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Rotary Actuator SHA Series AC Servo Actuator

Features

  • Hollow, flat structure
  • Torque/volume ratio is five times that of the direct drive motor (HDS material)
  • Series created with 20Nm to 3400Nm torques
  • Tailor specifications including output bearings, speed reducers and motor armatures to meet customer-specific needs.
  • Comes standard with a 17-bit absolute encoder
  • Combined with the HarmonicPlanetary® HPF Series for high-speed rotation (Model nos: 25, 32)
  • High-accuracy SHA-CG type added to the product lineup

Offers extensive variation: hollow, flat, high torque

Select from numerous model variations

Maximum torque map

* The torque map shows the specifications without brakes.
* There are 4 types available for the SHA-CG: the SHA20, 25, 32, and 40.

Commercial Applications

Model

AC Servo Actuator

SHA(1)32(2)A(3)101(4)SG(5)—B(6)12(7)A(8)200(9)—10(10)S17b(11)A(12)—C(13)*(14)—SP(15)

  1. Model: SHA series AC servo actuator
  2. Model Nos
    • HP type: 25, 32
    • SG type: 20, 25, 32, 40, 58, 65
    • CG type: 20, 25, 32, 40
  3. Version symbol
  4. Reduction ratio (indicated by R in 1/R format)
    • HP type
      • 11:1/11
    • SG type
      • 51:1/51
      • 81:1/81
      • 101:1/101
      • 121:1/121
      • 161:1/161
    • CG type
      • 50:1/50
      • 80:1/80
      • 100:1/100
      • 120:1/120
      • 160:1/160
  5. Speed reducer model
    • SG: SHG series
    • HP: HPF series
    • CG: CSG series
  6. Motor version symbol
    • A: Model Nos 58, 65
    • B: Model Nos 25, 32, 40
    • C: Model Nos 20
  7. Motor size
    • 08: Model No. 20
    • 09: Model No. 25
    • 12: Model No. 32
    • 15: Model No. 40
    • 21: Model Nos 58, 65
  8. Brake
    • A: No brake
    • B: With brake
  1. Motor input voltage
    • 100:100V
    • 200:200V
  2. Encoder format
    • 10: Conforming to A format, transmission rate: 2.5 Mbps, 1-on-1 connection
  3. Encoder type, resolution
    • S17b: 17-bit absolute encoder, 131,072 pulses/revolution
  4. Encoder phase angle: Phase difference between voltage induced in motor phase U and absolute home
    • A: 0 degrees
  5. Connector specification
    • C: With standard connector
    • N: No connector
    • D: With special connector
  6. Option symbol
    • L: Near home & end limit sensors
    • Y: Cable taken out from side
    • V: With stand (CG type only)
    • S: Single-rotation output shaft absolute model (CG type only)
  7. Special specification (SP is not affixed on standard products)
    • * The 1/11 reduction ratio is combined with the HPF series hollow planetary speed reducer.
      Model numbers 25 and 32 support 200VAC only.

AC Servo Driver

HA(1)—800A(2)—3(3)A(4)—200(5)—*(6)

  1. Model: HA series AC servo driver
  2. Series: 800 series
    • 800A: I/O command type
    • 800B: MECHATROLINK-II type
    • 800C: CC-Link type
  3. Rated output current:
    • 1: 1.5A
    • 3: 3A
    • 6: 6A
    • 24: 24A
  1. Available encoder:
    • A: 13-bit absolute encoder
    • B: 14-wire incremental encoder
    • C: 4-wire wire-saving incremental encoder
    • D: 17-bit absolute encoder
    • E: 17-bit incremental encoder model
  2. Power supply·Voltage:
    • 100: AC100V
    • 200: AC200V
  3. Special specification:
    • No description: Standard product
    • SP: Special specification product

Extension cable

There are cables that connect the actuator and driver, and there are communication cables that connect the driver and personal computer.

Application cable SHA model No. Rated output current: Extension cable model
For motors 20, 25, 32, 40 3A, 6A EWD-MB**-A06-TN3
40 24A EWD-MB**-A06-TMC
58, 65 24A EWD-MB**-D09-TMC
For encoders 20, 25, 32, 40 3A, 6A EWD-S**-A08-3M14
40 24A EWD-S**-A08-3M14
58, 65 24A EWD-S**-D10-3M14
Dedicated communication cable EWA-RS03 (1.6m)
  • * ** indicates the cable length (03 = 3m, 05 = 5m, 10 = 10m) of the model

Connectors

The CN1, CN2, motor cable connectors and power-supply connectors of the HA-800 driver are shown below.

  • General Purpose I/O command type (HA-800A)
    • CNK-HA80A-S1: CN1 type/CN2 type/motor cable connector type/power supply connector type--- 4 types
    • CNK-HA80A-S2: CN2 type/power supply connector type--- 2 types
  • MECHATROLINK-II type (HA-800B)
    • CNK-HA80B-S1: CN1 type/CN2 type/motor cable connector type/power-supply connector type --- 4 types
    • CNK-HA80B-S2: CN2 type/power supply connector type--- 2 types
  • CC-Link type (HA-800C)
    • CNK-HA80C-S1: CN1 type/CN2 type/motor cable connector type/power supply connector type/CC-Link connector (x2)/CC-Link branch connector type --- 6 types
    • CNK-HA80C-S2: CN2 type/power supply connector type/CC-Link connector (x2)/CC-Link branch connector --- 4 types
  • * For HA-800□-24 connection type connectors check with the catalog or manual.

Dedicated communication software (provided free of charge): PSF-800

This dedicated communication software used to set/change parameters in the HA-800 driver can be downloaded from the HA-800 driver product page.

Rated Table

Catalog Downloads (opens to a new window)

Speed Reducer Model: SG/HP Type

Item/Model 20 25 32
Reduction ratio 51 81 101 121 161 11 51 81 101 121 161 11 51 81 101 121 161
Max. torque*1 Nm 73 96 107 113 120 26 127 178 204 217 229 62 281 395 433 459 484
Max. rotational speed r/min 117.6 74.1 59.4 49.6 37.3 509.1 109.8 69.1 55.4 46.3 34.8 436.4 94.1 59.3 47.5 39.7 29.8
Torque constant Nm/Arms 16.5 27 33 40 53 4.2 19 31 39 46 62 4.5 21 33 42 50 66
Max. current*1 Arms 6 4.9 4.5 4 3.4 8.9 8.6 7.5 7 6.3 5.2 19 17.3 15.2 13.5 12.2 9.9
Encoder main specifications Type: 17bit absolute encoder
Resolution per motor revolution: 217(131072)
Motor multi revolution detection: 216(65536) battery backup
Output: Nikon A format compliant (serial transmission)
Moment stiffness 25.2 x 104Nm/rad 379 x 103Nm/rad 392 x 103Nm/rad 861 x 103Nm/rad 1000 x 103Nm/rad
(7.5kgfm/arc min) (11.3kgfm/arc min) (11.6kgfm/arc min) (25.7kgfm/arc min) (29.6kgfm/arc min)
Permissible moment load 187Nm 410Nm 258Nm 932Nm 580Nm
(19.1kgfm) (41.8kgfm) (26.3kgfm) (95kgfm) (59.1kgfm)
Mass kg 2.1 5.1 3.1 9.7 6.2
CAD data DXF file DXF file DXF file DXF file DXF file
Item/Model 40 58 65
Reduction ratio 51 81 101 121 161 81 101 121 161 81 101 121 161
Max. torque*1 Nm 523 675 738 802 841 1924 2067 2236 2392 2400 2990 3263 3419
Max. rotational speed r/min 78.4 49.4 39.6 33.1 24.8 37 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Torque constant Nm/Arms 25 41 51 61 81 54 68 81 108 54 68 81 108
Max. current*1 Arms 26.7 21.8 19.4 17.9 14.6 45 39 36 30 55 55 51 41
Encoder main specifications Type: Magnetic absolute encoder
Resolution per motor revolution: 217(131072)
Motor multi revolution detection: 216(65536) battery backup
Output: Nikon A format compliant (serial transmission)
Moment stiffness 1790 x 103Nm/rad 5310 x 103Nm/rad 7410 x 103Nm/rad
(53.2kgfm/arc min) (158kgfm/arc min) (220kgfm/arc min)
Permissible moment load 849Nm 2180Nm 2740Nm
(86.6kgfm) (222kgfm) (280kgfm)
Mass kg 10.7 32 40
CAD data DXF file DXF file DXF file
  • *1The values in the table are obtained when combined with the HA-800 driver.
  • *The values listed above show the typical values of the output shaft.
  • *The values listed above are the values of the 200V motor input voltage specification. For 100V specifications, refer to the catalog.

Speed Reducer Model: CG Type

Item/Model 20 25
Reduction ratio 50 80 100 120 160 50 80 100 120 160
Max. torque*1 Nm 73 96 107 113 120 127 178 204 217 229
Max. rotational speed r/min 120 75 60 50 37.5 112 70 56 46.7 35
Torque constant Nm/Arms 16 26 33 39 53 19 31 38 46 61
Max. current*1 Arms 6.1 5.0 4.6 4.1 3.4 8.7 7.6 7.0 6.3 5.2
Encoder main specifications Type: 17-bit absolute encoder
Resolution per motor revolution: 217(131072)
Motor multi revolution detection: 216(65536) battery backup
Output: Nikon A format compliant (serial transmission)
Moment stiffness 25.2 x 104Nm/rad 39.2 x 104Nm/rad
(7.5kgfm/arc min) (11.6kgfm/arc min)
Permissible moment load 187Nm 258Nm
(19.1kgfm) (26.3kgfm)
Mass kg 2.7 4.1
CAD data DXF file DXF file
Item/Model 32 40
Reduction ratio 50 80 100 120 160 50 80 100 120 160
Max. torque*1 Nm 281 395 433 459 484 523 675 738 802 841
Max. rotational speed r/min 96 60 48 40 30 80 50 40 33.3 25
Torque constant Nm/Arms 20 33 41 49 66 25 40 50 60 80
Max. current*1 Arms 17.7 15.4 13.7 12.2 10 27.2 22 19.6 18 14.7
Encoder main specifications Type: Magnetic absolute encoder
Resolution per motor revolution: 217(131072)
Motor multi revolution detection: 216(65536) battery backup
Output: Nikon A format compliant (serial transmission)
Moment stiffness 100 x 104Nm/rad 179 x 104Nm/rad
(29.6kgfm/arc min) (53.2kgfm/arc min)
Permissible moment load 580Nm 849Nm
(59.2kgfm) (86.6kgfm)
Mass kg 8.0 13.8
CAD data DXF file DXF file
  • *1The values in the table are obtained when combined with the HA-800 driver.
  • *The values listed above show the typical values of the output shaft.
  • *The values listed above are the values of the 200V motor input voltage specification. For 100V specifications, refer to the catalog.

Contact us

For any comments or questions for the products, please contact us by inquiry form or contact the nearest sales office.