Transcript
New Product News Vol. 17 The SHA-CG Series actuators is compact, delivers high torque and features a hollow shaft that allows design versatility in demanding applications.
SHA-CG Series
Model Options Gearhead Standard
Cable Orientation
Harmonic Drive® Gear CSG Series 50:1 ~ 160:1
Standard
Rear exit
Option
Side exit
Encoder
Magnetic Absolute Encoder (17 bit) Standard Multi-Turn (16 bit) (Nikon -A Format) Option
Absolute Encoder: Panasonic format, Mitsubishi format, Riss-C format Incremental Encoder
Brake Standard
No Brake
Option
Motor Brake (Integrated without dimension change)
200V AC 100V AC (size 25)
Option
100V AC 72V DC, 48V DC
Compact, Hollow Shaft Design
Direct Drive Motor Performance ~ 80-90% less weight ~ 50% more compact High torque for fast acceleration and positioning The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal for high precision rotary applications such as indexing tables.
Servomotor Standard
High Precision SHA-CG Actuators
Environmental Option
Output Bearing Standard
Cross Roller Bearing
Origin & End Limit Sensor
Option
Larger size bearing for higher load capacities
Mounting Stand
Standard
IP 54 Temperature Range 0°C - 40°C UL, CE marking, RoHS
Option
IP 65
Driver and Extension Cables General Purpose I/O Commands Control Modes (Position / Velocity / Current)
MECHATROLINK-ⅡCommands
CC-Link Commands
Size 20
Size 25
Size 32
Size 40
REL-230-18
REL-230-18 REL-230-36
REL-230-18 REL-230-36
REL-230-36 REL-230-40
HA-800B-3D/E-200
HA-800B-6D/E-100 HA-800B-3D/E-200
HA-800B-6D/E-200
HA-800B-6D/E-200 (HA-800B-24D/E-200)
HA-800C-3D/E-200
HA-800C-6D/E-100 HA-800C-3D/E-200
HA-800C-6D/E-200
HA-800C-6D/E-200 (HA-800C-24D/E-200)
Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody, MA 01960
San Jose Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110
Group Companies Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan
New York Sales Office 100 Motor Parkway Suite 116 Hauppauge, NY 11788
Chicago Sales Office 137 N. Oak Park Avenue Suite 410 Oak Park, IL 6030
Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany
T: 800.921.3332 T: 978.532.1800 F: 978.532.9406 www.HarmonicDrive.net
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Rev_07_14
Application Examples Theta Axis
Measurement, Analytical and Test Systems
Wafer Dicing
Optical Equipment
Machine Tools
Precision Machining (Indexing Device)
SHA25A-CG
Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
37.5
20,971,520
17
50
4.7
96
6,553,600
27
50
80:1
178
13.2
57
4.7
60
10,485,760
27
40
100:1
204
12.2
72
4.7
48
13,107,200
27
40
120:1
217
11.0
81
4.5
40
15,728,640
27
40
160:1
229
9.0
81
3.7
30
20,971,520
27
40
50:1
127
8.7
40
3.0
112
6,553,600
27
50
80:1
178
7.6
66
3.0
70
10,485,760
27
40
100:1
204
7.0
81
3.0
56
13,107,200
27
40
120:1
217
6.3
81
2.6
46.7
15,728,640
27
40
160:1
229
5.2
81
2.1
35
20,971,520
27
40
50:1
281
17.7
90
6.0
96
6,553,600
35
40
80:1
395
15.4
151
6.0
60
10,485,760
35
30
100:1
433
13.7
178
5.7
48
13,107,200
35
30
120:1
459
12.2
178
5.0
40
15,728,640
35
30
160:1
484
10.0
178
4.1
30
20,971,520
35
30
50:1
523
27.2
157
9.0
80
6,553,600
45
40
80:1
675
22.0
260
9.0
50
10,485,760
45
30
100:1
738
19.6
327
9.0
40
13,107,200
45
30
120:1
802
18.0
382
8.8
33.3
15,728,640
45
30
160:1
841
14.7
382
7.2
25
20,971,520
45
30
100V
200V
3.95 (4.1)
3.95 (4.1)
（12）
(4)
16.5 127.5 ±1
(65.5) (82)
Encoder Connector
SHA32A-CG
Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
（13）
Motor • Brake Connector Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE) +0.012 Ø6 H7 0 X8 Ø0.05 C1
:350715-1 [AMP] :350547-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
15°
1A
（21）
200
7.7 (8.0)
1B （28） （28）
R0.4 MAX
AWG18-4C+AWG24-2C Cable dia. Ø7.7
15 MAX
R0.4 MAX
6
Ø9
15°
15°
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
3.5
2
13 (13.80)
C0.5
C0.5
* Value in parenthesis is with brake. Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
+35 0
Motor • Brake Cable
Output Rotational Part
Ø16
200V
17
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
12-M6×10
200V
0 -0.035
1.7
34
（12）
48
15.1
CE_N.P
UL_N.P
4
4 19 28.5
（14）
3.4
127
＋0.030 0
120
50:1
Ø75 H7
160:1
12-M5×8
8-Ø6.5 ∼ 7
45°
12-Ø6.5∼7
2-M6
(Removal Tap)
（5）
5 5 23.5 19.5 34 20
0 −0.040
50
48
Ø148 h7
17
4.1
N.P
±0.5
15,728,640
113
C0.5
（Ø121）
50
120:1
200V
Hollow Shaft Diameter Ø35
2.0
43
0 -0.035
50
4.6
+0.030 0
17
107
Ø72
Ø84 h7
13,107,200
100:1
2.6 (2.7)
C0.5
Ø55 H7
60
2.1
0 -0.035
2.1
2.1
35
Ø110
50
21
5.0
Ø144
60
17
6.1
96
3.5
Ø115 h7
17
10,485,760
73
80:1
Mass* kg
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
0 R5
40A
6,553,600
75
50:1
Motor Voltage
0 −0.035
32A
120
Maximum Speed [rpm]
Ø110 h7
25A
One-way Positioning Accuracy (arc-sec)
Allowable Continuous Current
0 −0.040
25A
Hollow Shaft Dia.
Continuous Torque [Nm]
15° 15°
7.5 R3
20A
Output Resolution Pulse / Rev
Maximum Current
AWG20-4C+AWG24-2C Cable dia. Ø5.6
15 MAX
R0.4 MAX
Output Rotational Part R0.4 MAX
31
Maximum Torque [Nm]
（28） Motor • Brake Cable
Ø1
Gear Ratio
+35 0
Ø115 h7
Optional mounting stand available Size
15°
(Removal Tap)
Ø175
●
22.5°
2-M6
1B
200
Hollow Shaft Diameter Ø27±0.5 (Ø93)
Indexing at 0.01 ° / 0.001 ° / 0.0001 °
（28）
（21）
1A
(Ø114)
Output shaft resolution is evenly divisible
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP] X8
（14）
Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE) Ø5 H7 +0.012 0 Ø0.05 C1
Improved structure for high precision surface and shaft runout. ●
（13）
Motor • Brake Connector
Improved output shaft runout accuracy (radial runout & axial runout: less than 0.010mm)
Ø148 h7 Ø142
●
Encoder Connector
（Ø146）
Product Features
（70.5） （90）
144±1
Outline Dimensions
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(28) (14)
1B
Encoder Cable
Ø0.05
AWG28-3P+Shield Cable dia. Ø6
Ø8 H7 0 C1
+0.015
(12)
(13) 20°
X 10
15°
12-M8×12
（3）
26
19.5 14
R0.4 MAX
15 MAX
0 -0.040
Ø170
Ø132 h7
C0.5
CE_N.P
（63.5）
（83）
123±1 125.5±1
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
15°
15°
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
Ø2 03
C0.5 UL_N.P
AWG16-4C+AWG24-2C Cable dia. Ø5.6
3.5
0 -0.040
Ø225
2-M10 (Removal Tap)
Ø180 h7
0 -0.035
17.5
Ø116
Ø95 h7
Ø33
4
4
Hollow Shaft Diameter +0.5 Ø17 -0.2
（Ø76）
（Ø94）
0 -0.030
+0.025 0
Ø69 h7
Ø43 H7
Ø90
Ø117
Ø95 h7
0 -0.035
30°
6-Ø5.5∼6
0 R3
N.P
12-M4×7
07 Ø1
0 Ø6
C0.5
+35 0
Motor • Brake Cable
Output Rotational Part R0.4 MAX
3.5 C0.5
200
0 -0.040
AWG20-4C+AWG24-2C Cable dia. Ø5.6
15 MAX
R0.4 MAX
(21) 15°
(21)
1A 1B (28) (28)
Ø180 h7
R0.4 MAX
+35 0
(13)
(Ø143)
Output Rotational Part
200
Motor • Brake Cable
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
Hollow Shaft Diameter Ø45±0.5
15°
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
(Ø175)
12-M4x7 (Removal Tap)
X7
Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE)
(14)
Ø4 H7 C0.5
Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
1A (12)
Ø0.05
Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE)
Encoder Connector
Motor • Brake Connector
Encoder Connector +0.012 0
SHA40A-CG
+0.035 0
(28)
Housing :1-1903130-4 [AMP] Tab Contact :1903111-2 [AMP]
Ø90 H7
Motor • Brake Connector
SHA20A-CG
8-Ø11 ∼ 11.5
22.5°
(6)
5.4
5 28.5 40
28
(80) (108)
22 170±1
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
SHA25A-CG
Encoder Connector Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
35
2.1
75
10,485,760
17
50
100:1
107
4.6
43
2.1
60
13,107,200
17
50
120:1
113
4.1
48
2.0
50
15,728,640
17
50
160:1
120
3.4
48
1.7
37.5
20,971,520
17
50
50:1
127
15.1
34
4.7
96
6,553,600
27
50
80:1
178
13.2
57
4.7
60
10,485,760
27
40
100:1
204
12.2
72
4.7
48
13,107,200
27
40
120:1
217
11.0
81
4.5
40
15,728,640
27
40
160:1
229
9.0
81
3.7
30
20,971,520
27
40
50:1
127
8.7
40
3.0
112
6,553,600
27
50
80:1
178
7.6
66
3.0
70
10,485,760
27
40
100:1
204
7.0
81
3.0
56
13,107,200
27
40
120:1
217
6.3
81
2.6
46.7
15,728,640
27
40
160:1
229
5.2
81
2.1
35
20,971,520
27
40
50:1
281
17.7
90
6.0
96
6,553,600
35
40
80:1
395
15.4
151
6.0
60
10,485,760
35
30
100:1
433
13.7
178
5.7
48
13,107,200
35
30
120:1
459
12.2
178
5.0
40
15,728,640
35
30
160:1
484
10.0
178
4.1
30
20,971,520
35
30
50:1
333
18.0
92
6.0
80
6,553,600
45
40
80:1
548
18.0
156
6.0
50
10,485,760
45
30
100:1
686
18.0
196
6.0
40
13,107,200
45
30
120:1
802
17.6
235
6.0
33.3
15,728,640
45
30
160:1
841
14.3
315
6.0
25
20,971,520
45
30
50:1
523
27.2
157
9.0
80
6,553,600
45
40
80:1
675
22.0
260
9.0
50
10,485,760
45
30
100:1
738
19.6
327
9.0
40
13,107,200
45
30
120:1
802
18.0
382
8.8
33.3
15,728,640
45
30
160:1
841
14.7
382
7.2
25
20,971,520
45
30
（12）
2.6 (2.7)
Ø72
C0.5
C0.5 12-M5×8
8-Ø6.5 ∼ 7
3.95 (4.1)
N.P
(4)
17
16.5 127.5 ±1
3.95 (4.1)
Encoder Connector
SHA32A-CG
Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
（13）
Motor • Brake Connector Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE) +0.012 Ø6 H7 0 X8 Ø0.05 C1
7.7 (8.0)
:350715-1 [AMP] :350547-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
15°
12-M6×10
1A
（21）
200
1B （28） （28） Motor • Brake Cable
Output Rotational Part
R0.4 MAX
2
C0.5
C0.5 45°
12-Ø6.5∼7
2-M6
(Removal Tap)
（5）
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
5 5 23.5 19.5 34 20
（70.5） （90）
(14)
Motor • Brake Connector
+0.015
X 10
15°
12-M8×12
AWG28-3P+Shield Cable dia. Ø6
（3）
26
19.5 14
Ø225
2-M10 (Removal Tap)
15 MAX
（63.5）
（83）
123±1 125.5±1
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
Ø2 03
CE_N.P
15°
0 -0.040
C0.5
C0.5 UL_N.P
15°
3.5
0 -0.040
0 -0.035
17.5
Ø95 h7
Ø33
4
4
Hollow Shaft Diameter +0.5 Ø17 -0.2
（Ø76）
（Ø94）
0 -0.030
+0.025 0
Ø69 h7
Ø43 H7
Ø90
Ø117
Ø95 h7
0 -0.035
30°
07 Ø1
6-Ø5.5∼6
Ø116
0 R3
N.P
C0.5
R0.4 MAX
Output Rotational Part R0.4 MAX
3.5 C0.5
Motor • Brake Cable AWG16-4C+AWG24-2C Cable dia. Ø5.6
Ø180 h7
Ø8 H7 0 C1
(Ø143)
Ø0.05
+35 0
Hollow Shaft Diameter Ø45±0.5
1B
Encoder Cable
200
(Ø175)
15°
(13) 20°
(12)
(21)
(21)
1A 1B (28) (28)
(14)
AWG20-4C+AWG24-2C Cable dia. Ø5.6
15 MAX
R0.4 MAX
+35 0
(13)
+0.035 0
R0.4 MAX
200
Motor • Brake Cable
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
Ø90 H7
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP]
Output Rotational Part
Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE)
0 -0.040
15°
Housing :1-1903130-4 [AMP] Tab Contact :1903117-2 [AMP]
Ø170
X7 Ø4 H7 +0.012 0 C0.5
Encoder Connector
1A (12)
Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE)
SHA40A-CG
(28)
Ø132 h7
(28)
Housing :1-1903130-4 [AMP] Tab Contact :1903111-2 [AMP]
Ø180 h7
Motor • Brake Connector
Encoder Connector
12-M4×7
15°
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
SHA20A-CG
0 Ø6
15°
3.5
Ø16
13 (13.80)
AWG18-4C+AWG24-2C Cable dia. Ø7.7
15 MAX
R0.4 MAX
6
Ø9
13 (13.80)
+35 0
144±1
Outline Dimensions
12-M4x7 (Removal Tap)
(65.5) (82)
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
* Value in parenthesis is with brake. Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
Ø0.05
CE_N.P
UL_N.P
4
4 19 28.5
0 −0.040
5.0
Encoder Cable AWG24-3P+Shield Cable dia. Ø7.7
Ø148 h7
96
±0.5
80:1
15° 15°
3.5
（Ø121）
60
Hollow Shaft Diameter Ø35
17
（12）
6,553,600
0 -0.035
120
+0.030 0
2.1
Ø84 h7
21
Ø55 H7
6.1
（14）
73
15 MAX
R0.4 MAX
Output Rotational Part R0.4 MAX
31
Ø1
0 −0.035
50:1
(Removal Tap)
Mass* kg
0 -0.035
One-way Positioning Accuracy (arc-sec)
Ø110
Hollow Shaft Dia.
Ø144
Output Resolution Pulse / Rev
（Ø146）
40A (HA-800 -24D/E-200) Motor Voltage Rating: 200V)
Maximum Speed [rpm]
AWG20-4C+AWG24-2C Cable dia. Ø5.6
0 R5
40A (HA-800 -4D/E-200) Motor Voltage Rating: 200V)
Allowable Continuous Current
＋0.030 0
32A Motor Voltage Rating: 200V
Continuous Torque [Nm]
Ø75 H7
25A Motor Voltage Rating: 200V
Maximum Current
（28） Motor • Brake Cable
Ø110 h7
25A Motor Voltage Rating: 100V
Maximum Torque [Nm]
+35 0
7.5 R3
20A Motor Voltage Rating: 200V
Gear Ratio
15°
0 −0.040
Size
22.5°
2-M6
1B
200
0 -0.035
Vertical stand for index application is also available
Ø175
●
（28）
（21）
1A
（14）
Easily split output shaft resolution
Indexing at 0.01 ° / 0.001 ° / 0.0001 ° is possible.
:350715-1 [AMP] :350690-1 [AMP] :350690-1 [AMP] :350669-1 [AMP] X8
Ø115 h7
●
（13）
Motor • Brake Connector Housing Pin Contact (Motor U • V • W) Pin Contact (Brake) Pin Contact (Motor PE) Ø5 H7 +0.012 0 Ø0.05 C1
Ø115 h7
Improved structure for high precision surface and shaft runout. Ideal for index table application.
Hollow Shaft Diameter Ø27±0.5 (Ø93)
Improved output shaft runout accuracy (side runout / shaft runout: less than 0.010mm)
Ø148 h7 Ø142
●
(Ø114)
Product Features
8-Ø11 ∼ 11.5
22.5°
(6)
5.4
5 28.5 40
28
(80) (108)
22 170±1
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
New Product News Vol. 17 The SHA-CG Series actuators is compact, delivers high torque and features a hollow shaft that allows design versatility in demanding applications.
SHA-CG Series
Model Options Gearhead Standard
Cable Orientation
Harmonic Drive® Gear CSG Series 50:1 ~ 160:1
Standard
Rear exit
Option
Side exit
Encoder
Magnetic Absolute Encoder (17 bit) Standard Multi-Turn (16 bit) (Nikon -A Format) Option
Absolute Encoder: Panasonic format, Mitsubishi format, BiSS C format Incremental Encoder
Brake Standard
No Brake
Option
Motor Brake (Integrated without dimension change)
High Precision SHA-CG Actuators
Compact, Hollow Shaft Design
Direct Drive Motor Performance ~ 80-90% less weight ~ 50% more compact High torque for fast acceleration and positioning The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal for high precision rotary applications such as indexing tables.
Servomotor Standard
200V AC
Option
100V AC 72V DC, 48V DC
Environmental Option
Output Bearing Standard
Cross Roller Bearing
Origin & End Limit Sensor
Option
Larger size bearing for higher load capacities
Mounting Stand
Standard
IP 54 Temperature Range 0°C - 40°C UL, CE marking, RoHS
Option
IP 65
Recommended Drivers
General Purpose I/O Commands
Control Modes (Position/Velocity/Current)
MECHATROLINK-ⅡCommands
CC-Link Commands
Size 20
Size 25
Size 32
Size 40
REL-230-18
REL-230-18 REL-230-36
REL-230-18 REL-230-36
REL-230-36 REL-230-40
HA-800B-3D/E-200
HA-800B-6D/E-100 HA-800B-3D/E-200
HA-800B-6D/E-200
HA-800B-6D/E-200 (HA-800B-24D/E-200)
HA-800C-3D/E-200
HA-800C-6D/E-100 HA-800C-3D/E-200
HA-800C-6D/E-200
HA-800C-6D/E-200 (HA-800C-24D/E-200)
Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody, MA 01960
San Jose Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110
Group Companies Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan
New York Sales Office 100 Motor Parkway Suite 116 Hauppauge, NY 11788
Chicago Sales Office 137 N. Oak Park Avenue Suite 410 Oak Park, IL 6030
Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany
T: 800.921.3332 T: 978.532.1800 F: 978.532.9406 www.HarmonicDrive.net
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Rev_07_14_A
Application Examples Theta Axis
Measurement, Analytical and Test Systems
Wafer Dicing
Optical Equipment
Machine Tools
Precision Machining (Indexing Device)
