Harmonic Drive SHA - Y series User manual

AC Servo Actuator
SHA- Y series manual
ISO14001
ISO9001

Introduction
Introduction
Thank you for purchasing our SHA-Y series AC Servo Actuator.
Wrong handling or use of this product may result in unexpected accidents or shorter life of the product.
Read this document carefully and use the product correctly so that the product can be used safely for
many years.
Product specifications are subject to change without notice for improvement purposes.
Keep this manual in a convenient location and refer to it whenever necessary in operating or
maintaining the units.
The end user of the actuator should have a copy of this manual.

SAFETY GUIDE
1
SAFETY GUIDE
To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this
document carefully and 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 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
malfunction or faulty operation.
WARNING
CAUTION
CAUTION

SAFETY GUIDE
2
SAFETY NOTE
ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR
CAUTIONS RELATED TO THE DESIGN
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 exactly the instructions in the relating manuals to
install the actuator in the equipment.
・Ensure exact alignment of the actuator center and the center of the
corresponding machine by following the manual.
・Failure to observe this caution may lead to vibration, resulting in damage of
output elements.
CAUTIONS FOR USAGE
Keep limited torques of the actuator.
・Keep limited torques of the actuator.
・Be aware, that if arms attached to output element hits by accident an solid,
the output element may be 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
3
ITEMS YOU SHOULD NOTE WHEN USING THE SERVOPACK
DESIGN PRECAUTIONS
Please be sure to read the operating manual for the Servopack.
Japanese: Document No. SIJPS80000192
English: Document No. SIEPS80000192
OPERATIONAL PRECAUTIONS
Please be sure to read "SAFETY NOTE (TOMP C71082800□)" included in the Servopack.

SAFETY GUIDE
4
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

5
Contents
SAFETY GUIDE......................................................................................................1
NOTATION.............................................................................................................1
LIMITATION OFAPPLICATIONS............................................................................1
SAFETY NOTE ......................................................................................................2
Contents ..........................................................................................................5
Related manual.......................................................................................................7
Conformance to overseas standards ...........................................................................7
Chapter 1 Outlines
1-1 Outlines .......................................................................................................1-1
1-2 Model .......................................................................................................1-3
1-3 Combinations with Servopacks and extension cables ...........................................................1-4
1-4 Specifications...............................................................................................1-5
1-5 Motor shaft holding brake ..........................................................................1-12
1-6 External dimensions...................................................................................1-15
1-7 Mechanical accuracy .................................................................................1-25
1-8 Positional accuracy....................................................................................1-27
One-way positional accuracy.............................................................................1-27
Repeatability (CG).............................................................................................1-27
Reverse positional accuracy (CG).....................................................................1-28
1-9 Detector specifications (Absolute encoder) ...............................................................1-29
1-10 Stiffness .....................................................................................................1-31
Moment stiffness ...............................................................................................1-31
Torsional stiffness (Speed ratio 50:1 or more) ..............................................................1-32
Torsional stiffness (Speed ratio 11:1 HPF hollow shaft planetary) ..........................................1-34
1-11 Rotation direction........................................................................................1-35
1-12 Shock resistance........................................................................................1-36
1-13 Resistance to vibration...............................................................................1-37
1-14 Operable range..........................................................................................1-38
1-15 Cable specifications...................................................................................1-47
Motor cable specifications .................................................................................1-47
Encoder cable specifications.............................................................................1-48
Chapter 2 Selection guidelines
2-1 SHA-Y series selection...................................................................................2-1
Allowable load inertia moment.............................................................................2-1

Contents
6
2-2 Change in load inertia moment....................................................................2-5
2-3 Verifying and examining load weights .................................................................2-6
Maximum load moment load................................................................................2-7
Verifying life.........................................................................................................2-7
Verifying static safety coefficients........................................................................2-9
2-4 Examining operating status........................................................................2-10
Examining actuator rotation speed ....................................................................2-10
Calculating and examining load inertia moment.................................................2-10
Load torque calculation .....................................................................................2-11
Acceleration time and deceleration time............................................................2-12
Examining effective torque and average rotation speed.....................................2-13
Chapter 3 Installing the SHA-Y actuator
3-1 Receiving Inspection......................................................................................3-1
Inspection procedure...........................................................................................3-1
3-2 Notices on handling........................................................................................3-2
Installation and transmission torque ....................................................................3-2
Precautions on installation...................................................................................3-4
Use of positioning pins ........................................................................................3-5
Surface treatments..............................................................................................3-5
3-3 Location and installation.................................................................................3-6
Environment of location.......................................................................................3-6
Installation...........................................................................................................3-7
Chapter 4 Options
4-1 Options .......................................................................................................4-1
With near origin and end limit sensors (option code: L) .......................................4-1
Side exit cable (option code: Y)...........................................................................4-1
Output shaft single revolution absolute model (option code: S) .....................................4-1
With stand (CG only, option code: V)...................................................................4-2
Extension cables.................................................................................................4-4
Appendix
A-1 Unit conversion............................................................................................5-1
A-2 Calculating inertia moment ..........................................................................5-3
Formula of mass and moment of inertia...............................................................5-3
Moment of Inertia of cylinder ...............................................................................5-5

Related manual
7
Related manual
The table below lists related manual. Check each item as necessary.
Title
Description
Σ
-7-FT81 manual
Japanese: SIJPS80000192
English: SIEPS80000192
The specifications and characteristics of Σ-7 are explained.
Conformance to overseas standards
The SHA-Y series actuator conforms to following overseas standards.
UL Standard
UL1004-1,UL1004-6
（
File No. E243316
）
CSA Standard
C22.2 No.100
European Low Voltage EC Directives
EN60034-1, EN60034-5
UL nameplate sticker
The following specifications of the SHA-Y series actuators are shown based on the UL1004-1,UL1004-
6 (File No. E243316) standards.
Nameplate
field
Explanation
(1)
Output [W] at point A on the graph below
(2)
Voltage [V] between motor wires at point A on the graph
below
(3)
Allowable continuous current [A]
(4)
Rotation speed [rpm] at point A on the graph below
(5)
Current fundamental frequency [Hz] at point A on the graph
below
(6)
Allowable range temperature [
℃
]
(7)
Number of phase
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
(1)
(2)
(3)
(4)
(5)
(6)
(7)
UL nameplate sticker
Aluminum radiation plate: 350*350*18
Torque [Nm]
Motion range during
acceleration and
deceleration
50% duty range
Continuous
motion range
Rotation speed [rpm]
(mm)

Conformance to overseas standards
8
The nameplate values of various models are shown below.
SG/HP
Mode
Item
SHA25Y
11
51
81
101
121
161
(1) Output at point A
W
133
175
203
207
178
127
(2) Voltage at point A
V
101
115
122
125
125
120
(3) Allowable
continuous
current
A 3.0 3.0 3.0 2.9 2.6 2.1
(4) Speed at point A
rpm
141
41
29
24.5
21
15
(5) Frequency at
point A
Hz 129 174 196 206 212 201
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA32Y
SHA40Y
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
A 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
SHA58Y
SHA65Y
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
A 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

Conformance to overseas standards
9
CG
Model
Item
SHA25Y
50
80
100
120
160
(1) Output at point A
W
177
201
204
174
127
(2) Voltage at point A
V
115
121
123
123
119
(3) Allowable
continuous
current
A 3.0 3.0 3.0 2.6 2.1
(4) Speed at point A
rpm
42
29
24
20.5
15
(5) Frequency at
point A
Hz 175 193 200 205 200
(6) Allowable range
temperature
℃40
(7) Number of phase
－
3
Model
Item
SHA32Y
SHA40Y
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
A 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

Chapter 1
Outlines
This chapter explains the features, functions and specifications of the actuator.
1-1 Outlines··············································································1-1
1-2 Model················································································1-3
1-3 Combinations with Servopacks and extension cables ········································1-4
1-4 Specifications······································································ 1-5
1-5 Motor shaft holding brake ···················································· 1-12
1-6 External dimensions ··························································· 1-15
1-7 Mechanical accuracy ·························································· 1-25
1-8 Positional accuracy ···························································· 1-27
1-9 Detector specifications (Absolute encoder) ··········································· 1-29
1-10 Stiffness ········································································ 1-31
1-11 Rotation direction ···························································· 1-35
1-12 Shock resistance····························································· 1-36
1-13 Resistance to vibration ····················································· 1-37
1-14 Operable range······························································· 1-38
1-15 Cable specifications ························································· 1-47

1-1 Outlines
1-1
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
1-1 Outlines
Combined with YASKAWA Σ-7 series Servopacks, SHA-Y series AC Servo Actuators can be controlled with
MECHATROLINK-Ⅲto provide high torque and highly accurate rotary operation. These AC Servo
Actuators are each composed of HarmonicDrive®speed reducer (size 25 to 65 ) and a flat AC servo motor.
There are 3 types of speed reducers: SG with SHG series, HP with HPF gearheads, and CG with CSG
series. They are an advanced version of current FHA series AC Servo Actuators having a flat, hollow
structure.
One key feature of SHA-Y series actuators is their compact size. The outer diameter has been reduced,
while the maximum torque/volume ratio is approximately double that of any conventional actuator. The
hollow structure maintains the same size as conventional actuators. A through-hole is provided at the center
of the actuator, through which wirings, air pipes, and even laser beams can be passed to supply power and
give/receive signals to moving parts of machines and devices.
SHA-Y series actuators play an important role in driving various factory automation (FA) equipment, such as
robot joints, alignment mechanisms for semi-conductor and LCD devices, ATC of metal-cutting machines,
printing machine roller drive, etc.
◆Doubled torque/volume ratio
The incorporation of a SHG or CSG high-torque HarmonicDrive®reducer has achieved an approximately
20% smaller external diameter when compared with our conventional products. Accordingly, the maximum
torque/volume ratio has increased to approximately double the ratio of any conventional actuator. Based on
the maximum torque, you can select a model of one smaller size. Also, output torque at the same
volume/weight is very high compared to when a direct drive motor is used.
◆Larger size added for a wide product lineup
6 models are available for SG type including those (#58, #65) accommodating high torque up to 3,400 Nm -
the range not previously supported. The wide lineup also includes models supporting intermediate reduction
ratios of 81:1, 121:1, and so on. CG series has 4 models available with 5 reduction ratios of 50:1 to 160:1.
◆Modular design
The components of the SHA-Y series, such as speed reducers, output shaft bearing, motor, brake and
encoder, are arranged based on modular design. We can also custom-design a model meeting your specific
requirements, so please contact your HDS sales representative.
◆17-bit magnetic absolute encoder
The newly developed AC servo motors are equipped with HDS's original highly reliable 17-bit magnetic
absolute encoder with safety function. The serial communication saves wiring and provides not only a multi
revolution counting function which is a must-have feature of actuators with speed reducers, but it also has
an internal backup battery to retain absolute positions even when the encoder cable is disconnected briefly.
The encoder also constantly compares two sets of detected angles. If any abnormality is found, the
encoder's built-in failsafe function outputs a signal to the host system. This certainly helps you build a safe
system.
◆Can be combined with Σ-7
Combination with YASKAWA Σ-7 is now possible, allowing it to be controlled with MECHATROLINK-Ⅲ.

1-1 Outlines
1-2
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
◆For high speeds
Also supports high speeds in combination with the hollow planetary speed reducer HPF series.
◆CG type with an improved output shaft deflection accuracy is added to the
product lineup
After reviewing the output rotary unit structure, the higher accuracy of the surface runout and shaft deflection
has been achieved. Together with easy-to-index speed ratios that are divisible, such as 50:1 and 100:1, this
is ideal for use with index tables. There is also an output shaft single revolution absolute model available as
an option that can control the position even with infinite rotation in one direction.

1-2 Model Options
1-3
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
1-2 Model Options
Model ordering code
Examples of standard models:
SHA
32
Y
101
SG
－
B
12
A
200
－
17
S17b
A
－
C
(1)
(2)
(3)
(4)
(5)
－
(6)
(7)
(8)
(9)
－
(10)
(11)
(12)
－
(13)
(14)
－
(15)
(1) Model: AC Servo Actuator SHA series
(2) Size: 25, 32, 40, 58, 65：SG
25, 32：HP
25, 32, 40：CG
(3) Version symbol Y = YASKAWA
(4) Reduction ratio (indicated by R in 1/R format)
Reduction ratio 11:1 is for the HPF hollow shaft planetary gearhead (Model 25, 32)
Reduction ratios 50:1 and higher are for the HarmonicDrive®SHG and CSG 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) Speed reducer type
HP
HPF Hollow shaft planetary
gearhead
SG HarmonicDrive®SHG series
CG HarmonicDrive®CSG series
(6) Motor version symbol
A Model 58, 65
B Model 25, 32, 40
(7) Motor size
09 25
12 32
15 40
21 58, 65
(8) Brake
A Without brake
B With brake
(9) Motor input voltage
200 200V
(10) Encoder format
17 Conforming to Yaskawa format
(11) Encoder type, resolution
S17b
17-bit absolute encoder, 131,072
pulses/revolution
(12) Encoder phase angle: Phase difference between
induced voltage in motor phase U and absolute origin
A 0 degree
(13) Connector specification
C With standard connector
N Without connector
(14) Option symbol
L With near origin and end limit sensors
S
Output shaft single revolution absolute
model (CG type only)
V With stand (CG type only)
Y Side exit cable (excluding #58/65)
(Please contact us for option-compatible combinations.)
(15) Special specification
No description Standard product
SP Special specification product

1-3 Combinations with Servopacks and extension cables
1-4
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
1-3
Combinations with Servopacks and extension cables
The combinations of SHA-Y actuators, Σ-7 Servopacks and extension cables are as follows:
SHA25Y SHA32Y SHA40Y SHA58Y SHA65Y
Servopack
MECHATROLINK-Ⅲtype
SGD7S-
3R8A20A
□□□
F81
SGD7S-
120A20A
□□□
F81
SGD7S-
180A20A
□□□
F81
SGD7S-
330A20A
□□□
F81
Extension
cables
(option)
Motor wire EWD-MB**
-A06-TN-Y
EWD-MB**
-A06-TMC-Y
EWD-MB
**
-D09-TMC
注3)
Encoder wire
Standard
type JZSP-CSP19-**-E JZSP-CVP▽▽-**-E
Curved
type JZSP-CSP29-**-E JZSP-CVP△△-**-E
Note 1: "□□□" in the Servopack model indicates whether or not the optional dynamic brake resistor is included: 000 =
Not included, 020 = Included
Note 2: See below for "＊＊", "▽▽", and "△△".
・"＊＊" indicates cable lengths: 03 = 3 m, 05 = 5 m, 10 = 10 m, 15 = 15m
・"▽▽" indicates plug shapes: 06 = with straight plug, 07 = with type L plug
・"△△" indicates plug shapes: 26 = with straight plug, 27 = with type L plug
Note 3: When the cable length is 15 m, the model No. is "EWD-MB15-D09-TMC-Y".
For details on Servopacks and encoder cables, contact YASKAWA Electric Corporation customer support.

1-4 Specifications
1-5
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
1-4 Specifications
SG/HP
Model
Item
SHA25Y
11
51
81
101
121
161
Combined Servopack
SGD7S-3R8A20A
□□□
F81
Max. torque*1
Nm
26
127
178
204
217
229
kgf･m
2.7
13
18.2
20.8
22.1
23.4
Allowable
continuous
torque
*1*2
Nm
9.0
41
67
81
81
81
kgf
･
m 0.92 4.2 6.8 8.2 8.2 8.2
Max. rotational
speed
*1
rpm 509.1 109.8 69.1 55.4 46.3 34.8
Torque constant*1
Nm/A
4.2
19
31
39
46
62
kgf･m/A
0.43
2.0
3.2
4.0
4.7
6.3
Max. current*1
A
8.9
8.6
7.5
7.0
6.3
5.2
Allowable continuous
current
*1*2
A 3.0 3.0 3.0 2.9 2.6 2.1
MEF constant
*3
V/(rpm)
0.47 2.2 3.5 4.3 5.2 6.9
Phase resistance
（20℃）
Ω
1.2
Phase inductance
mH
3
Inertia moment
(without brake)
GD
2
/4
kg･m2
0.029
0.56
1.4
2.2
3.2
5.6
J
kgf･cm･s
2
0.30
5.7
14
22
32
57
Inertia moment
(with brake)
GD
2
/4
kg･m2
0.034
0.66
1.7
2.6
3.7
6.6
J
kgf･cm･s
2
0.35
6.7
17
26
38
67
Reduction ratio
-
1:11
1:51
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
410
258
kgf･m
41.8
26.3
Moment stiffness
Nm/rad
37.9
×
10
4
39.2
×
104
kgf･m/arc
min
11.3 11.6
One-way positional
accuracy
Sec. 120 50 40 40 40 40
Encoder type
-
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
Pulse/rev 217（131,072）
Motor multi
revolution counter
Count 216（65,536）
Output shaft
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
5.0
2.95
Mass (with brake)
kg
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: Indicates typical characteristics when combined with Σ-7 (driven using an ideal sine wave).
*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] (P1-36) and [1-13 Resistance to vibration] (P1-37).

1-4 Specifications
1-6
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
SG/HP
Model
Item
SHA32Y
11
51
81
101
121
161
Combined Servopack
SGD7S-120A20A
□□□
F81
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/A
4.5
21
33
42
50
66
kgf ･ m/A
0.46
2.1
3.4
4.2
5.1
6.8
Max. current*1
A
19
17.3
15.2
13.5
12.2
9.9
Allowable
continuous
current
*1*2
A 6.0 6.0 6.0 5.7 5.0 4.1
MEF 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･
s
2
1.1 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
×
104
100
×
104
kgf･
m/arc
min
25.7 29.6
One-way positional
accuracy
Sec. 120 50 40 40 40 40
Encoder type
-
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
Pulse/rev 217（131,072）
Motor multi
revolution counter
Count 216（65,536）
Output shaft
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: Indicates typical characteristics when combined with Σ-7 (driven using an ideal sine wave).
*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] (P1-36) and [1-13 Resistance to vibration] (P1-37).

1-4 Specifications
1-7
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
SG
Model
Item
SHA40Y
51
81
101
121
161
Combined Servopack
SGD7S-180A20A
□□□
F81
Max. torque*2
Nm
523
675
738
802
841
kgf･m
53.4
68.9
75.3
81.8
85.8
Allowable continuous
torque
*2*3
Nm
160
263
330
382
382
kgf･m
16.3
26.8
33.7
39
39
Max. rotational speed*2
rpm
78.4
49.4
39.6
33.1
24.8
Torque constant*2
Nm/A
25
41
51
61
81
kgf･m/A
2.6
4.1
5.2
6.2
8.2
Max. current
*2
A
26.7
21.8
19.4
17.9
14.6
Allowable continuous
current
*2*3
A 9.0 9.0 9.0 8.8 7.2
MEF constant*4 V/(rpm) 2.9 4.6 5.7 6.8 9.1
Phase resistance
（20℃）
Ω
0.19
Phase inductance
mH
1.2
Inertia
moment
(without
brake)
GD
2
/4
kg･m2
5.0
13
20
28
50
J
kgf･
cm･s
2
51 130 202 290 513
Inertia
moment
(with
brake)
GD
2
/4
kg･m2
6.1
15
24
34
61
J
kgf･
cm･s
2
62 157 244 350 619
Reduction ratio
-
1:51
1:81
1:101
1:121
1:161
Permissible
moment load
Nm
849
kgf･m
86.6
Moment stiffness
Nm/rad
179
×
104
kgf･
m/arc
53.2
One-way positional
accuracy
Sec. 50 40 40 40 40
Encoder type
-
Magnetic absolute encoder
Single motor revolution
Encoder resolution
Pulse/rev 217（131,072）
Motor multi revolution
counter
Count 216（65,536）
Output shaft resolution Pulse/rev
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 *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: Indicates typical characteristics when combined with Σ-7 (driven using an ideal sine wave).
*2: Value after temperature rise and saturation when the 500 x 500 x 25 [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] (P1-36) and [1-13 Resistance to vibration] (P1-37).

1-4 Specifications
1-8
1
2
3
4
5
6
7
8
9
10
11
付
Outlines
SG
Model
Item
SHA58Y
SHA65Y
81
101
121
161
81
101
121
161
Combined Servopack
SGD7S-330A20A
□□□
F81
Max. torque*1
Nm
1924
2067
2236
2392
2743
2990
3263
3419
kgf･m
196
211
228
244
280
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/A
54
68
81
108
54
68
81
108
kgf ･ m/A
5.5
6.9
8.3
11.0
5.5
6.9
8.3
11.0
Max. current*1
A
45
39
36
30
62
55
51
41
Allowable
continuous
current
*1*2
A 17.7 17.8 16.4 13.4 22.0 21.9 20.1 16.3
MEF 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
Sec. 40 40 40 40 40 40 40 40
Encoder type
-
Magnetic absolute encoder
Single motor
revolution
Encoder resolution
Pulse/rev 217（131,072）
Motor multi
revolution counter
Count 216（65,536）
Output shaft
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: Indicates typical characteristics when combined with Σ-7 (driven using an ideal sine wave).
*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] (P1-36) and [1-13 Resistance to vibration] (P1-37).