.0 9.0 9.0 8.8 7.2
(4) Speed at point A
rpm
115
34
23
20
16.5
12.5
29
20.5
16.5
14
12
(5) Frequency at
point A
Hz 105 145 155 168 166 168 123 138 139 141 161
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA58A
SHA65A
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
current
Arms 17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3
(4) Speed at point A
rpm
12
10
8.5
7.2
10
8
7.4
6.2
(5) Frequency at
point A
Hz 130 135 137 155 108 108 119 133
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3

1-1 Overview
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Outline
CG type
Model
Item
SHA20A
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
current
Arms 2.1 2.1 2.1 2.0 1.7
(4) Speed at point A
rpm
44
29.5
24
21
17
(5) Frequency at
point A
Hz 183 197 200 210 227
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA25A(Motor input voltage
100V)
SHA25A（(Motor input
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
current
Arms 4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.6 2.1
(4) Speed at point A
rpm
47
32
25.5
20.5
15
42
29
24
20.5
15
(5) Frequency at
point A
Hz 196 213 213 205 200 175 193 200 205 200
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA32A
SHA40A
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
(3) Allowable
continuous
current
Arms 6.0 6.0 5.7 5.0 4.1 9.0 9.0 9.0 8.8 7.2
(4) Speed at point A
rpm
34
23.5
20
16.5
12.5
30
20.5
16.6
14.2
12.2
(5) Frequency at
point A
Hz 142 157 167 165 167 125 137 138 142 163
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3

1-1 Overview
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Outline
Chapter 1
Overview
This chapter explains the features, functions and specifications of the actuator.
1-1 Overview ············································································· 13
1-2 Model················································································· 14
1-3 Drivers and extension cables··················································· 15
1-4 Specifications······································································· 16
1-5 Motor shaft brake·································································· 25
1-6 External dimensions······························································ 28
1-7 Mechanical accuracy····························································· 40
1-8 Positional accuracy ······························································· 42
1-9 Encoder specifications (Absolute encoder) ············································· 44
1-10 Output Stiffness ································································· 46
1-11 Direction of rotation····························································· 50
1-12 Shock resistance································································ 51
1-13 Vibration resistance ···························································· 52
1-14 Operable range·································································· 53
1-15 Cable specifications···························································· 68

1-1 Overview
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1-1 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® 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
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 that 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 or CSG series Harmonic Drive® speed reducers are incorporated into the actuator for precise control and
the outer diameter of the actuator has been reduced by 20% compared to our conventional products. 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 much higher than direct drive motors of similar
volume/weight. This is another reason why the SHAseries 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 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 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 HPF hollow shaft planetary speed reducer.

1-2 Model
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1-2 Model
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
S17b
A
－
C
L
－
SP
(1)
(2)
(3)
(4)
(5)
－
(6)
(7)
(8)
(9)
－
(10)
(11)
(12)
－
(13)
(14)
－
(15)
(1) Model: SHA series actuator
(2) Size: SG: 20, 25, 32, 40, 58, 65
CG: 20, 25, 32, 40
HP: 25, 32
(3) Version: A: Standard, Y: Yaskawa compatible, M: Mitsubishi compatible, P: Panasonic compatible
(4) Reduction ratio (R:1)
Reduction ratio 11 is for the HPF hollow shaft planetary (Size 25, 32)
Reduction ratios 50 and higher are for the HarmonicDrive®gears
HPF SHG CSG
11 11:1
51 51:1 50 50:1
81 81:1 80 80:1
101 101:1 100 100:1
121 121:1 120 120:1
161 161:1 160 160:1
(5) Gearhead
HP HPF hollow shaft planetary
SG HarmonicDrive®SHG series
CG HarmonicDrive®CSG series
(6) Motor version symbol
A
Size: 58, 65 (SG only)
B Size: 25, 32, 40
C Size: 20
(7) Motor size
08
Size: 20
09 Size: 25
12 Size: 32
15 Size: 40
21 Size: 58, 65 (SG only)
(8) Brake
A Without brake
B
With brake
(9) Motor input voltage
100 100V (Size 25 only)
200 200V
LV 48V DC to 90V DC
(Size 20, 25,32)
(10) Encoder format
10 A-Format (2.5Mbps, 1 to 1 connection)
00 Incremental Encoder
14 Panasonic Format
16 Mitsubishi Format (not available in size 20)
17 Yaskawa Format (not available in size 20)
(11) Encoder type, resolution
S17b 17-bit absolute encoder, 131,072
pulses/revolution (Nikon-A format)
D250 D250: Incremental encoder (size 25, 32, and 40)
(12) Encoder phase angle: Phase difference between
induced voltage in motor phase U and absolute origin
A 0 degree
B 30 Dgree
(13) Connector specification
C
With standard connector
(for extension cables)
N With Pigtails
(14) Option symbol
L With near origin and end limit sensors
Y Side exiting cable
V With mounting stand (CG only)
S
Output shaft single revolution absolute
model (CG only)
(Please contact us for option-compatible models.)
(15) Special specification
Blank
Standard product
SP____ Special specification code

1-3 Drivers and extension cables
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1-3 Drivers and extension cables
The proper combination of SHAactuators, drivers, and extension cables are as follows:
SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A
REL Servo Drive REL-230-18 REL-230-18 REL230-36
REL 230-40
HA-800 Standard
I/O command type HA-800A-
3D/E -200
HA-800A-
3D/E-200
（HA-800A-
6D/E -100）
HA-800A-
6D/E -200
HA-800A-6 D/E -
200
or
HA-800A-24D/E -
200
HA-800A-
24D/E -200
HA-800A-
24D/E -
200
HA-800
MECHATROLINK HA-800B-
3D/E -200
HA-800B-
3D/E -200
（HA-800B-
6D/E -100）
HA-800B-
6D/E -200
HA-800B-6D/E -
200
or
HA-800B-24D/E -
200
HA-800B-
24D/E -200
HA-800B-
24D/E -
200
HA-800 CC-Link HA-800C-
3D/E -200
HA-800C-
3D/E -200
（HA-800C-
6D/E -100）
HA-800C-
6D/E -200
HA-800C-6D/E -
200
or
HA-800C-24D/E -
200
HA-800C-
24D/E -200
HA-800C-
24D/E -
200
Extension
cables
(option)
Motor
cable EWD-MB**-A06-TN3
(Driver side connector
supplied separately)
HA-800
□
-6D/E
：
EWD-MB**-A06-
TN3
HA-800□-24D/E：
EWD-MB**-A06-
TMC
EWD-MB**-D09-TMC
Encoder
cable
EWD-S**-A08-3M14 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.

1-4 Specifications
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1-4 Specifications
SG type
Model
Item
SHA20A
51
81
101
121
161
Servo Drive
REL-230-18
HA-800
□
-3D/E-200
Max. torque*1
Nm
73
96
107
113
120
kgf･m
7.4
9.8
10.9
11.5
12.2
Allowable continuous
torque
*1*2
Nm
21
35
43
48
48
kgf･m
2.1
3.6
4.4
4.9
4.9
Max. rotational speed*1
rpm
117.6
74.1
59.4
49.6
37.3
Torque constant*1
Nm/A
16.5
27
33
40
53
kgf･m/A
1.7
2.7
3.4
4.1
5.4
Max. current*1
Arms
6.0
4.9
4.5
4.0
3.4
Allowable continuous
current
*1*2
Arms 2.1 2.0 2.0 1.9 1.6
EMF constant*3
V/(rpm)
1.9
3.0
3.7
4.5
5.9
Phase resistance
（20℃）
Ω
1.4
Phase inductance
mH
2.5
Inertia moment
(without brake)
GD
2
/4
kg･m2
0.23
0.58
0.91
1.3
2.3
J
kgf･cm･s2
2.4
6.0
9.3
13
24
Inertia moment
(with brake)
GD
2
/4
kg･m2
0.26
0.65
1.0
1.4
2.6
J
kgf･cm･s2
2.6
6.6
10
15
26
Reduction ratio
51:1
81:1
101:1
121:1
161:1
Permissible
moment load
Nm
187
kgf･m
19.1
Moment stiffness
Nm/rad
25.2
×
104
kgf･m/arc min
7.5
One-way positional
accuracy
arc-sec 60 50 50 50 50
Encoder type
Absolute encoder
Single motor revolution
Encoder resolution
217（131,072）
Motor multi revolution
counter
216（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
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s2(frequency: 10 to 400Hz)/Shock resistance:
300 m/s2 *4
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class: A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: 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] (P51) and [1-13 Vibration resistance ] (P52).

1-4 Specifications
17
1
2
3
4
5
6
7
8
9
10
11
付
Outline
SG/HP type
Model
Item
SHA25A
(Motor input voltage 100V)
SHA25A (Motor input voltage 200V)
51
81
101
121
161
11
51
81
101
121
161
Servo Drive REL-230-18
HA-800□-6D/E-100
REL-230-18
REL-230-36
HA-800
□
-3D/E-200
Max. torque*1
Nm
127
178
204
217
229
26
127
178
204
217
229
kgf･m
13
18.2
20.8
22.1
23.4
2.7
13
18.2
20.8
22.1
23.4
Allowable
continuous
torque
*1*2
Nm
35
58
73
81
81
9.0
41
67
81
81
81
kgf
･
m 3.6 5.9 7.4 8.2 8.2 0.92 4.2 6.8 8.2 8.2 8.2
Max. rotational
speed
*1
rpm 94.1 59.3 47.5 39.7 29.8 509.1 109.8 69.1 55.4 46.3 34.8
Torque constant*1
Nm/Arms
11.1
17.9
22
27
36
4.2
19
31
39
46
62
kgf ･ m/A
1.1
1.8
2.3
2.7
3.6
0.43
2.0
3.2
4.0
4.7
6.3
Max. current*1
Arms
14.9
13.0
12.1
10.9
9.0
8.9
8.6
7.5
7.0
6.3
5.2
Allowable
continuous
current
*1*2
Arms 4.7 4.7 4.7 4.5 3.7 3.0 3.0 3.0 2.9 2.6 2.1
EMF constant*3
V/(rpm)
1.3
2.0
2.5
3.0
4.0
0.47
2.2
3.5
4.3
5.2
6.9
Phase resistance
（20℃）
Ω0.4 1.2
Phase inductance
mH
1.0
3
Inertia moment
(without brake)
GD
2
/4
kg･m2
0.56
1.4
2.2
3.2
5.6
0.029
0.56
1.4
2.2
3.2
5.6
J
kgf･cm･
s
2
5.7 14 22 32 57 0.30 5.7 14 22 32 57
Inertia moment
(with brake)
GD
2
/4
kg･m2
0.66
1.7
2.6
3.7
6.6
0.034
0.66
1.7
2.6
3.7
6.6
J
kgf･cm･
s
2
6.7 17 26 38 67 0.35 6.7 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
moment load
Nm
258
410
258
kgf･m
26.3
41.8
26.3
Moment stiffness
Nm/rad 39.2 x 104
37.9
x 10
4
39.2 x 104
kgf･
m/arc
min
11.6 11.3 11.6
One-way positional
accuracy
arc-sec 50 40 40 40 40 120 50 40 40 40 40
Encoder type
Magnetic absolute encoder
Single motor revolution
Encoder resolution
217（131,072）
Motor multi revolution counter
216
（
65,536
）
Output resolution Pulse/rev
6,684,
672
10,61
6,
832
13,238,
272 15,859, 712 21,102, 592 1,441, 792 6,684, 672
10,616,
832
13,238,
272 15,859, 712
21,102,
592
Mass
(without brake)
kg 2.95 5.0 2.95
Mass (with brake)
kg
3.1
5.1
3.1
Environmental conditions
Operating temperature: 0 to 40
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s2(
frequency: 10 to 400Hz )/Shock resistance: 300 m/s2 *4
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class: A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: When combined with a HA-800 driver.
*2: Value after temperature rise and saturation when the 350 x 350 x 18 [mm] aluminum radiation plate is installed.
*3: Value of phase induced voltage constant multiplied by 3.
*4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).

1-4 Specifications
18
1
2
3
4
5
6
7
8
9
10
11
付
Outline
SG/HP type
Model
Item
SHA32A
11
51
81
101
121
161
Servo Drive REL-230-18, REL-230-36
HA-800□-6D/E-200
Max. torque*1
Nm
62
281
395
433
459
484
kgf･m
6.3
28.7
40.3
44.2
46.8
49.4
Allowable
continuous
torque
*1*2
Nm
20
92
153
178
178
178
kgf
･
m 2.1 9.4 15.6 18.2 18.2 18.2
Max. rotational
speed
*1
rpm 436.4 94.1 59.3 47.5 39.7 29.8
Torque constant*1
Nm/Arms
4.5
21
33
42
50
66
kgf ･
m/A
rms
0.46 2.1 3.4 4.2 5.1 6.8
Max. current*1
Arms
19
17.3
15.2
13.5
12.2
9.9
Allowable
continuous
current
*1*2
Arms 6.0 6.0 6.0 5.7 5.0 4.1
EMF constant*3
V/(rpm)
0.51
2.3
3.7
4.7
5.6
7.4
Phase resistance
（20℃）
Ω0.33
Phase inductance
mH
1.4
Inertia
moment
(without
brake)
GD2/4
kg･m2
0.091
2.0
5.1
8.0
11
20
J kgf
･
cm
･
s20.93 21 52 81 117 207
Inertia
moment
(with
brake)
GD2/4
kg･m2
0.11
2.3
5.9
9.2
13
23
J kgf
･
cm
･
s21.1 24 60 94 135 238
Reduction ratio
1:11
1:51
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
932
580
kgf･m
95
59.1
Moment stiffness
Nm/rad
86.1 x 104
100 x 104
kgf･
m/arc
min
25.7 29.6
One-way positional
accuracy arc-sec 120 50 40 40 40 40
Encoder type
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
217（131,072）
Motor multi
revolution counter
216（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
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s2(frequency: 10 to 400Hz)/Shock resistance: 300 m/s2 *4
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class:A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: When combined with a HA-800 driver.
*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] (P51) and [1-13 Vibration resistance ] (P52).

1-4 Specifications
19
1
2
3
4
5
6
7
8
9
10
11
付
Outline
SG type
Model
Item
SHA40A
51
81
101
121
161
51
81
101
121
161
Servo Drive HA-800□-6D/E-200*1 REL-230-36, REL-230-40
HA-800□-24D/E-200
Max. torque*2
Nm
340
560
686
802
841
523
675
738
802
841
kgf･m
34.7
57.1
70
81.8
85.8
53.4
68.9
75.3
81.8
85.8
Allowable continuous
torque
*2*3
Nm
94
158
198
237
317
160
263
330
382
382
kgf･m
9.6
16.1
20.2
24.2
32.3
16.3
26.8
33.7
39
39
Max. rotational speed*2
rpm
78.4
49.4
39.6
33.1
24.8
78.4
49.4
39.6
33.1
24.8
Torque constant*2
Nm/Arms
25
41
51
61
81
25
41
51
61
81
kgf ･
m/A
rms
2.6 4.1 5.2 6.2 8.2 2.6 4.1 5.2 6.2 8.2
Max. current*2
Arms
18
18
18
17.9
14.6
26.7
21.8
19.4
17.9
14.6
Allowable continuous
current
*2*3
Arms 6.0 6.0 6.0 6.0 6.0 9.0 9.0 9.0 8.8 7.2
EMF constant*4
V/(rpm)
2.9
4.6
5.7
6.8
9.1
2.9
4.6
5.7
6.8
9.1
Phase resistance
（20℃）
Ω0.19
Phase inductance
mH
1.2
Inertia moment
(without brake)
GD
2
/4
kg･m2
5.0
13
20
28
50
5.0
13
20
28
50
J
kgf･cm･
s
2
51 130 202 290 513 51 130 202 290 513
Inertia moment
(with brake)
GD
2
/4
kg･m2
6.1
15
24
34
61
6.1
15
24
34
61
J
kgf･cm･
s
2
62 157 244 350 619 62 157 244 350 619
Reduction ratio
1:51
1:81
1:101
1:121
1:161
1:51
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
849
kgf･m
86.6
Moment stiffness
Nm/rad
179 x 104
kgf･
m/arc
min
53.2
One-way positional
accuracy
arc-sec 50 40 40 40 40 50 40 40 40 40
Encoder type
Magnetic absolute encoder
Single motor revolution
Encoder resolution
217（131,072）
Motor multi revolution counter
216
（
65,536
）
Output resolution Pulse/rev
6,684,
672 10,616, 832 13,238, 272 15,859, 712 21,102, 592 6,684, 672 10,616, 832 13,238 ,272
15,859,
712
21,102,
592
Mass
(without brake)
kg 9.9
Mass (with brake)
kg
10.7
Environmental conditions
Operating temperature: 0 to 40
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s2(
frequency: 10 to 400Hz )/Shock resistance: 300 m/s2 *5
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class: A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: If a HA-800□-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.
*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] (P51) and [1-13 Vibration resistance ] (P52).

1-4 Specifications
20
1
2
3
4
5
6
7
8
9
10
11
付
Outline
SG type
Model
Item
SHA58A
SHA65A
81
101
121
161
81
101
121
161
Servo Drive
HA-800
□
-24D/E-200
HA-800
□
-24D/E-200
Max. torque*1
Nm
1924
2067
2236
2392
2400
2990
3263
3419
kgf･m
196
211
228
244
245
305
333
349
Allowable
continuous
torque
*1*2
Nm
714
905
969
969
921
1149
1236
1236
kgf
･
m 73 92 99 99 94 117 126 126
Max. rotational
speed
*1
rpm 37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Torque constant*1
Nm/Arms
54
68
81
108
54
68
81
108
kgf ･
m/A
rms
5.5 6.9 8.3 11.0 5.5 6.9 8.3 11.0
Max. current*1
Arms
45
39
36
30
55
55
51
41
Allowable
continuous
current
*1*2
Arms 17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3
EMF constant*3
V/(rpm)
6.1
7.6
9.1
12.1
6.1
7.6
9.1
12.1
Phase resistance
（20℃）
Ω0.028 0.028
Phase inductance
mH
0.29
0.29
Inertia
moment
(without
brake)
GD2/4
kg･m2
96
149
214
379
110
171
245
433
J kgf
･
cm
･
s2980 1520 2180 3870 1120 1740 2500 4420
Inertia
moment
(with
brake)
GD2/4
kg･m2
106
165
237
420
120
187
268
475
J kgf
･
cm
･
s21090 1690 2420 4290 1230 1910 2740 4850
Reduction ratio
1:81
1:101
1:121
1:161
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
2180
2740
kgf･m
222
280
Moment stiffness
Nm/rad
531 x 104
741 x 104
kgf･
m/arc
min
158 220
One-way positional
accuracy
arc-sec 40 40 40 40 40 40 40 40
Encoder type
Magnetic absolute encoder
Single motor revolution
Encoder resolution
217（131,072）
Output resolution
Pulse/rev
10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592
Mass
(without brake)
kg 29.5 37.5
Mass (with brake)
kg
32
40
Environmental conditions
Operating temperature: 0 to 40
℃
/Storage temperature: -20 to 60
℃
Operating humidity/storage humidity: 20 to 80%RH (no condensation)
Resistance to vibration: 25 m/s2(frequency: 10 to 400Hz)/Shock resistance: 300
m/s2 *4
No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist
To be used indoors, no direct sunlight
Altitude: less than
1,000 m above sea level
Motor insulation
Insulation resistance: 100MΩ or more (by DC500V insulation tester)
Dielectric strength: AC1,500V/1 min
Insulation class: A
Mounting direction
Can be installed in any direction.
Protection structure
Totally enclosed self-cooled type (IP54)
The table shows typical output values of actuators.
*1: When combined with HA-800 driver.
*2: Value after temperature rise and saturation when the 650 x 650 x 30 [mm] aluminum radiation plate is installed.
*3: Value of phase induced voltage constant multiplied by 3.
*4: For testing conditions, refer to [1-12 Shock resistance] (P51) and [1-13 Vibration resistance ] (P52).