SHA Series. High-Precision SHA-CG Type. AC Servo Actuator. Flat Shape / Hollow Structure. AC Servo Driver HA-800 Series

Transcription

1 Flat Shape / Hollow Structure AC Servo Actuator High-Precision (Reducer: HarmonicDrive CSG Series) AC Servo Driver HA-8 Series ISO11 ISO91

2 Flat Shape/Hollow Structure AC Servo Actuator High-Precision Output shaft axial runout accuracy is drastically improved by changing combined models of HarmonicDrive. Fulfills high precision requirements such as table rotation drive or alignment adjustment mechanism that demands mechanical precision. Compared to direct drive motor, precision and resolution are almost equal Drastical size and weight reduction is realized Weight is reduced down to about 1/6 to 1/9 Size is reduced down to about 1/2 (Max. torque ratio) *According to research by HarmonicDrive as of April, 214 CONTENTS Features 2 3 SHA series CG type Line up 4 Combination with Driver and Relay Cable 4 Model and Symbols 5 System Configuration 6 7 Actuator Specification: SHA2-CG type Combination Driver: HA-8-3D/E- 8 9 SHA-CG type (V) Combination Driver: HA-8-6D/E SHA-CG type (V) Combination Driver: HA-8-3D/E SHA32-CG type Combination Driver: HA-8-6D/E SHA-CG type Combination Driver: HA-8-6D/E SHA-CG type Combination Driver: HA-8-24D/E Operable Range Mechanical Accuracy 2 Uni-directional Positional Accuracy Repeatability 21 Reverse Positional Accuracy Rotational Direction 22 Surface Treatment Precautions 23 SHA series Options (sold separately) Features 26 HA-8 series Common Specification 26 HA-8 series Communication Specification 28 External Dimensions: HA-8-1, 3 28 External Dimensions: HA External Dimensions: HA HA-8 series Options (sold separately) Software to Set Servo Parameters (free delivery) 31 Warranty Trademark Overseas standards conformance 32 For Safe Use of Servo Systems 33 Memo 34 As a Specialist in Precision Control Field (Company profile) 35 2 SHAseries

3 The actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque. Selection from each variation Reducer model HarmonicDrive SHG series Standard Harmonic Planetary HPF series Changeable reducer model Flat HarmonicDrive (SHD series) Variation Planetary gear reducer (HPG series) Reduction ratio: selectable between 1/3 and 1/161 Cable lead-out Standard Variation Rear lead-out Side lead-out is available Encoder Standard Variation Standard Magnetic type absolute encoder (17bit) Multi revolution backup (16bit) (conforming to Nicon A format) Incremental encoder can be mounted. Holding brake Without brake Variation With brake (can be mounted without changing dimensions.) AC Servo motor Standard Variation Supported power voltage specification: AC V (SHA can be compatible with ACV spec.) Supported power voltage specification: ACV, ACV, DC72V, DC48V (Inquire at Harmonic drive s sales office for the supported model.) Output shaft bearing Standard Crossed roller bearing Option Near origin and end limit sensors With stand Environment specification Standard Protection code: IP54 Operating temperature: C to + C UL and CE markings Compliance with RoHS directive Variation The size can be changed to the high load capacity and high load specification. Output shaft 1 revolution absolute specification Variation Can be compatible with IP65 of protection code. Features of SHA-CG type Output shaft axial runout accuracy is drastically improved [surface runout shaft axial runout (outer spigot).1mm or less] By conducting an overall review of output rotary unit, high precision of surface runout and shaft axial runout is realized. Best suited application for index table and such. Easy-to-divide output shaft resolution.1,.1 or.1 increment division is possible by setting parameters. Vertical stand for indexing is available as an option. SHA series dedicated driver Open Field Network Supported AC Servo Driver Functions of HA-8 series HA-8 Series General-purpose I/O command type HA-8A Control Mode [Position, Speed, Torque *3 ] supported *1 *2 HA-8B MECHATROLINK-II supported HA-8C CC-Link supported *1: MECHATROLINK is a registered trademark of MECHATROLINK association. *2: CC-Link is a registered trademark of CC-Link association. *3: Control mode to control motor current Features of HA-8 series Open field network supported: MECHATROLINK-ll, CC-Link In comparison to conventional product Reduces positional settling time to 1/2. Auto tuning function is added. Cubic volume is reduced about by %. Control mode (position, speed, torque) can be switched by I/O input in operation. Regenerative absorbing circuit and dynamic brake are embedded. Compatible with wider variation of actuators manufactured by Harmonic Drive Systems. Output shaft 1 revolution absolute specification is added as a new function. Command setting at ouput shaft 1 revolution can easily be set. Compatible with SHA-CD-S type. Output shaft partitioning function setting is added. Command setting by angular unit is available such as 3.6 million division (equivalent to output shaft.1 deg.). SHAseries 3

4 SHA series (CG type) Line up Model HarmonicDrive Reduction Ratio Max. Torque [] Permissible Torque [] Max. Rotational Speed [r/min] Output Resolution Pulses/Resolution Hollow opening diameter [mm] Combined Driver Model 2A 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-3D/E- MECHATROLINK-Ⅱsupported: HA-8B-3D/E- CC-Link supported: HA-8C-3D/E- A (Power supply of motor V) 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-6D/E- MECHATROLINK-Ⅱ supported: HA-8B-6D/E- CC-Link supported: HA-8C-6D/E- A (Power supply of motor V) 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-3D/E- MECHATROLINK-Ⅱ supported: HA-8B-3D/E- CC-Link supported: HA-8C-3D/E- 32A 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-6D/E- MECHATROLINK-Ⅱ supported: HA-8B-6D/E- CC-Link supported: HA-8C-6D/E- A 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-6D/E- MECHATROLINK-Ⅱ supported: HA-8B-6D/E- CC-Link supported: HA-8C-6D/E- A 1: 1:8 1: 1:12 1: ,553, 1,485,7 13,17, 15,728,6 2,971, I/O command type: HA-8A-24D/E- MECHATROLINK-Ⅱ supported: HA-8B-24D/E- CC-Link supported: HA-8C-24D/E- * Output shaft resolution is a value of (encoder resolution) x (Reduction ratio). Combination with Driver and Relay Cable The following table shows configuration of SHA actuator, HA-8 driver, and relay cable. Combination Driver Versatile I/O command type Control Mode [Position, Speed, Torque *] supported * Control mode that controls motor current Actuator Model SHA2A HA-8A-3D/E - SHAA SHA32A SHAA HA-8A-6D/E- HA-8A-3D/E- HA-8A-6D/E- HA-8A-6D/E- or HA-8A-24D/E- MECHATROLINK-Ⅱ supported HA-8B-3D/E - HA-8B-6D/E- HA-8B-3D/E- HA-8B-6D/E- HA-8B-6D/E- or HA-8B-24D/E- CC-Link supported HA-8C-3D/E - HA-8C-6D/E- HA-8C-3D/E- HA-8C-6D/E- HA-8C-6D/E- or HA-8C-24D/E- Combination Driver Actuator Model SHA2A SHAA SHA32A SHAA Motor cable EWD-MB**-A6-TN3 When HA-8A-6D/E EWD-MB**-A6-TN3 When HA-8A-24D EWD-MB**-A6-TMC Encoder cable ** In the relay cable model indicates cable length. Select from 3 types of length: 3=3m, 5=5m, and 1=1m. EWD-S**-A8-3M14 4 SHAseries

5 Model and Symbols AC servo actuator The following shows how to read models and symbols of SHA series actuators. Example of standard item model SHA 32 A CG - B 12 A - 1 S17b A - C (1) (2) (3) (4) (5) (6) (7) (8) (9) (1) (11) (12) (13) (14) (15) (1) Type: AC servo actuator SHA series (9) Power supply of motor (2) Model: 2,, 32, (3) Version symbol (4) Reduction ratio (represented as R of 1/R) CSG 1/ 8 1/8 1/ 12 1/12 1 1/1 (5) Reducer type CG HarmonicDrive CSG series (6) Motor version symbol B Model, 32, C Model 2 (7) Motor size 8 Model 2 9 Model 12 Model Model V V (V is available for model.) (1) Encoder format 1 A format, transmission speed: 2.5Mbps, one-to-one connection (11) Encoder type, resolution S17b (12) Encoder phase angle A 17bit absolute encoder, pulse/revolution (13) Attached connector C Standard connector attached N Without connector (14) Option symbol L Near origin and end limit sensors Y Side lead-out of cable V With stand (CG type only) S Output shaft 1 revolution absolute specification (CG type only) (Inquire at Harmonic drive s sales office for the supported model.) (8) Brake A B Without brake With brake (15) Special specification No description Standard SP Special specification item AC servo driver Example of standard item model HA - 8A - 3 A - (1) - (2) - (3) (4) - (5) - (6) (1) Type: AC servo driver HA series (2) Series name: 8 series 8A I/O command type 8B MECHATROLINK-Ⅱ supported type 8C CC-Link supported type (4) Supported encoder A 13bit absolute encoder B 14-wire incremental encoder C 4-wire reduction incremental encoder D 17bit absolute encoder E 17bit encoder incremental specification (3) Rated output current 1 1.5A 3 3A 6 6A 24 24A (5) Input power supply voltage ACV ACV (6) Special specification No description Standard SP Special specification item SHAseries 5

6 System Configuration Basic configuration of SHA actuator, HA-8 driver, and relay cable are illustrated. General-purpose I/O command type System configuration Power Supply * 1 Circuit Breaker * 1 Host controller * 1 Surge absorber * 1 General-purpose I/O command type AC servo driver HA-8A Noise filter * 1 CN2 connector ( p. ) I/O signal cable *1 Electromagnetic contactor *1 TB1 connector ( p. ) * If a brake is attached, the power supply for the brake is required separately. Main power supply *1 Motor relay cable ( p. 24) Control power supply *1 Power supply cable *1 TB2 connector ( p. ) CN1 connector ( p. ) Encoder relay cable ( p. 24) Dedicated communication cable ( p. ) To PE of motor relay cable Personal computer *1 Install Notes: Starred ( *1 ) items are to be supplied by the customer. * See the technical information for the details of configuration related to power supply. Communication software (PSF-8) ( p. 31) AC servo actuator SHA series 6 SHAseries

7 MECHATROLINK-Ⅱ supported System configuration Optionally available To be supplied by the customer TB1: motor connector ( p. ) Not necessary if relay cable is used Motor relay cable (p. 24) MECHATROLINK-Ⅱ supported AC servo driver HA-8B CN2: I/O signal connactor ( p. ) Host controller I/O signal cable CN1: encoder connector ( p. 24) Not necessary if relay cable is used TB2: Power supply connector ( p. ) ACV or ACV power supply [Prepare cables and the power supply.] MECHATROLINK-Ⅱ terminating resistance MECHATROLINK-Ⅱ cable PC AC servo actuator SHA series MECHATROLINK-Ⅱ cable EIA-232C dedicated communication cable ( p. ) Encoder relay cable (p. ) MECHATROLINK-Ⅱ controller * See Technical information for details of the configuration related to the power supply. CC-Link supported System configuration Optionally available To be supplied by the customer CC-Link supported AC servo driver HA-8C CN2: I/O signal connactor ( p. ) Host controller TB1: motor connector ( p. ) Not necessary if relay cable is used Motor relay cable (p. 24) TB2: Power supply connector ( p. ) ACV or ACV power supply [Prepare cables and the power supply.] I/O signal cable CN1: encoder connector ( p. 24) Not necessary if relay cable is used CC-Link Ver.1.1 communication cable Terminating resistance CC-Link communication connector ( p. ) PC AC servo actuator SHA series Encoder relay cable (p. ) CC-Link master station CC-Link Ver.1.1 communication cable EIA-232C dedicated communication cable ( p. ) * See Technical information for details of the configuration related to the power supply. SHAseries 7

8 Actuator Specification: SHA2-CG Type Combination Driver: HA-8-3D/E- Item Model SHA2ACG SHA2A8CG SHA2ACG SHA2A12CG SHA2A1CG Maximum Torque * 1 Permissible Torque * 1,2 Maximum Speed * 1 kgf m kgf m r/min /A Torque Constant * 1 Maximum Voltage * 1 Permissible Current * 1,2 MEF Constant * 3 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 2: Temperature rise saturation values when the radiation plate of [mm] is mounted. * 3: Tripled value of MEF : : : : Absolute encoder 2 17 (131,72) 2 16 (65,536) 6,553, 1,485,7 13,17, 15,728, Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) Motor connector Housing : AMP Pin contact (motor U V W) :369-1 AMP Pin contact (motor PE) : AMP (28) (14) (28) (Unit: mm) φ4 H Depth 7 φ.5 Opening diameter C.5 chamfering 2-M5 (Pull tap) 15 Output rotary unit Encoder connector Housing : AMP Tab contact : AMP R.4 or less R.4 or less 15 or less +35 Motor cable AWG 2x4 conductors (Cable outside diameter:φ5.6) 1B (21) (13) 15 2 (12) 1A Encoder cable AWG 28x3 pairs + shield (Cable outside diameter:φ6) φ φ17 12-M4 7 6-φ5.5 to 6 φ117 φ95 h φ9 φ69 h7 -. φ43 h C.5 C.5 (3) (φ94) (φ76) (63.5) (83) 123±1 N.P Hollow shaft inside diameterφ17 φ33 φ95 h UL_N.P R CE_N.P 1.5±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 8 SHAseries

9 Operable Range * See page 2 for how to read the operable range. SHA2ACG 8 Radiation plate: (mm) SHA2A8CG 12 Radiation plate: (mm) Torque [] % duty Torque [] 8 % duty SHA2ACG 12 Radiation plate: (mm) SHA2A12CG 12 Radiation plate: (mm) Torque [] 8 % duty Torque [] 8 % duty SHA2A1CG 1 Radiation plate: (mm) 12 Torque [] 8 % duty SHAseries 9

10 Actuator Specification: SHA-CG Type (ACV Spec.) Combination Driver: HA-8-6D/E- Item Model SHAACG SHAA8CG SHAACG SHAA12CG SHAA1CG Maximum Torque * 1 Permissible Torque * 1,2 Maximum Speed * 1 kgf m kgf m r/min /A Torque Constant * 1 Maximum Voltage * 1 Permissible Current * 1,2 MEF Constant * 3 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 2: Temperature rise saturation values when the radiation plate of [mm] is mounted. * 3: Tripled value of MEF : 6,553, :8 1,485, : Magnetic type absolute encoder 2 17 (131,72) 2 16 (65,536) 13,17, :12 15,728,6 Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) 2-M6 (Pull tap) Housing : AMP Tab contact : AMP (13) (21) Motor connector 1A Housing : AMP Pin contact (motor U V W) :369-1 AMP 1B Pin contact (motor PE) : AMP (28) (28) +.12 φ5 H7 Depth 8 φ.5 Opening diameter C1 chamfering Encoder connector φ131 (14) (12) Output rotary unit R.4 or less R.4 or less or less Motor cable AWG 2x4 conductors (Cable outside diameter:φ5.6) (Unit: mm) Encoder cable AWG 24x3 pairs + shield (Cable outside diameter:φ7.7) 3.5 R φ6.5 to 7 12-M5 8 φ72 φ144 φ115 h φ11 φ84 h φ55 H7 +. C.5 C.5 (φ114) 4 4 (4) (65.5) (82) N.P φ27±.5 Hollow shaft inside diameter (φ93) φ115 h UL_N.P CE_N.P ±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 1 SHAseries

11 Operable Range * See page 2 for how to read the operable range. SHAACG 1 Radiation plate: (mm) SHAA8CG Radiation plate: (mm) Torque [] Torque [] SHAACG % duty % duty Radiation plate: (mm) Torque [] SHAA12CG Torque [] 75 % duty % duty Radiation plate: (mm) SHAA1CG 2 Radiation plate: (mm) 2 Torque [] % duty 1 2 SHAseries 11

12 Actuator Specification: SHA-CG Type (ACV Spec.) Combination Driver: HA-8-3D/E- Item Model SHAACG SHAA8CG SHAACG SHAA12CG SHAA1CG Maximum Torque * 1 Permissible Torque * 1,2 Maximum Speed * 1 kgf m kgf m r/min /A Torque Constant * 1 Maximum Voltage * 1 Permissible Current * 1,2 MEF Constant * 3 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 2: Temperature rise saturation values when the radiation plate of [mm] is mounted. * 3: Tripled value of MEF : 6,553, :8 1,485, : Magnetic type absolute encoder 2 17 (131,72) 2 16 (65,536) 13,17, :12 15,728,6 Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) Encoder connector Housing : AMP Tab contact : AMP (13) (21) Motor connector 1A Housing : AMP Pin contact (motor U V W) :369-1 AMP 1B Pin contact (motor PE) : AMP (28) (28) +.12 φ5 H7 Depth 8 φ.5 Opening diameter C1 chamfering 2-M6 (Pull tap) φ131 (14) (12) Output rotary unit R.4 or less R.4 or less or less Motor cable AWG 2x4 conductors (Cable outside diameter:φ5.6) (Unit: mm) Encoder cable AWG 24x3 pairs + shield (Cable outside diameter:φ7.7) 3.5 R φ6.5 to 7 12-M5 8 φ72 φ144 φ115 h φ11 φ84 h φ55 H7 +. C.5 C.5 (φ114) 4 4 (4) (65.5) (82) N.P φ27±.5 Hollow shaft inside diameter (φ93) φ115 h UL_N.P CE_N.P ±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 12 SHAseries

13 Operable Range * See page 2 for how to read the operable range. SHAACG 1 Radiation plate: (mm) SHAA8CG Radiation plate: (mm) Torque [] Torque [] Torque [] SHAACG 放熱板 :3 3 18(mm) 2 SHAA1CG % duty % duty % duty Radiation plate: (mm) Torque [] SHAA12CG Torque [] 75 % duty % duty Radiation plate: (mm) SHAseries 13

14 Actuator Specification: SHA32-CG Type Combination Driver: HA-8-6D/E- Item Model SHA32ACG SHA32A8CG SHA32ACG SHA32A12CG SHA32A1CG Maximum Torque * 1 Permissible Torque * 1,2 Maximum Speed * 1 kgf m kgf m r/min /A Torque Constant * 1 Maximum Voltage * 1 Permissible Current * 1,2 MEF Constant * 3 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 2: Temperature rise saturation values when the radiation plate of 2 [mm] is mounted. * 3: Tripled value of MEF : 6,553, :8 1,485, : Magnetic type absolute encoder 2 17 (131,72) 2 16 (65,536) 13,17, :12 15,728,6 Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) Encoder connector Housing : AMP Tab contact : AMP (Unit: mm) Motor connector Housing : AMP Pin contact (motor U V W) : AMP Pin contact (motor PE) : AMP +.12 φ6 H7 Depth 8 φ.5 Opening diameter C1 chamfering 12-M φ96 (14) (12) Output rotary unit (13) (21) 1A 1B (28) (28) R.4 or less +35 R.4 or less 15 or less Motor cable AWG 18x4 conductors (Cable outside diameter:φ7.7) Encoder cable AWG 24x3 pairs + shield (Cable outside diameter:φ7.7) φ R 12-φ6.5 to 7 45 φ175 φ148 h M6 (Pull tap) φ142 φ11 h φ75 H7 +. C.5 C.5 (5) (φ146) (7.5) (9) Hollow shaft inside diameter (φ121) φ148 h7 -. φ35 ±.5 144±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 14 SHAseries

15 Operable Range * See page 2 for how to read the operable range. SHA32ACG Radiation plate: 2(mm) SHA32A8CG 4 Radiation plate: 2(mm) 2 3 Torque [] Torque [] Torque [] SHA32ACG % duty Radiation plate: 2(mm) 1 2 SHA32A1CG % duty % duty Radiation plate: 2(mm) Torque [] SHA32A12CG Torque [] % duty % duty Radiation plate: 2(mm) SHAseries 15

16 Actuator Specification: SHA-CG Type Combination Driver: HA-8-6D/E- Item Model SHAACG SHAA8CG SHAACG SHAA12CG SHAA1CG 1, 2, 3 Maximum Torque * Permissible 1, 2, 3 Torque * Maximum Speed * 2 kgf m kgf m r/min /A Torque Constant * 2 Maximum Voltage * 2 Permissible Current * 2,3 MEF Constant * 4 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: In the combination between HA-8-6D and SHAA, Maximum Torque and Permissible Torque are limited. * 2: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 3: Temperature rise saturation values when the radiation plate of [mm] is mounted. * 4: Tripled value of MEF : 6,553, :8 1,485, : Magnetic type absolute encoder 2 17 (131,72) 2 16 (65,536) 13,17, :12 15,728,6 Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) φ.5 Motor connector Housing : AMP Pin contact (motor U V W) : AMP Pin contact (motor PE) : AMP +.15 φ8 H7 Depth 1 Opening diameter C1 chamfering 12-M Output rotary unit Encoder connector Housing : AMP Tab contact : AMP (12) (14) (13) R.4 or less 1A 1B (28) (28) (21) R.4 or less or less Motor cable AWG 16x4 conductors (Cable outside diameter:φ7.8) (Unit: mm) Encoder cable AWG 24x3 pairs + shield (Cable outside diameter:φ7.7) φ116 2-M1 (Pull tap) 8-φ11 to 11.5 φ φ2 φ18 h7 φ17 φ132 h7 φ9 H C.5 C.5 5 (6) (φ175) (8) (18) φ45±.5 Hollow shaft inside diameter (φ143) φ18 h ±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 16 SHAseries

17 Operable Range SHAACG/HA-8-6D/E Radiation plate: (mm) * See page 2 for how to read the operable range. SHAA8CG/HA-8-6D/E Radiation plate: (mm) 8 7 Torque [] Torque [] Torque [] 8 7 % duty 2 8 SHAACG/HA-8-6D/E % duty Radiation plate: (mm) 1 2 SHAA1CG/HA-8-6D/E % duty Radiation plate: (mm) Torque [] % duty 2 SHAA12CG/HA-8-6D/E Torque [] % duty Radiation plate: (mm) SHAseries 17

18 Actuator Specification: SHA-CG Type Combination Driver: HA-8-24D/E- Item Model SHAACG SHAA8CG SHAACG SHAA12CG SHAA1CG Maximum Torque * 1 Permissible Torque * 1,2 Maximum Speed * 1 kgf m kgf m r/min /A Torque Constant * 1 Maximum Voltage * 1 Permissible Current * 1,2 MEF Constant * 3 Phase Resistance (at 2 o C) Phase Inductance kgf m/a A A V/(r/min) Ω mh Moment of Inertia (Without brake) Moment of Inertia (With brake) GD 2 /4 J GD 2 /4 J kg m 2 kgf cm s 2 kg m 2 kgf cm s 2 Reduction Ratio Permissible Moment Capacity Moment Stiffness Uni-directional Positional Accuracy kgf m /rad kgf m/arc min Sec. Encoder Method Encoder Resolution per Motor Revolution Multi Revolution Detection Output Shaft Resolution Mass (without brake) Mass (with brake) Pulse/revolution kg kg Environmental Conditions Motor Insulation Mounting Direction Protection Structure The aforementioned values are those at the output shaft. * 1: Characteristic in combination with a HarmonicDrive driver (driven at an ideal sine wave). * 2: Temperature rise saturation values when the radiation plate of [mm] is mounted. * 3: Tripled value of MEF : 6,553, :8 1,485, : Magnetic type absolute encoder 2 17 (131,72) 2 16 (65,536) 13,17, :12 15,728,6 Operating temperature to C, storage temperature -2 to C, Operating humidity / storage humidity 2 to 8% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude m or less. Insulation resistance: MΩ or more (DC V) Dielectric strength: AC 1V/1min Insulation class: Class A All directions Totally enclosed self-cooled type (IP54) :1 2,971,52 External Dimensions (Reducer type: CG type) φ.5 Motor connector Housing : AMP Pin contact (motor U V W) : AMP Pin contact (motor PE) : AMP +.15 φ8 H7 Depth 1 Opening diameter C1 chamfering 12-M (12) (14) Output rotary unit R.4 or less Encoder connector Housing : AMP Tab contact : AMP (21) 1A 1B (28) (28) R.4 or less or less (13) Motor cable AWG 16x4 conductors (Cable outside diameter:φ7.8) (Unit: mm) Encoder cable AWG 24x3 pairs + shield (Cable outside diameter:φ7.7) φ116 2-M1 (Pull tap) 8-φ11 to 11.5 φ φ2 φ18 h7 φ17 φ132 h7 φ9 H C.5 C.5 5 (6) (φ175) (8) (18) φ45±.5 Hollow shaft inside diameter (φ143) φ18 h ±1 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. 18 SHAseries

19 Operable Range SHAACG/HA-8-24D/E Radiation plate: (mm) * See page 2 for how to read the operable range. SHAA8CG/HA-8-24D/E Radiation plate: (mm) 8 7 Torque [] Torque [] Torque [] SHAACG/HA-8-24D/E % duty % duty Radiation plate: (mm) 1 2 SHAA1CG/HA-8-24D/E % duty Radiation plate: (mm) Torque [] SHAA12CG/HA-8-24D/E Torque [] % duty % duty Radiation plate: (mm) SHAseries 19

20 Operable Range The following diagrams show the operable range of the SHA series (combined with driver HA-8 servo driver). % duty Range of torque-rotational speed operable at % duty (ratio between operational and standby hours is :) 45 Motion range during acceleration and deceleration Range of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration. 35 Torque [] 2 15 Range of continuously operable torque-rotational speed Note 1: Motion ranges for continuous motion and that at % duty are the values when the radiation plate mentioned in the graphs is mounted. Note 2: See the technical information for selection of a model No. Mechanical Accuracy The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows. CG Type Accuracie Item 1. Output shaft surface runout 2-1. Output shaft axial runout (outer spigot) 2-2. Output shaft axial runout (inner spigot) 3. Parallelism between the output shaft and mounted surface 4. Parallelism between the output shaft and mounted surface 5. Concentricity between the output shaft and fitting part 6. Concentricity between the output shaft and fitting part * The aforementioned values are T.I.R (total indicator reading) values. SHA2A SHAA SHA32A SHAA (Uint: mm) B 5 A A 1 3 B 6 A 4 B 2 SHAseries

21 Uni-directional Positional Accuracy The uni-directional positional accuracy represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (JIS B ) CG Type (Unit: Sec) Reduction Ratio Model SHA2A SHAA SHA32A SHAA 1: 1:8 or more Positioning error Specified stop position Actual stop position Datum position Repeatability The repeatability is determined by repeating positioning in a given position from the same direction seven times, by measuring four stop positions of the output shaft and by calculating the maximum differences. Measured values are indicated in angles (degrees) and are prefixed with "±" to 1/2 of the maximum differences. The values in the table are maximum values. (JIS B ) CG Type (Unit: Sec) Reduction Ratio Model SHA2A SHAA SHA32A SHAA Total reduction ratio ±5 ±5 ±4 ±4 P1 P2 P7 X Repeatability: ±X/2 *P1 to P7: Stop position X: maximum difference SHAseries 21

22 Reverse Positional Accuracy The reverse positional accuracy is determined by rotating in positive (or negative) direction to determine the stopping position as a benchmark. Rotate to the same direction by giving an arbitrary command then give the same command in negative (or positive) direction from the stopping position. Measure the differences between the stopping position and the benchmark. Repeat the steps seven times to determine the average value to calculate the maximum value at four positions of the output shaft. (JIS B ) CG Type (Unit: Sec) Reduction Ratio 1: 1:8 or more Model SHA2A 75 SHAA SHA32A SHAA 2 P1 X1 P1 P2 X2 P2 P7 X7 P7 Reverse positional accuracy: X1 + X2 + + X7 /7 * P1 to P7 : Stop position from positive direction P1 to P7 : Stop position from negative direction X1 to X7 : Difference between stop position of positive and negative direction 一 一 Rotational Direction The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-8 driver. You can change this rotation direction by selecting System parameter mode 3 and SP: Command polarity setting of the HA-8 driver. SP: Command polarity setting Set value FWD command pulse REV command pulse Setting 1 Clockwise direction Counter-clockwise direction Counter-clockwise direction Clockwise direction Factory setting *Arrow indicates counter-clockwise direction. 22 SHAseries

23 Surface Treatment The following surface treatment is provided for standard SHA series actuators. CG Type Part Main body Output shaft roller bearing fixed part Output shaft rotor Hollow shaft (Sleeve) Bolt Surface treatment No treatment (Bare aluminum) Low temperature black chrome plating Low temperature black chrome plating Nickel plating Trivalent chrome plating or nickel plating The surface treatment of SHA series actuator does not completely protect rust. Precautions Operating the SHA series (CG type) at a constant speed (motor shaft r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern. The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room. SHAseries 23

24 SHA series Options (sold separately) Relay Cable This cable can connect between SHA series and HA-8 driver. There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder. When connecting between SHA series and HA-8 driver, this relay cable is required. For motors Actuator model number: 2,, 32, (Model No. is used when combining with HA-8-6D/E.) EWD-MB**-A6-TN3 Cable length (3=3m, 5=5m, 1=1m) (Unit: mm) Driver side (HA-8-3 6) Cable length Actuator side (SHA 32A A) +1 Soldering process Brake: Blue Brake: Yellow Outside diameter φ7.8 () (28max) (19max) PE: Green/Yellow (29max) Wiring display seal (32.5) () W: Black V: White U: Red Actuator model number: (combining with HA-8-24D/E.) EWD-MB**-A6-TMC Cable length (3=3m, 5=5m, 1=1m) Driver side (HA-8-24) (8) Cable length (Unit: mm) Actuator side (SHAA) Soldering process Brake: Blue Brake: Yellow Outside diameter φ7.8 () (28max) (19max) PE: Green/Yellow W: Black V: White (29max) For encoders Actuator model number: 2,, 32, EWD-S**-A8-3M14 Cable length (3=3m, 5=5m, 1=1m) (Unit: mm) Actuator side Driver side Cable length (39) (12.7) (12.6) (11.3) Outside diameter φ8.4 (12.5) (29.5) U: Red 24 SHAseries

25 Output shaft 1 revolution absolute specification (option symbol: S) For standard encoders, as long as uni-directional rotation continues, positional information will not be managable accurately since absolute encoder is to surpass detectable multi-rotational detection count. As for output shaft 1 revolution absolute specifications, clear the multi-accumilation counter to (zero) as outputshaft turns 1 revolution (one turn) to maintain positional information accuracy as long as uni-directional rotation continues. See the technical information for AC servo driver HA-8 series to use this function since driver setting is necessary for the drive. This specification is onyly for CG type only. With stand (CG type, option symbol: V) Stand is available for use of CG type as table drive. For details, contact one of our branch offices. Outline drawing Name plate Note: 1. For actuators, please refer to the illustrated specifications or technical information accompanying the delivered product for detailed dimensions and spcifications. 2. Stand is only for SHA-CG type, side lead-out of cable. Measurement table Item Unit SHA2 SHA SHA32 SHA a b c d e f g h mm mm mm mm mm mm mm mm φ69 h7 /-. φ135 φ143 φ177 h7 /-. 133± φ84 h7 /-.35 φ1 φ168 φ21 h7 / ± φ11 h7 /-.35 φ198 φ28 φ2 h7 / ± φ132 h7 /-. φ248 φ8 φ316 h7 / ± i j k m n o *1 p *1 r s t Mass *2 Bolt used for i part *3 Recommended tightening torque for i part mm mm - mm mm mm mm mm - kg - 6-φ6.6 Boring φ13 depth 1 φ M4 7 φ 17. φ.8 φ17 2-M6 Depth (4.5) 6-M φ9 Boring φ17 Depth 1 φ19 12-M5 8 φ φ φ131 2-M8 Depth (6.2) 6-M φ11 Boring φ21 Depth 1 φ M6 1 φ96 1. φ.9 45 φ162 2-M8 Depth (11.9) 6-M φ13 Boring φ Depth 1 φ M8 12 φ φ. 9 φ23 2-M12 Depth 23 2(21) 6-M12 9 *1: The aforementioned values are T.I.R (total indicator reading) values. *2: The values in parentheses are for equipment with a brake. *3: When installing the products, use plain washer. For actuators, please refer to the illustrated specifications accompanying the delivered product for detailed dimensions and spcifications. Material of stand is cast aluminum. No surface treatment is applied. Stand is sold only as an option. Near origin and end limit sensors (option) can not be combined. Actuator is equipped with side lead-out of cable. SHAseries

26 HA-8 Series AC Servo Driver Open Field Network Supported AC Servo Driver HA-8 series Features Open field network supported MECHATROLINK-ll and CC-Link (Ver1.1) supported Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems) Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item. Auto tuning function is available Auto tuning function is available, which can estimate the load to set optimal servo gain. Control mode can be switched by I/O input Control mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage. *Control mode to control motor currentmode to control motor current Regenerative absorbing circuit and dynamic brake are embedded Output shaft 1 revolution absolute specification Output shaft partitioning function setting HA-8 series Common Specification Driver model Item Driver s Rated Current* 1 Driver s Maximum Current* 1 Power Supply Main circuit* 1 Voltage Control circuit* 1 Power Supply Frequency Structure Mounting Method Control Mode * 1: Set in accordance with the specification of a combined actuator. * 2: HA-8A specification. Refer to the technical information for HA-8B/HA-8C. 26 HA-8 series AC Servo Driver Multi Revolution Limit (Motor Shaft) Ambient Condition Position Command Pulse* 2 Speed Command Voltage* 2 Torque Command Voltage* 2 Speed Control Range Input Singal* 2 Output Signal* 2 Monitor Terminal Communication Connector * 3 Operation Panel Protection function Regenerative Processing Configuration Status Display Function Parameter Adjustment Function* 3 Alarm* 2 Warning* 2 Regenerative Resistance Absorbed Power Embedded Functions Inrush Current Prevention Function Operation Mode Mass HA-8-1 HA-8-3 HA-8-6 HA A 3.A 6.A 24.A 4.A 9.5A 19.A 55.A AC to 115V (single phase) or AC to 2V (single phase/3 phases) +1 to 15% AC to 2V (3 phases)+1 to 15% AC to 115V (single phase) or AC to 2V (single phase) +1 to 15% AC to 2V (single phase) +1 to 15% /Hz 96 to 95 (FHA-C series), to (SHA series, FHA-C mini series) Working temperature: C to C Storage temperature: -2 C to 65 C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: No metal powder, dust, corrosive gas, flammable gas and oil mist Self-cooled type Forced air-cooling type Base mount (mounted on a wall) Position control, speed control, torque control (switchable from I/O* 2 ) Line driver type : Maximum response frequency 1- and 2-pulse systems: 1MHz, 2-phase pulse system: khz Open collector type : Maximum response frequency khz DC±1V/Max. rotation speed, input impedance approx. 68kΩ DC±1V / Max torque, input impedance approx. 68kΩ 1: Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverse selection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2, torque limit, electronic gear select, control mode, INHIBIT Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state, low battery voltage, overload, cooling fan stop Forward inhibit inputting, reverse inhibit, warning 3 channels, motor rpm, current command, general-purpose output (parameter selection) RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder data Display (7-segment LEDs) 5 digits (red), 4 push button switches Rotational speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and others System parameter 1, 2, 3 or 4, adjustment parameter 1 or 2 Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting External Regenerative Resistance Regenerative Resistance Installed With installation terminal With External Regenerative Resistance installation terminal 3W Max 8W Max 9W Max Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery Embedded (CPU control by main circuit voltage monitoring) Status display (normal operation) mode, test mode, adjustment mode, system parameter mode 1kg 1.2kg 5.8kg * 3: HA-8B/HA-8C are only RS-232C specification.

27 HA-8 Series AC Servo Driver HA-8 series Communication Specification MECHATROLINK Communication Specification Item MECHATROLINK version Transmission rate Maximum transmission distance Minimum inter-station distance Transmission medium Number of mobile units connected Topology Communication cycle Communication method Coding Data length Number of connections * 1 Specification MECHATROLINK-Ⅱ 1Mbps m.5m Twisted pair cable with balanced type shield Maximum mobile units Bus 1, 1.5, 2, 3, 4, 5ms Master/slave full synchronous method Manchester encoding 17 bytes/32 bytes selectable Maximum *1: A repeater is required for communication over 17 units or 16 units with m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association ( for the detail. *2: Use MP series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted). For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems. *3: Use cables specified. Never use commercial USB cables. CC-Link Communication Specification Item Applicable CC-Link version Station type Transmission rate Communication method Synchronous method Encoding method Transmission channel type Error control method Connecting cable Transmission format Remote station number Number of exclusive stations Communication speed Cable length * 4 Maximum cable extension Cable length between stations Number of connections Specification Ver 1.1 Remote device station 1M/5M/2.5M/6K/156Kbps Broadcast polling method Frame synchronous method NRZI Bus type (Compliant to EIA RS-485) CRC(X 16 +X 12 +X 5 +1) CC-Link Ver1.1 support cable (triplex twisted pair cable with shield) Compliant to HDLC 1 to 64 1 station, 2 station 156kbps 6kbps 2.5Mbps 5Mbps 1m 9m m 1m.2m or more Maximum 42 units only for a remote station Can be shared with other devices 1Mbps m *4 If CC-Link Ver1. support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.. HA-8 series AC Servo Driver 27

28 HA-8 Series AC Servo Driver External Dimensions: HA-8-1, 3 * MECHATROLINK-Ⅱ supported (HA-8B) and CC-Link supported (HA-8C) come with connectors for each network. (Unit: mm) 4 5 φ5.5 (1.6) (45) (38) 3 (153) R2.5 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. External Dimensions: HA-8-6 * MECHATROLINK-Ⅱ supported (HA-8B) and CC-Link supported (HA-8C) come with connectors for each network. (Unit: mm) Regenerative resistor 4 14 φ5.5 (1.6) () (38) (153) R2.5 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. 28 HA-8 series AC Servo Driver

29 R3 HA-8 Series AC Servo Driver External Dimensions: HA-8-24 * MECHATROLINK-Ⅱ supported (HA-8B) and CC-Link supported (HA-8C) come with connectors for each network. (Unit: mm) (1) (19) (235) φ6 2 (235) 2 5 (25) 6 75 * Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product. HA-8 series AC Servo Driver 29

30 HA-8 Series AC Servo Driver HA-8 series Option (sold separately) Connector Connectors for the HA-8 driver CN1 and CN2, motor cable and power supply are shown below. Connector model General-purpose I/O command type HA-8A CNK-HA8A-S1: For CN1/CN2/Motor cable connection/power supply connection 4 types CNK-HA8A-S2: For CN2/power supply connection 2 types MECHATROLINK-Ⅱ supported HA-8B CNK-HA8B-S1: For CN1/CN2/Motor cable connection/power supply connection 4 types CNK-HA8B-S2: For CN2/power supply connection 2 types CC-Link supported HA-8C CNK-HA8C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector 6 types CNK-HA8C-S2: For CN2/power supply connection/two CC-Link connectors/cc-link branch connector 4 types For CN1 For CN2 For motor cable connection For power supply connection CC-Link connector CC-Link branch connector Maker Sumitomo 3M Ltd. Sumitomo 3M Ltd. Phoenix Contact Inc. Phoenix Contact Inc. Sumitomo 3M Ltd. Sumitomo 3M Ltd. Model Connector: 1114-PE Cover: F-8 HA-8A Connector: 11-PE Cover: 13-52F-8 HA-8B, HA-8C Connector: 112-PE Cover: F-8 FKIC2, 5/6-ST-5.8 FKC2, 5/5-ST BM GF L1-B AK Replacement Backup Battery This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below. Model: HAB-ER17/33-2 Battery type Maker Lithium battery Hitachi Maxell Maker model ER17/33 (3.6V 1mAh) Duration of Data Retention Duration of retention Condition One year continuous use Ambient temperature: Total backup time at ºC Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing. Monitor Cable This is the signal cable to measure monitor signals such as speed and torque with an oscilloscope. Model EWA-MON1-JST4 Dedicated Communication Cable Use the dedicated communication cable to connect between HA-8 driver and personal computer. Model Length EWA-RS3 1.6m HA-8 series AC Servo Driver

31 HA-8 Series AC Servo Driver Software to Set Servo Parameters (Free) Software to Set Servo Parameters PSF-8 (Free) The software allows you to set various parameters to the HA-8 driver from your PC. You can connect a PC on which CN3 of the HA-8 driver and Servo parameter setting software PSF-8 have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate PSF-8 instruction manual and view it for details of the software. You can also download the servo parameter setting software from our home page ( Model PSF-8 Supported OS Windows XP, Windows Vista *1, Windows 7 *1 Preparation article Dedicated communication cable (EWA-RS3) *1: Although it is confirmed to operate normally on Windows Vista and Windows 7, it dose not guarantee the operation. * Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation of the United States. * Official name for Windows is Microsoft Windows Operating System. Software to Create the Operation Table Data PSF-68CL (Free) The software allows you to create the operation table data with the HA-8C (CC-Link supported) driver and operate the actuator. (The operation table data can be set from the CC-Link supported.) Model PSF-68CL Supported OS Windows XP, Windows Vista *1, Windows 7 *1 Preparation article Dedicated communication cable (EWA-RS3) *1: Although it is confirmed to operate normally on Windows Vista and Windows 7, it dose not guarantee the operation. * Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation of the United States. * Official name for Windows is Microsoft Windows Operating System. Install EWA-RS3 PSF-8/PSF-68CL Setting software CN3 HA-8 series AC Servo Driver 31

32 Warranty Harmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope. Warranty Period Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2, hours of operation time. Warranty Scope All the 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 the other than the products. (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 and installing to the driven equipment. Trademark The academic and general nomenclature for HarmonicDrive is wave motion gearing and HarmonicDrive is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems. Overseas Standards Conformance Product name Safety standards Marking SHA UL standard UL4-1 (File No ) Actuator CSA standard C22.2 No. EN standard EN34-1 :21, EN34-5 UL standard UL8C (File No ) Driver HA-8A/B/C CSA standard C22.2 No.14 EN standard EN , EN618-3 * Above is the list of standards at Harmonic Drive Systems. 32

33 For Safe Use of Servo Systems Warning Caution : Means that improper use or handling could result in a risk of death or serious injury. : Means that improper use or handling could result in personal injury or damage to property. Limited Applications This product cannot be used for the following applications: * Space equipment * Aircraft equipment * Nuclear power equipment * Equipment and apparatus used in domestic homes * Vacuum equipment * Automotive equipment * Game equipment * Equipment that directly works on human bodies * Equipment for transport of humans * Equipment for use in a special environment Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications. Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to breakdown when using it in equipment that affects human lives and that may trigger serious damage. Actuator Safety Precautions Design Precaution: Be certain to read the technical information when designing the equipment. Caution Use only in a specified environment. Actuators are designed and manufactured for indoor use. Please ensure the following environmental conditions are complied with: Ambient temperature to C Vibration 24.5m/s 2 or less Ambient humidity 2 to 8% RH (Do not expose to condensation) No splashing of water or oil Do not expose to corrosive or explosive gas Caution Install the actuator at the specified accuracy. Correctly align the centers of the actuator shaft and mating machine in accordance with the technical information. Any misalignment could cause vibration and fracture of the output shaft. Caution Caution on Oil Leakage The output shaft contains an oil seal of high reliability. However, it is not guaranteed to be completely free of oil leakage. Customers are kindly requested to protect against grease or oil leakage depending on their application. Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator. Caution Do not exceed the permissible torque. Do not apply a torque larger than the maximum value. If an arm or other part is connected directly to the output shaft, this latter may become uncontrollable if the arm or other part is collided. Warning Do not plug directly into a socket. The actuator cannot be operated unless connected to a dedicated control unit. Never connect directly to the AC power supply. The actuator may fracture and a fire may break out. Warning Do not pat the actuator. An encoder is coupled to the actuator. Do not pat the actuator. A fractured encoder may cause the actuator to run out of control. Warning Do not pull the cables. Pulling a cable may damage the connecting part and cause the actuator to run out of control. Servo Driver Safety Precautions Design Precaution: Be certain to read the technical information when designing the equipment. Caution Use only in a specified environment. The driver generates heat. Exercise reasonable care concerning heat radiation and operate under the following conditions. Install vertically and ensure sufficient space nearby to C and 95% RH (Do not expose to condensation) Avoid vibration or shocks Do not expose to dust or corrosive or explosive gas No splashing of water or oil Caution Take adequate precautionary measures to damp noise and ground Noise on signal wire may cause vibration and malfunction. Observe the following conditions: Separate strong and weak wires. Minimize wiring distances and lengths. Ground the actuator and servo driver to one point and in class 3 in grounding. Do not use a power input filter in the motor circuit. Caution Exercise reasonable care when rotating from load side The servo driver may break if the actuator is run while being rotated from the load side. Consult Harmonic Drive Systems when the servo driver is operated in this mode. Caution Use an earth leakage breaker for the inverter. Use an earth leakage breaker for the inverter. A time-delay breaker cannot be used. Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator. Warning Do not change the wiring while the current is active. Always turn the power off when removing any wire or connecting or disconnecting a connector, otherwise an electric shock or runway may result. Warning Do not touch the terminals for 5 min after turning it off. Residual electricity remains after turning the power off. Make checks more than 5 minutes after turning the power off to prevent any electric shock When installing a servo driver, design the structure so that the electric parts inside cannot be touched easily. Caution Do not conduct a withstand voltage test. Do not conduct a megger or withstand voltage test, otherwise the control circuit of the servo driver may be damaged. Caution Do not operate the servo driver by turning it on and off. Frequent turning on and off of the power causes the internal circuit devices to deteriorate. Start and stop the actuator by issuing a command signal. Be certain to read the catalog and technical information Operational Precaution before operating the equipment. Rust-proofing was applied before shipping. However, please note that rusting occurs earlier depending on the customers' storage environment. Although black oxide finish is applied to some of our products, it Caution dose not guarantee the antirust effect. Discarding When Discarding Actuator and Servo Driver Caution Please discard as industrial waste. Please discard as industrial waste when discarding. 33

34 34 MEMO

35 As a Specialist in Precision Control Field Through close cooperation in areas of development, design, production and marketing, Harmonic Drive Systems creates unique products tailored to customer needs. In 1995 and 1998, Harmonic Drive Systems respectively obtained approvals for ISO 91 (International Quality Management Standard) and for ISO 11 (International Environmental Management Systems) from TÜV Management Service GmbH, a German accreditation organization. The approvals signify global recognition of the quality assurance and environment management systems of Harmonic Drive Systems. Koshu/Shin-etsu Sales Office Chubu Sales Office Sales Strategy Headquarters Sales and Marketing Kansai Sales Office Tokyo Sales Office Proposes optimum products meeting the operating environment by precisely determining the needs of individual customers Kita-Kanto Sales Office Asia/Europe Group Sales Division Research Headquarters Development Design Development design departments closely collaborate and highly integrate on organizationdeveloped technologies, actively creating new technologies and products. Development Headquarters Kyushu Sales Office Affiliate Companies HD Logistics, Inc. Subcontract operation of physical distribution Controlling share % Harmonic Precision, Inc. Production of crossed roller bearings Controlling share % OME IRON CASTING CO.,LTD Development, manufacturing and sales of casting products Controlling share 49.2% Winbel, Inc. Development, mass production support, production, and sales of various motors Controlling share 78.3% SAMICK ADM CO., LTD. (Korea) Production of roduction of precision planetary reducers Controlling share 51% Harmonic Drive AG(Germany) Harmonic Controlling share 35% Drive L.L.C(U.S.A.) Controlling share 51% Harmonic AD, Inc. Development, design, and production of precision planetary reducers Controlling share % 哈默纳科 ( 上海 ) 商贸有限公司 Sales and technical support of mechatornics products and reduction devices Controlling share % Production Clear awareness of and techniques for quality control establish a viable production system, promising a supply of high-quality and high-precision products. Manufacturing Headquarters Hotaka factory facing Northern Japan Alps HarmonicDrive Composed of only three basic components, the HarmonicDrive speed reducer features more precision motion control through a unique mechanism. Harmonic Linear The linear actuators compactly combining a precision screw and HarmonicDrive. Versatile series are available for ultra precision positioning and high driving force. Harmonic Planetary Harmonic Planetary is a planetary speed reducer featuring high precision and stiffness, created by utilizing expertise in precision machining technology of HarmonicDrives in the field of low speed reduction ratio. A high rotational accuracy is achieved by a unique backlash removal mechanism. Beam Servo Beam servo is developed based on the small motors and optical sensor technology, which are developed by HarmonicDrive. Smooth optical scanning is realized by high response and precision of optical scanner. 43