SHA Series The SHA series comprises AC servo actuators that integrate a thin speed reducer HarmonicDrive for precision control and a super flat AC servo motor. The SHA series features an unmatched compact hollow body. Entire machine and equipment structures can be simplified by passing wires, pipes and laser beams through a hole in the center of the actuator. Additionally, output shaft bearing, speed reducer, motor winding and others can be selected. The SHA series features wider variation that can meet various needs. Combination with the compact and multi-functional dedicated driver HA-8 controls the motions of the SHA series with high levels of accuracy and precision. Features Hollow structure (maximum hollow opening diameter 65mm), flat structure (maximum outside diameter 284mm, total length 222mm) * Both in SHA65 Torque cubic volume ratio more than 5 times of direct drive motor is achieved. * According to the technical infromation of HarmonicDrive. Torque from 26Nm to 3419Nm is set as series. Shaft bearing, speed reducer, and motor winding specifications can be selected to meet various needs 17bit magnetic type absolute encoder is mounted as standard (conforming to Nicon A format) By combining with hollow planetary reducer for precision control of Harmonic Planetary HPF series, high-speed revolution is available. (Model No. and 32) By using dedicated drivers, control with MECHATROLINK-ll or CC-Link becomes available. Motor itself can be sold as well. Structure Reducer model Cable lead-out Encoder Standard Variation High torque Harmonic Drive SHG series High-speed Harmonic Planetary HPF series (Model No. and 32) Changeable reducer model Flat Harmonic Drive (SHD series) Planetary gear reducer (HPG series) Reduction ratio: selectable between 1/11 and 1/161 Standard Variation Rear lead-out (Connecter used in models 58 and 65) Side lead-out is available. (Models, 32, and 4) Standard Variation Magnetic type absolute encoder (17bit) Multi revolution backup (16bit) (conforming to Nicon A format) Incremental encoder can be mounted. Holding brake Standard Without brake Variation With brake (can be mounted without changing dimensions.) AC Servo motor Standard Variation Supported power voltage specification: AC 2V SHA is AC1V spec and 2V spec.) Supported power voltage specification: AC1V, DC48V to 9V (Inquire at Harmonic drive s sales office for the supported model.) Environment specification Output shaft bearing Standard HarmonicDrive unit type Crossed roller bearing in common with SHG series Option Standard Protection code: IP54 Operating temperature: C to +4 C UL and CE markings Compliance with RoHS directive Variation The size can be changed to the high load capacity and high load specification. Near origin and end limit sensors Variation Can be compatible with IP65 of protection code. 16
AC servo actuator Example of System Configuration Basic configuration of SHA actuator, HA-8 driver, and relay cable are illustrated. Versatile I/O command type System configuration Power Supply *1 Circuit Breaker *1 Host controller * Surge absorber *1 Noise filter *1 CN2 connector I/O signal cable *1 Electromagnetic contactor *1 TB1 connector * If a brake is attached, the power supply for the brake is required separately. Main power supply *1 Motor relay cable Control power supply *1 Power supply cable *1 TB2 connector CN1 connector Encoder relay cable Dedicated communication cable To PE of motor relay cable Personal computer *1 Install Notes: Starred ( * ) items are to be supplied by the customer. * See the technical information for the details of configuration related to power supply. 17
SHA Series Models and Symbols AC servo actuator Example of standard item model (1) SHA (2) 32 (3) A (4) 11 (5) SG 11 11 121 161 (6) B (7) 12 (8) A (9) 2 1/11 1/ 1/ 1/11 1/121 1/161 * Reduction ratio 1/11 is set by combination with hollow planetary reducer HPF series. The Applicable Model Nos. for the ratio are and 32, and the ratio is available in case of AC2V only. (1) (11) (12) 1 S17b A SG HP A B C (13) C (14) (15) SHG series HPF series Model Nos. 58, 65 Model Nos., 32, 4 Model Nos. 2 Specification Model SHA2A SHAA Item 11 121 161 11 11 121 161 Maximum Torque * 2 Nm kgfm 73 7.4 96 9.8 17 1.9 113 11.5 12 12.2 26 2.7 127 13 178 18.2 24 2.8 217 22.1 229 23.4 Max. Rotational Speed r/min 117.6 74.1 59.4 49.6 37.3 59.1 19.8 94.1 69.1 59.3 55.4 47.5 46.3 39.7 34.8 29.8 Torque Constant Nm/A kgfm/a 16.5 1.7 27 2.7 33 3.4 4 4.1 53 5.4 4.2.43 19 11.1 31 17.9 2. 1.1 3.2 1.8 39 22 4. 2.3 46 27 4.7 2.7 62 36 6.3 3.6 Maximum Current * 2 A 6. 4.9 4.5 4. 3.4 8.9 8.6 14.9 7.5 13. 7. 12.1 6.3 1.9 5.2 9. Moment of Inertia (without brake) GD 2 /4 J kgm 2 kgfcms 2.23 2.4.58 6..91 9.3 1.3 13 2.3 24.29.296.56 5.7 1.42 14.4 2.2 22 3.2 32 5.6 57 Moment of Inertia (with brake) GD 2 /4 J kgm 2 kgfcms 2.26 2.6.65 6.6 1. 1 1.4 15 2.6 26.34.347.66 6.7 1.66 17 2.6 26 3.7 38 6.6 67 Permissible Moment Load Nm kgfm 187 19.1 41 41.8 8 26.3 Moment Stiffness Nm/rad kgfm/arc-min.2 1 4 7.5 37.9 1 4 11.3 39.2 1 4 11.6 Encoder method Magnetic type 17bit absolute encoder Encoder resolution per motor revolution 2 17 131,72 Multi revolution detection 2 16 65,536 Output shaft resolution Pulse/revolution 6,684,672 1,616,832 13,238,272 15,859,712 21,12,592 1,441,792 6,684,672 1,616,832 13,238,272 15,859,712 21,12,592 Input power voltage V AC2 AC2 AC1 AC2 Mass (without brake) kg 2. 5 2.95 Mass (with brake) kg 2.1 5.1 3.1 18 Protection Structure Environmental Conditions Mounting Direction Safety Standard Compliance Combined Driver Totally enclosed self-cooled type (IP54 or equivalent: See the technical information for the details of protection code.) Operating temperature to 4 C, storage temperature -2 to 6 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 1m or less. HA-8-3 * 1: The aforementioned values are those at the output shaft. * 2: Values in combination with an HA-8 servo driver. * 3: The value in parentheses ( ) of SHA is the value when the input power voltage is AC1V. * 4: The value in parentheses ( ) of SHA4 is the value when combined with HA-8-24 (rated output current 24A). * 5: Please check the actuator rotation direction in our technical data sheet. All directions CE Marking, Certifications for UL and TUV HA-8-3 HA-8-6
AC servo actuator 8 9 12 15 21 A B Model Nos. 2 Model Nos. Model Nos. 32 Model Nos. 4 Model Nos. 58, 65 1 S17b C N D L Y 2 1 AC2V AC1V (1V is available only with our model No..) A SHA32A SHA4A SHA58A SHA65A 11 11 121 161 11 121 161 11 121 161 11 121 161 62 2 395 433 459 484 34 523 56 675 686 738 82 841 1924 267 2236 2392 24 299 3263 3419 6.3 28.7 4.3 44.2 46.8 49.4 34.7 53.4 57.1 68.9 7 75.3.8 85.8 196 211 228 244 245 35 333 349 436.4 94.1 59.3 47.5 39.7 29.8 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 4.5 21 33 42 5 66 41 61 54 68 18 54 68 18.46 2.1 3.4 4.2 5.1 6.8 2.6 4.1 5.2 6.2 8.2 5.5 6.9 8.3 11. 5.5 6.9 8.3 11. 19 17.3 15.2 13.5 12.2 9.9 18 26.7 18 21.8 18 19.4 17.9 14.6 45 39 36 3 55 55 41.92 2. 5.1 8. 11 2 5. 13 2 28 5 96 149 214 379 11 171 245 433.939 21 52 117 27 13 22 29 3 98 152 218 387 112 174 442.17 2.3 5.9 9.2 13 23 6.1 15 24 34 61 16 165 237 42 12 187 268 475 1.87 24 6 94 135 238 62 157 244 35 619 19 169 242 429 123 191 274 485 932 58 849 218 274 95 59.1 86.6 222 28 86.1 1 4 1 1 4 179 1 4 531 1 4 741 1 4.7 29.6 53.2 158 22 Magnetic type 17bit absolute encoder 2 17 131,72 2 16 65,536 1,441,792 6,684,672 1,616,832 13,238,272 15,859,712 21,12,592 6,684,672 1,616,832 13,238,272 15,859,712 21,12,592 1,616,832 13,238,272 15,859,712 21,12,592 1,616,832 13,238,272 15,859,712 21,12,592 AC2 9.4 5.9 9.9 29.5 37.5 9.7 6.2 1.7 32 4 Totally enclosed self-cooled type (IP54 or equivalent: See the technical information for the details of protection code.) Operating temperature to 4 C, storage temperature -2 to 6 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 1m or less. All directions CE Marking, Certifications for UL and TUV HA-8-6 HA-8-6 HA-8-24 HA-8-24 HA-8-24 19
or less SHA Series External Dimensions SHA2A Housing :35715-1(AMP) Pin contact (Motor U V W) :3569-1(AMP) Pin contact (Motor PE) :35669-1(AMP) Housing :1-19313-4(AMP) Pin contact :193111-2(AMP) +35 2 ( 28 ) 1 2 3 4 5 6 (14 ) 18.5 ±1 1A 13 ±1 Pin hole positioning 12.5 27 ±.4 63.5 1B +.1 3 Depth 5.5.4 Opening diameter 3 6 5.5 ( 13 ) 3.4X6 12 3.5 Motor cable Encoder cable Output rotary unit AWG2X4 conductors AWG28X3 pairs ( + shield 15 or Cable outside diameter 5.6 Cable outside diameter 6 less 33.75 C.5 ( 12 ) 15 2 R3 62 94 9 h7 -.35 7 54 h7 -.3 +.5 17 -.2 33 76 77 h7 -.3 15 84 16 -M3x 6 Opening diameter 3.4X11.5 Pin hole positioning 3 ±.5 Depth 3 12-3.4.4 SHAA Motor cable AWG2X4 conductors Cable outside diameter 5.6 Encoder cable AWG24X3 pairs + shield Cable outside diameter 7.7 SHAA Pin hole positioning Output rotary unit Pin hole positioning 15 or less Motor cable Cable outside diameter 5.6 Encoder cable AWG24X3 pairs + shield Cable outside diameter 7.7 Hollow shaft inside diameter Hollow shaft inside diameter Hollow shaft inside diameter R.4 or less R.4 or less (From upper part of cable clamp) 15 or less Tolerance range) Opening diameter 4.5X5.5 (Opening diameter 4.5X6) 4.5X13.5) 2 * The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles). Contact us for the differential range of the size that is not described.
AC servo actuator SHA32A (From upper part of cable clamp) or less Motor cable AWG18x4 conductors (Cable outside diameter: Encoder cable pairs + shield (Cable outside diameter: Tolerance range) SHA32A From upper part of cable clamp 5.5X19) Output rotary unit R.4 or less 15 or less Hollow shaft inside diameter Pin hole positioning Pin hole positioning 5.5X7.5) 5.5X7.5) SHA4A 6.6X) Output rotary unit R.4 or less 15 or less Hollow shaft inside diameter Hollow shaft inside diameter Motor cable AWF18x4 conductors (Cable outside diameter 7.7) Encoder cable pairs + shield (Cable outside diameter: Motor cable AWG16x4 conductors (Cable outside diameter 7.8) Encoder cable pairs + shield (Cable outside diameter: 6.6X8) Pin hole positioning Pin hole positioning 6.6X9) * The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles). Contact us for the differential range of the size that is not described. 21
SHA Series External Dimensions SHA58A Pin hole positioning or more ø11x35) Hollow shaft inside diameter Pin hole positioning or less Output rotary unit Motor relay cable connector Encoder relay cable connector SHA65 Pin hole positioning or more Hollow shaft inside diameter Pin hole positioning or less Output rotary unit Motor relay cable connector Encoder relay cable connector * The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles). Contact us for the differential range of the size that is not described. 22
AC servo actuator 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. (Source: JIS [Japanese Industrial Standards] B 621-1987). The SHA series contains a speed reducer HarmonicDrive for precision control or a hollow planetary speed reducer for precision control HPF series. Therefore, positioning errors of the motor shaft are compressed according to reduction ratio. The uni-directional positional accuracy" of the individual models are shown below. Positioning error Theoretical stop position Actual stop position SHA2A SHAA SHA32A SHA4A SHA58A SHA65A 1:11 12 12 1 6 5 5 5 Datum position 1 5 4 4 4 4 4 Mechanical Accuracy The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows. Item SHA2A SHAA SHA32A SHA4A SHA58A SHA65A Output shaft surface runout.3.35.4.45.5.5 Output shaft axial runout.3.35.2.4.2.45.5.5 Parallelism between the output shaft and mounted surface.3.35.4.45.5.5 Parallelism between the output shaft and mounted surface.55.5.55.6.7.7 Concentricity between the output shaft and fitting part.3.35.4.45.5.5 Concentricity between the output shaft and fitting part.45.6.65.7.8.8 * See the technical information for the measuring method. * The aforementioned values are T.I.R (total indicator reading) values. * The values in parentheses ( ) is the value when combining reducer type and HP type (hollow planetary reducer). 23
SHA Series Operable Range The following diagrams show the operable range of the SHA series (combined with driver HA-8 servo driver). 5% duty Range of torque-rotational speed operable at 5% duty (ratio between operational and standby hours is 5:5) 45 4 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 [Nm] 3 2 15 Range of continuously operable torque-rotational speed. 1 5 1 2 3 4 5 6 7 8 9 1 Note 1: Motion ranges for continuous motion and that at 5% 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. Input voltage: 2 Radiation plate: 32 32 16 mm 8 Input voltage: 2 Radiation plate: 32 32 16 mm 12 Input voltage: 2 Radiation plate: 32 32 16 mm 12 6 4 5% duty 2 2 4 6 8 1 12 14 1 8 6 4 2 Acceleration/ deceleration 5% duty 2 4 6 8 1 8 6 4 2 5% duty 2 4 6 8 Input voltage: 2 Radiation plate: 32 32 16 mm 12 Input voltage: 2 Radiation plate: 32 32 16 mm 14 1 8 6 4 2 5% duty 12 1 8 6 4 2 5% duty 2 4 6 1 2 3 4 24
AC servo actuator Input voltage: 1 Input voltage: 1 Input voltage: 1 15 Radiation plate: 35 35 18 mm 2 Radiation plate: 35 35 18 mm Radiation plate: 35 35 18 mm 1 1 75 5 5% duty 2 4 6 8 1 175 15 1 1 75 5 5% duty 2 4 6 8 2 15 1 5 5% duty 1 2 3 4 5 Input voltage: 1 Input voltage: 1 Radiation plate: 35 35 18 mm Radiation plate: 35 35 18 mm 2 15 1 5% duty 2 15 1 5% duty 5 5 1 2 3 4 5 1 2 3 4 Input voltage: 2 Input voltage: 2 Input voltage: 2 3 Radiation plate: 35 35 18 mm 15 Radiation plate: 35 35 18 mm 2 Radiation plate: 35 35 18 mm 2 15 1 5 5% duty 1 1 75 5 5% duty 175 15 1 1 75 5 5% duty 1 2 3 4 5 6 2 4 6 8 1 12 2 4 6 8 Input voltage: 2 Input voltage: 2 Input voltage: 2 Radiation plate: 35 35 18 mm Radiation plate: 35 35 18 mm Radiation plate: 35 35 18 mm 2 15 1 5% duty 2 15 1 5% duty 2 15 1 5% duty 5 5 5 1 2 3 4 5 6 1 2 3 4 5 1 2 3 4
SHA Series Operable Range Input voltage: 2 Radiation plate: 4 4 2 mm 7 Input voltage: 2 Radiation plate: 4 4 2 mm 3 Input voltage: 2 Radiation plate: 4 4 2 mm 45 6 5 4 3 5% duty 2 1 2 15 1 5 5% duty 4 35 3 2 15 1 5 5% duty 1 2 3 4 5 2 4 6 8 1 1 2 3 4 5 6 7 Input voltage: 2 Radiation plate: 4 4 2 mm 5 45 4 35 3 2 5% duty 15 1 5 1 2 3 4 5 5 45 4 35 3 2 15 1 5 1 2 3 4 Input voltage: 2 Radiation plate: 4 4 2 mm 5% duty 6 5 4 3 2 1 5 1 15 2 3 35 Input voltage: 2 Radiation plate: 4 4 2 mm 5% duty Input voltage: 2 Radiation plate: 5 5 mm 6 Input voltage: 2 Radiation plate: 5 5 mm 8 Input voltage: 2 Radiation plate: 5 5 mm 8 5 4 3 2 1 5% duty 2 4 6 8 7 6 5 4 3 2 1 5% duty 1 2 3 4 5 6 7 6 5 4 3 2 1 5% duty 1 2 3 4 Input voltage: 2 Radiation plate: 5 5 mm 9 Input voltage: 2 Radiation plate: 5 5 mm 9 8 7 6 5 4 3 5% duty 8 7 6 5 4 3 5% duty 2 1 2 1 1 2 3 4 5 1 15 2 3 26 *1: When combined with HA-8-6
AC servo actuator Input voltage: 2 Radiation plate: 5 5 mm 6 Input voltage: 2 Radiation plate: 5 5 mm 8 Input voltage: 2 Radiation plate: 5 5 mm 8 5 4 3 2 1 5% duty 7 6 5 4 3 2 1 5% duty 7 6 5 4 3 2 1 5% duty 2 4 6 8 1 2 3 4 5 6 1 2 3 4 Input voltage: 2 Radiation plate: 5 5 mm 9 Input voltage: 2 Radiation plate: 5 5 mm 9 8 8 7 6 5 4 3 5% duty 7 6 5 4 3 5% duty 2 2 1 1 1 2 3 4 5 1 15 2 3 *2: When combined with HA-8-24 Input voltage: 2 Radiation plate: 65 65 3 mm 2 Input voltage: 2 Radiation plate: 65 65 3 mm Input voltage: 2 Radiation plate: 65 65 3 mm 175 15 1 1 75 5% duty 2 15 1 5% duty 2 15 1 5% duty 5 5 5 1 2 3 4 5 1 15 2 3 5 1 15 2 3 Input voltage: 2 Radiation plate: 65 65 3 mm 2 15 1 5% duty 5 5 1 15 2 27
SHA Series Operable Range Input voltage: 2 Radiation plate: 65 65 3 mm 3 Input voltage: 2 Radiation plate: 65 65 3 mm 35 Input voltage: 2 Radiation plate: 65 65 3 mm 35 2 15 1 5% duty 3 2 15 1 5% duty 3 2 15 1 5% duty 5 5 5 1 2 3 4 5 1 153 2 5 1 15 2 35 3 2 15 1 5 Input voltage: 2 Radiation plate: 65 65 3 mm 5% duty 5 1 15 2 28
AC servo actuator Options Relay Cable (for motors) Actuator model Nos.: 2,, 32, 4 (Model No. 4 is applicable when combined with HA-8-6D.) Order Code Example: EWD-MB -A6-TN3 The cable for connecting SHA series to HA-8 driver. There are two types of relay cable; for motor (including brake wire) and for absolute encoder. The relay cable is required for connecting SHA series to HA-8 driver. Standard cable lengths are 3, 5 and 1m. Relay Cable (for motors) Actuator model No. 4 (when combined with HA-8-24D) Order Code Example: EWD-MB -A6-TMC Standard cable lengths are 3, 5 and 1m. Driver side Actuator side Weldering Brake: Blue Driver side Actuator side Brake: Yellow PE: Green/Yellow Weldering Brake: Blue W: Black Brake: Yellow V: White PE: Green/Yellow U: Red Wiring indication label W: Black V: White U: Red Relay Cable (for motors) Actuator model No. 58 65 Order Code Example: EWD-MB -D9-TMC Standard cable lengths are 3, 5 and 1m. Relay Cable (for absolute encoders) Actuator model No. 2,, 32, 4 Order Code Example: EWD-S -A8-3M14 Standard cable lengths are 3, 5 and 1m. Actuator side Driver side U: Red V: White W: Black Actuator side Driver side PE: Green/Yellow Brake: Blue Water proof cable clamp Brake: Yellow Angle plug Relay Cable (for absolute encoders) Actuator model No. 58 65 Order Code Example: EWD-S -D1-3M14 Standard cable lengths are 3, 5 and 1m. Actuator side Driver side 29