AC Servo Actuator SHA- P series manual

Transcription

1 AC Servo Actuator SHA- P series manual ISO00 ISO00

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

3 SAFETY GUIDE SAFETY GUIDE To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the actuator. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury. WARNING CAUTION Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate personal injury and/or damage to the equipment. Indicates what should be performed or avoided to prevent non-operation or malfunction of the product or negative effects on its performance or function. LIMITATION OF APPLICATIONS The equipment listed in this document may not be used for the applications listed below: Space equipment Automobile, automotive parts Aircraft, aeronautic equipment Amusement equipment, sport equipment, game machines Nuclear equipment Machine or devices acting directly on the human body Household apparatus Instruments or devices to transport or carry people Vacuum equipment Apparatus or devices used in special environments If the above list includes your intending application for our products, please consult us. CAUTION Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation.

4 SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR CAUTIONS RELATED TO THE DESIGN CAUTION Always use under followings conditions. The actuator is designed to be used indoors. Observe the following conditions: Ambient temperature: 0 to 0 Ambient humidity: 0% to 0%RH (Non-condensation) Vibration: Max m/s (Refer to Page -.) No contamination by water, oil No corrosive or explosive gas Follow exactly the instructions in the relating manuals to install the actuator in the equipment. Ensure exact alignment of the actuator center and the center of the corresponding machine by following the manual. Failure to observe this caution may lead to vibration, resulting in damage of output elements. CAUTIONS FOR USAGE WARNING Keep limited torques of the actuator. Keep limited torques of the actuator. Be aware, that if arms attached to output element hits by accident an solid, the output element may be uncontrollable. Never connect cables directly to a power supply socket. Each actuator must be operated with a proper servo amplifier. Failure to observe this caution may lead to injury, fire or damage of the actuator. Do not apply impacts and shocks The actuator directly connects with the encoder so do not use a hammer during installation. Failure to observe this caution could damage the encoder and may cause uncontrollable operation. Avoid handling of actuators by cables. Failure to observe this caution may damage the wiring, causing uncontrollable or faulty operation.

5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE SERVO AMPLIFIER Read the operation manual, and ensure safe operation. Before usage, ensure you read the operation manual (Safety). DISPOSAL CAUTION All products or parts have to be disposed of as industrial waste. Since the case or the box of drivers have a material indication, classify parts and dispose them separately.

6 Contents SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Contents... Related manual... Conformance to overseas standards... Chapter Model Combinations with servo amplifier and extension cables Specifications Motor shaft holding brake External dimensions Mechanical accuracy Positional accuracy... - Uni-directional positional accuracy... - Repeatability (CG type) Reverse positional accuracy (CG type) Detector specifications (Absolute encoder) Rigidity... - Moment stiffness... - Torsional rigidity Rotation direction Shock resistance Resistance to vibration Operable range Cable specifications... - Motor cable specifications... - Encoder cable specifications... - Chapter Selection guidelines - SHA-P series selection... - Allowable load inertia moment Change in load inertia moment... -

7 Contents - Verifying and examining load weights... - Maximum load moment load... - Verifying life... - Verifying static safety coefficients Verifying operating conditions... - Examining actuator rotation speed... - Calculating and examining load inertia moment... - Load torque calculation... - Acceleration time and deceleration time... - Examining effective torque and average rotation speed... - Chapter Installing SHA-P actuator - Product Verification... - Verification steps Notices on handling... - Installation and transmission torque... - Precautions on installation... - Use of positioning pins... - Surface treatments Location and installation... - Installing environment... - Installation... - Chapter Options - Options... - With near origin and end limit sensors (option code: L)... - Cable taken out from side face (option code: Y)... - With stand (CG type, option code: V)... - Extension cables... - Chapter Appendix A- Unit conversion... A- A- Calculating inertia moment... A- Formula of mass and inertia moment... A- Inertia moment of cylinder... A-

8 Related manual Related manual The table below lists related manual. Check each item as necessary. Title Document No. Description A II N Manual Function Specification Volume Communication Specification Volume AB Manual Function Specification Volume Communication Specification Volume SX-DSV-00 R J SX-DSV-0 R J SX-DSV-0 R 00J SX-DSV-00 R 00J The characteristics of servo amplifiers compatible with RTEX and control at two degrees of freedom are explained. The characteristics of servo amplifiers compatible with Ether CAT and control at two degrees of freedom are explained.

9 Conformance to overseas standards Conformance to overseas standards SHA-P series actuator conforms to following overseas standards. UL Standard UL00-, UL00- (File No. E) CSA Standard C. No.00 European Low Voltage EC Directives EN00-, EN00- UL nameplate sticker The following specifications of SHA-P series actuators are shown based on the UL00-, UL00- (File No. E) standards. Nameplate field Explanation () Output [W] at point A on the graph below () Voltage [V] between motor wires at point A on the graph below () Allowable continuous current [A] () Rotation speed [r/min] at point A on the graph below () Current fundamental frequency [Hz] at point A on the graph below () Allowable range temperature [ ] () Number of phase 0 Radiation 放熱板 plate: :0*0* [mm] () () () () () () () UL nameplate sticker Torque トルク [Nm] Motion range during acceleration 加減速運転領域 and deceleration 0% テ ューティ領域 duty range Continuous motion 連続使用領域 range A Rotation 回転速度 speed [r/min] [r/min] Continuous allowable torque

10 Conformance to overseas standards The nameplate values of various models are shown below. SG type Model SHA0P SHAP Item 0 0 () Output at point A W () Voltage at point A V 0 () Allowable continuous urrent A () Speed at point A r/min 0. () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - Model SHAP SHA0P Item 0 0 () Output at point A W () Voltage at point A V 0 0 () Allowable continuous current A () Speed at point A r/min () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - Model SHAP SHAP Item 0 0 () Output at point A W 0 () Voltage at point A V () Allowable continuous current A () Speed at point A r/min () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - CG type Model SHA0P SHAP Item () Output at point A W () Voltage at point A V () Allowable continuous A current () Speed at point A r/min. 0. () Frequency at point A Hz () Allowable range temperature 0 () Number of phase -

11 Conformance to overseas standards Model SHAP SHA0P Item () Output at point A W 0 () Voltage at point A V 0 0 () Allowable continuous current A () Speed at point A r/min () Frequency at point A Hz () Allowable range temperature 0 () Number of phase -

12 Conformance to overseas standards 0

13 Chapter This chapter explains the features, functions and specifications of the actuator Model - - Combinations with servo amplifier and extension cables - - Specifications - - Motor shaft holding brake - - External dimensions - - Mechanical accuracy - - Positional accuracy - - Detector specifications (Absolute encoder) - -0 Rigidity - - Rotation direction - - Shock resistance - - Resistance to vibration - - Operable range -0 - Cable specifications -

14 - 0 - The SHA-P series comprises AC Servo Actuators that provide high torque and highly accurate rotary operation that can be controlled with RTEX or Ether CAT by combining the SHA series with the Panasonic AC servo amplifier MINAS A series. AC Servo Actuator models 0 through comprise a speed reducer HarmonicDrive for precision control combined with a flat AC servo motor. There are types of speed reducers: SG type with SHG series incorporated, and CG type with newly added CSG series incorporated. They are an advanced version of current FHA series AC Servo Actuators having a flat, hollow structure. They represent further evolution from the previous flat, hollow FHA series servo actuators. One key feature of SHA-P series actuators is their compact size. The outer diameter has been reduced, while the maximum torque/volume ratio is approximately double that of any conventional actuator. The hollow structure maintains the same size as conventional actuators. A through-hole is provided at the center of the actuator, through which wirings, air pipes, and even laser beams can be passed to supply power and give/receive signals to moving parts of machines and devices. SHA-P series actuators play an important role in driving various factory automation (FA) equipment, such as robot joints, alignment mechanisms for semi-conductor and LCD devices, ATC of metalcutting machines, printing machine roller drive, etc. Doubled torque/volume ratio The incorporation of a speed reducer HarmonicDrive for precision control SHG series or CSG series has achieved an approximately 0% smaller external diameter when compared with our conventional products. Accordingly, the maximum torque/volume ratio has increased to approximately double the ratio of any conventional actuator. Based on the maximum torque, you can select a model of one smaller size. Also, output torque at the same volume/weight is very high compared to when a direct drive motor is used. This is another reason why SHA-P series has a great advantage. More variety in large size models are available for SG type including those (#, #) accommodating high torque up to,00 Nm - the range not heretofore supported. The wide lineup also includes models supporting intermediate reduction ratios of /, /, and so on. CG type has models available with reduction ratios of /0 to /0. Modular design The components of SHA-P series, such as speed reducers, output shaft bearing, motor, brake and encoder, are arranged based on modular design. We can also custom-design a model meeting your specific requirements, so please contact your HDS sales representative. Comes standard with a -bit magnetic absolute encoder The newly developed AC servo motors are equipped with HDS's original highly reliable -bit magnetic absolute encoder* with safety function. The serial communication saves wiring and provides not only a multi revolution counting function which is a must-have feature of actuators with speed reducers, but it also has an internal backup battery to retain absolute positions even when the encoder cable is disconnected briefly. The encoder also constantly compares two sets of detected angles. If any abnormality is found, the encoder's built-in failsafe function outputs a signal to the host system. This certainly helps you build a safe system. * Model No.0 is equipped with an optical encoder. -

15 - Combination with MINAS A amplifiers possible Combination with Panasonic MINAS A II/A II N/AB amplifiers is now possible. It can be controlled using RTEX or Ether CAT high-speed networks. Differences in encoding formats means that start-up may take longer, therefore please change parameter Pr. [Power ON wait time] (default 0.). This change is not necessary when size No 0 is used. CG type with an improved output shaft deflection accuracy is added to the product lineup After reviewing the output rotary unit structure, the higher accuracy of the surface runout and shaft deflection has been achieved. Together with easy-to-index speed ratios that are divisible, such as :0 and :00, this is ideal for use with index tables. 0 -

16 - Model - Model Model names for SHA-P series actuators and how to read the symbols are explained below. Examples of standard models: SHA P 0 SG - B A 00 - Sb B - C - SP () () () () () - () () () () - (0) () () - () () - () () Model: AC Servo Actuator SHA-P series () Size Nos: 0,,, 0,, : SG type 0,,, 0: CG type () Version symbol () Reduction ratio (indicated by R in /R format) SHG CSG / 0 /0 / 0 /0 0 /0 00 /00 / 0 /0 / 0 /0 0 () Speed reducer type HarmonicDrive speed reducer SG SHG series HarmonicDrive speed reducer CG CSG series () Motor version symbol A Size Nos, B Size Nos,, 0 C Size No. 0 () Motor size 0 Size No. 0 0 Size No. Size No. Size No. 0 Size Nos, () Brake A Without brake B With brake () Motor input voltage 00 00V (0) Encoder format MINAS-supported format compliant Transmission rate:. Mbps, -on- connection () Encoder type, resolution -bit absolute encoder,,0 Sb pulses/revolution () Encoder phase angle: Phase difference between induced voltage in motor phase U and absolute origin B 0 degree () Connector specification C With standard connector N Without connector () Option symbol L With near origin and end limit sensors V With stand (CG type only) Y Cable taken out from side (Please contact us for option-compatible combinations.) () Special specification No description Standard product SP Special specification product -

17 - Combinations with servo amplifier and extension cables - Combinations with servo amplifier and extension cables The combinations of SHA-P actuators, MINAS A servo amplifiers, and extension cables are as follows: MINAS AⅡ I/O communication compatible MINAS AⅡN RTEX compatible MINAS AB Ether CAT compatible Extension cables (option) Motor wire Encoder wire MINAS AⅡ I/O communication compatible MINAS AⅡN RTEX compatible MINAS AB Ether CAT compatible Extension cables (option) Motor wire SHA0P SHAP SHAP MBDKT0 MBDKT0E MBDHT0N MBDHT0NBD MBDHT0B MBDHT0BD MCDKT0 MCDKT0E MCDHT0N MCDHT0NBD MCDHT0B MCDHT0BD EWD-MB ** -A0-TN-P MFECA0**0EAE MDDKT0 MDDKT0E MDDHT0N MDDHT0NBD MDDHT0B MDDHT0BD SHA0P SHAP SHAP MDDKT0 MDDKT0E MDDHT0N MDDHT0NBD MDDHT0B MDDHT0BD EWD-MB ** -A0- TN-P MFDKTA0 MFDKTA0E MFDHTA0N MFDHTA0NBD MFDHTA0B MFDHTA0BD MFDKTBA MFDKTBAE MFDHTBAN MFDHTBANBD MFDHTBAB MFDHTBABD EWD-MB**-D0-TMC-P Encoder wire MFECA0**0EAE MFECA0**0ETE ** in the extension cable model indicates the cable length: 0 = m, 0 = m, 0 = 0m, 0 = 0m For details on encoder lines, contact Panasonic Corporation customer support. * Amplifier model details are as follows. M*DKT**** M*DKT****E M*DHT****N : Compatible with safety standards M*DHT****NBD : Not compatible with safety standards M*DHT****B : Compatible with safety standards M*DHT****BD : Not compatible with safety standards : Speed/position/torque/full close control response, compatible with safety standards : Position control dedicated type, compatible with safety standards 0 -

18 - Specifications 0 - Specifications The specifications of SHA-P series actuators are explained. SG type Model SHA0P Item 0 AⅡ MBDKT0 / MBDKT0E Combined amplifier AⅡN MBDHT0N / MBDHT0NBD AB MBDHT0B / MDHT0BD Max. torque * Nm 0 0 kgf m Allowable continuous Nm torque ** kgf m..... Max. rotational speed * r/min..... Torque constant * Nm/A. 0 kgf m/a..... Max. current * A Allowable continuous ** current A MEF constant * V/(r/min) Phase resistance(0 ) Ω. Phase inductance mh. Inertia moment GD / kg m (without brake) J kgf cm s..0. Inertia moment GD / kg m (with brake) J kgf cm s.. 0 Reduction ratio : : :0 : : Permissible Nm moment load kgf m. Moment stiffness Nm/rad. 0 kgf m/arc min. Uni-directional positional accuracy Sec Encoder type Absolute encoder Single motor revolution (,0) Encoder resolution Motor multi revolution counter (,) Output shaft resolution pulse/rev,, 0,,,,,,,0, Mass (without brake) kg.0 Mass (with brake) kg. Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration: m/s (frequency: 0 to 00Hz)/Shock resistance: 00 m/s * No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 0 x 0 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] (P-) and [- Resistance to vibration] (P-). -

19 - Specifications SG type Model SHAP Item 0 AⅡ MCDKT0 / MCDKT0E Combined amplifier AⅡN MCDHT0N / MCDHT0NBD AB MCDHT0B / MCDHT0BD Max. torque * Nm 0 kgf m Allowable continuous Nm torque ** kgf m..... Max. rotational speed * r/min Torque constant * Nm/A kgf m/a Max. current * A Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance Ω. (0 ) Phase inductance mh Inertia moment GD / kg m (without brake) J kgf cm s. Inertia moment GD / kg m (with brake) J kgf cm s. Reduction ratio : : :0 : : Permissible Nm moment load kgf m. Nm/rad. 0 Moment stiffness kgf m/arc min. Uni-directional positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,, 0,,,,,,,0, Mass (without brake) kg. Mass (with brake) kg. Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration Environmental conditions : m/s (frequency:0 to 00Hz)/Shock resistance * :00 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Insulation resistance: 00MΩ or more (by DC00V insulation tester) Motor insulation Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 0 x 0 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). 0 -

20 - Specifications 0 SG type Model SHAP Item 0 AⅡ MDDKT0 / MDDKT0E Combined amplifier AⅡN MDDHT0N / MDDHT0NBD AB MDDHT0B / MDDHT0BD Max. torque * Nm kgf m Allowable continuous Nm torque ** kgf m..... Max. rotational speed * r/min..... Torque constant * Nm/A 0 kgf m/a..... Max. current * A..... Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia moment GD / kg m (without brake) J kgf cm s 0 Inertia moment GD / kg m... (with brake) J kgf cm s 0 Reduction ratio : : :0 : : Permissible Nm 0 moment load kgf m. Nm/rad 00 0 Moment stiffness kgf m/arc min. Uni-directional positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,, 0,,,,,,,0, Mass (without brake) kg. Mass (with brake) kg. Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency:0 to 00Hz)/Shock resistance * :00 Environmental conditions m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Insulation resistance: 00MΩ or more (by DC00V insulation tester) Motor insulation Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 00 x 00 x 0 [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). -

21 - Specifications SG type Model SHA0P Item 0 AⅡ MDDKT0 / MDDKT0E Combined amplifier AⅡN MDDHT0N / MDDHT0NBD AB MDDHT0B / MDDHT0BD Max. torque * Nm 0 kgf m..... Allowable continuous Nm 0 0 torque ** kgf m... Max. rotational speed * r/min..... Torque constant * Nm/A kgf m/a..... Max. current * A..... Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia moment GD / kg m (without brake) J kgf cm s Inertia moment GD / kg m. (with brake) J kgf cm s 0 Reduction ratio : : :0 : : Permissible Nm moment load kgf m. Nm/rad 0 Moment stiffness kgf m/arc min. Uni-directional positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,, 0,,,,,,,0, Mass (without brake) kg. Mass (with brake) kg 0. Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency:0 to 00Hz)/Shock resistance * :00 Environmental conditions m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Insulation resistance: 00MΩ or more (by DC00V insulation tester) Motor insulation Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 00 x 00 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). 0 -

22 - Specifications 0 SG type Model SHAP SHAP Item 0 0 AⅡ MFDKTA0 / MFDKTA0E MFDKTBA / MFDKTBAE Combined amplifier AⅡN MFDHTA0N / MFDHTA0NBD MFDHTBAN / MFDHTBANBD AB MFDHTA0B / MFDHTA0BD MFDHTBAB / MFDHTBABD Max. torque * Nm 0 0 kgf m 0 0 Allowable Nm 0 continuous torque ** kgf m Max. rotational speed * r/min Torque constant * Nm/A 0 0 kgf m/a Max. current * A 0 Allowable continuous A current ** MEF constant * V/(r/min) Phase resistance (0 ) Ω Phase inductance mh Inertia GD / kg m 0 moment (without brake) J kgf cm s Inertia GD / kg m moment (with brake) J kgf cm s Reduction ratio : :0 : : : :0 : : Permissible Nm 0 0 moment load kgf m 0 Nm/rad 0 0 Moment stiffness kgf m/arc min 0 Uni-directional positional accuracy Sec Encoder type Magnetic absolute encoder Single motor Pulse/r revolution ev Encoder resolution (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev 0,,,,,,,0, 0,,,,,,,0, Mass (without brake) kg.. Mass (with brake) kg 0 Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency: 0 to 00Hz)/Shock resistance * : 00 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 0 x 0 x 0 [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). -

23 - Specifications CG type Model SHA0P Item AⅡ MBDKT0 / MBDKT0E Combined driver AⅡN MBDHT0N / MBDHT0NBD AB MBDHT0B / MDHT0BD Max. torque * Nm 0 0 kgf m Allowable continuous Nm torque ** kgf m..... Max. rotational speed * r/min Torque constant * Nm/A kgf m/a Max. current * A Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance (0 ) Ω. Phase inductance mh. Inertia moment GD / kg m (without brake) J kgf cm s...0 Inertia moment GD / kg m (with brake) J kgf cm s... Reduction ratio :0 :0 :00 :0 :0 Permissible moment Nm load kgf m. Moment stiffness Nm/rad. 0 kgf m/arc min. Uni-directional positional accuracy Sec Repeatability Sec ± Reverse positional accuracy Sec Encoder type Absolute encoder Single motor revolution (,0) Encoder resolution Motor multi revolution counter (,) Output shaft resolution pulse/rev,,00 0,,0,0,00,,0 0,,0 Mass (without brake) kg. Mass (with brake) kg. Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration: m/s (frequency: 0 to 00Hz) Shock resistance: 00 m/s * No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 0 x 0 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). 0-0

24 - Specifications 0 CG type Model SHAP Item AⅡ MCDKT0 / MCDKT0E Combined amplifier AⅡN MCDHT0N / MCDHT0NBD AB MCDHT0B / MCDHT0BD Max. torque * Nm 0 kgf m Allowable continuous Nm 0 torque ** kgf m..... Max. rotational speed * r/min 0. Torque constant * Nm/A kgf m/a..... Max. current * A Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance (0 ) Ω. Phase inductance mh.0 Inertia moment GD / kg m (without brake) J kgf cm s. 0 Inertia moment GD / kg m (with brake) J kgf cm s. Reduction ratio :0 :0 :00 :0 :0 Permissible Nm moment load kgf m. Nm/rad. 0 Moment stiffness kgf m/arc. min Uni-directional positional Sec accuracy Repeatability Sec. ± Reverse positional accuracy Sec. 0 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,,00 0,,0,0,00,,0 0,,0 Mass (without brake) kg. Mass (with brake) kg. Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency: 0 to 00Hz)/Shock resistance * : 00 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 0 x 0 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). -

25 - Specifications CG type Item Combined amplifier Model AⅡ AⅡN AB SHAP MDDKT0 / MDDKT0E MDDHT0N / MDDHT0NBD MDDHT0B / MDDHT0BD Max. torque * Nm kgf m Allowable continuous Nm 0 torque ** kgf m..... Max. rotational speed * r/min Torque constant * Nm/A 0 kgf m/a Max. current * A Allowable continuous ** current A MEF constant * V/(r/min)..... Phase resistance (0 ) Ω 0. Phase inductance mh. GD / kg m.... J kgf cm s GD / kg m J kgf cm s 0 0 Reduction ratio :0 :0 :00 :0 :0 Permissible Nm 0 moment load kgf m. Moment stiffness Nm/rad 00 0 kgf m/arc min. Inertia moment (without brake) Inertia moment (with brake) Uni-directional positional accuracy Sec Repeatability Sec. ± Reverse positional accuracy Sec. 0 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,,00 0,,0,0,00,,0 0,,0 Mass (without brake) kg. Mass (with brake) kg.0 Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency: 0 to 00Hz) Shock resistance * : 00 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table shows typical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 00 x 00 x 0 [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). 0 -

26 - Specifications 0 CG type Model SHA0P Item AⅡ MDDKT0 / MDDKT0E Combined amplifier AⅡN MDDHT0N / MDDHT0NBD AB MDDHT0B / MDDHT0BD Max. torque * Nm 0 kgf m..... Allowable continuous Nm 0 torque ** kgf m Max. rotational speed * r/min Torque constant * Nm/A kgf m/a..... Max. current * A Allowable continuous ** current A MEF constant * V/(r/min) Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia moment GD / kg m. (without brake) J kgf cm s 0 Inertia moment GD / kg m. (with brake) J kgf cm s 0 0 Reduction ratio :0 :0 :00 :0 :0 Permissible Nm moment load kgf m. Moment stiffness Nm/rad 0 kgf m/arc. Uni-directional positional accuracy Sec Repeatability Sec. ± Reverse positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution Pulse/rev (,0) Motor multi revolution counter Count (,) Resolution of output shaft Pulse/rev,,00 0,,0,0,00,,0 0,,0 Mass (without brake) kg.0 Mass (with brake) kg. Environmental conditions Operating temperature: 0 to 0 /Storage temperature: -0 to 0 Operating humidity/storage humidity: 0 to 0%RH (no condensation) Resistance to vibration * : m/s (frequency: 0 to 00Hz) Shock resistance * : 00 m/s No dust, no metal powder, no corrosive gas, no inflammable gas, no oil mist To be used indoors, no direct sunlight Altitude: less than,000 m above sea level Motor insulation Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Mounting direction Can be installed in any direction. Protection structure Totally enclosed self-cooled type (IP) The table showstypical output values of actuators. *: Indicates typical characteristics when combined with MINAS A (driven using an ideal sine wave). *: Value after temperature rise and saturation when the 00 x 00 x [mm] aluminum radiation plate is installed. *: Value of phase induced voltage constant multiplied by. *: For testing conditions, refer to [- Shock resistance] resistance (P.-) and [- Resistance to vibration] (P.-). -

27 - Motor shaft holding brake - Motor shaft holding brake The brakes equipped on SHA-P series actuators are used to hold the motor shaft in place when the power is cut off. With small models (SHAP, P), the actuator's built-in circuit controls the voltage supplied to the brake in order to reduce the power consumption while the brake is actuated. Be sure to use a DC power supply having proper brake excitation voltage and capable of outputting enough current consumption during suction. Item Specifications SG type Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Model SHA0P SHAP SHAP Dry non-excitation actuation type (without power-saving Dry non-excitation actuation type (with power-saving control) control) V DCV ± 0% (no polarity) * A * A Same as current consumption during suction Nm Holding torque * kgf m (GD /) Inertia moment * kg m (Actuator total) (With brake) (J) kgf cm s Mass (with brake) * kg... Allowable number * of normal brakings 00,000 times Allowable number of emergency stops * 00 times 0. 0 Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Model SHA0P SHAP SHAP Dry non-excitation actuation type (without power-saving control) V DCV ± 0% (no polarity) * A A Same as current consumption during suction Holding torque * Nm kgf m (GD /) Inertia moment * kg m (Actuator total) (With brake) (J) kgf cm s Mass (with brake) * kg 0. 0 Allowable number of * normal brakings 00,000 times Allowable number of * emergency stops 00 times -

28 - Motor shaft holding brake 0 Item CG type Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Model V SHA0P SHAP SHAP Dry non-excitation actuation type (without power-saving control) Dry non-excitation actuation type (with power-saving control) DCV ± 0% (no polarity)* A * A Same as current consumption during suction 0. Nm Holding torque * kgf m (GD /) Inertia moment * kg m (Actuator total) (With brake) (J) kgf cm s Mass (with brake) * kg...0 Allowable number of normal brakings * Allowable number of emergency stops * Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Model V 00,000 times 00 times SHA0P Dry non-excitation actuation type (without power-saving control) DCV ± 0% (no polarity)* A 0. A Same as current consumption during suction Nm Holding torque * kgf m 0 Inertia moment * (GD /). kg m (Actuator total) (With brake) (J) 0 0 kgf cm s Mass (with brake) * kg. Allowable number of * 00,000 times normal brakings Allowable number of * 00 times emergency stops *: Power supply is user s responsibility. Use a power supply capable of outputting enough current consumption during suction for the brake. *: The duration for current consumption during suction is 0. second or less for the power supply of DCV ± 0%. *: The values are converted for the output shaft of the actuator. *: The values present total mass of the actuator. *: The service time for normal holding is assured when the brake activates at motor shaft rotation speed of 0 r/min or less. *: The service time for emergency stop is assured when the brake activates at motor speed of,000 r/min or less provided the load inertia moment is times or less than that of the actuator. -

29 - Motor shaft holding brake WARNING The motor shaft holding brake cannot be used for deceleration. Do not use the holding brake more than the allowable number of normal brakings (00,000 times at the motor shaft rotation speed of 0 r/min or less) or allowable number of emergency stops (00 times at the motor shaft rotation speed of,000 r/min, provided the load inertia moment is times or less than that of the actuator). Exceeding the allowable number of normal brakings and allowable number of emergency stops may deteriorate holding torque, and may consequently become out of use as a brake. 0 -

30 - External dimensions - External dimensions The external dimensions of SHA-P series actuators are shown below. SHA0P-SG (Speed reducer: HarmonicDrive speed reducer SHG series for precision control) Unit: mm (third angle projection) 0 Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

31 - External dimensions SHA0P-CG (Speed reducer: HarmonicDrive precision control speed reducer CSG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. 0 -

32 - External dimensions 0 SHAP-SG (Speed reducer: HarmonicDrive precision control) speed reducer SHG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

33 - External dimensions SHAP-CG (Speed reducer: HarmonicDrive speed reducer CSG series for precision control) Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. 0-0

34 - External dimensions 0 SHAP-SG (Speed reducer: HarmonicDrive precision control) speed reducer SHG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

35 - External dimensions SHAP-CG (Speed reducer: HarmonicDrive precision control) speed reducer CSG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. 0 -

36 - External dimensions 0 SHA0P-SG (Speed reducer: HarmonicDrive precision control) speed reducer SHG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

37 - External dimensions SHA0P-CG (Speed reducer: HarmonicDrive precision control) speed reducer CSG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. 0 -

38 - External dimensions 0 SHAP-SG (Speed reducer: HarmonicDrive precision control) speed reducer SHG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. -

39 - External dimensions SHAP-SG (Speed reducer: HarmonicDrive precision control) speed reducer SHG series for Unit: mm (third angle projection) Note: For details on external dimensions, check our illustrated specifications. Tolerances may vary due to product manufacturing method (foundry piece, machine-finished good). Please contact us for the tolerance when it is not indicated in the dimensions. 0 -

40 - Mechanical accuracy 0 - Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange are shown below for SHA-P series actuators: SG type unit: mm Accuracy items SHA0P SHAP SHAP SHA0P SHAP SHAP. Output shaft surface runout Deflection of output shaft Parallelism between the output shaft end mounted surface. Parallelism between the output shaft end mounted surface. Concentricity between the output shaft and fitting part. Concentricity between the output shaft and fitting part Note: All values are T.I.R. (Total Indicator Reading) CG type unit: mm Accuracy items SHA0P SHAP SHAP SHA0P.Output shaft surface runout Deflection of output shaft (Outer faucet joint) -.Deflection of output shaft (Inner faucet joint).parallelism between the output shaft end mounted surface.parallelism between the output shaft and fitting part.concentricity between the output shaft and fitting part.concentricity between the output shaft and fitting part Note: All values are T.I.R. (Total Indicator Reading). A A B B A - A - B B A B A B SG type CG type -

41 - Mechanical accuracy The measuring for the values are as follows: Output shaft surface runout The indicator on the fixed part measures the axial runout (maximum runout width) of the outermost circumference of output shaft of the output rotary unit per revolution. Deflection of output shaft The indicator on the fixed part measures the radial runout (maximum runout width) of output shaft of the output rotary unit per revolution., Parallelism between the output shaft and mounted surface The indicator on the output rotary unit measures the axial runout (maximum runout width) of the outermost circumference of the mounting surface (both on the output shaft side and opposite side) of the output rotary unit per revolution., Concentricity between the output shaft and fitting part The indicator on the output rotary unit measures the radial runout (maximum runout width) of the fitting part (both on the output shaft side and opposite side) of the output rotary unit per revolution. () () () () () () 0 -

42 - Positional accuracy 0 - Positional accuracy Uni-directional positional accuracy The uni-directional positional accuracy means the maximum positional difference between the actual rotated angle from the datum position and its theoretical rotational angle in one revolution when series of positioning are performed in the same rotation direction. (Refer to JIS B-0-.) Since the SHA-P series incorporates a speed reducer HarmonicDrive for precision control, the impact of motor shaft positioning error becomes /multiple of reduction ratio. Commanded stop position Datum position Positioning error Actual stop position The uni-directional positional accuracy is shown in the table below: SG type (Unit: Second) Model Reduction ratio SHA 0P SHA P SHA P SHA0 P SHA P SHA P : : or more CG type (Unit: Second) Model Reduction ratio SHA0P SHAP SHAP SHA0P : :0 or more

43 - Positional accuracy Repeatability (CG type) For the "repeatability", the output shaft stop position is measured by performing positioning at a position times in the same direction. This measurement is performed at locations on the output shaft and the maximum error is found. The measurement value is expressed as an angle which is / the maximum error with ± attached. (JIS B 0-) CG type (Unit: Second) Model Reduction ratio SHA 0P SHA P SHAP SHA0P Ratio to full speed ± ± ± ± P P *P to P: Stop position X: Maximum error Repeatability: ±X/ Reverse positional accuracy (CG type) For the "reverse positional accuracy", the shaft is rotated beforehand in the forward (or reverse) direction and the stop position for that rotation is set as the reference position. An instruction is given to rotate the shaft in the same direction and from the stopped position, the same instruction is given in the reverse (or forward) direction and the difference between the stop position after this rotation and the reference position is measured. The average value from repeating this times in each direction is shown and the maximum value measured at the locations on the output shaft is shown. (JIS B 0-) CG type (Unit: Second) Model Reduction ratio SHA0P SHAP SHAP SHA0P : :0 or more 0 0 X P 0-0

44 - Positional accuracy P P X P X P P X P Reverse positional accuracy: X+X+.+X / * P to P : Stop position after forward rotation P to P :Stop position after reverse rotation X to X : Difference between the stop positions after forward and reverse rotations 0 -

45 - Detector specifications (Absolute encoder) - Detector specifications (Absolute encoder) Absolute encoders installed in SHA-P series are multi turn-type magnetic absolute encoders. This encoder consists of a detector ( bits) for detecting the position per motor shaft revolution, and a cumulative counter ( bits) for detecting the number of revolutions. This encoder constantly detects the absolute output position and stores it by means of the backup battery, regardless of whether the power supply for the servo amplifier or external controller is turned ON/OFF. Accordingly, once the origin is detected when the machine is installed, originating is not required after subsequent power ON operations. This facilitates the recovery operation after a power failure or breakdown. In addition, while the power is ON, the cumulative counter portion that detects the single revolution absolute position and the number of revolutions is a dual-redundant system in which a matching check is always performed on data, and this highly reliable design allows for encoder errors to be selfdetected should they occur. In addition, a backup capacitor is installed in the encoder to retain absolute positions even when the servo amplifier-encoder extension cable is disconnected for the purpose of maintenance, etc. (Internal backup) However, the backup capacitor has a limited life and its performance deteriorates. Therefore, it is recommended that you replace the backup battery while the servo amplifier is receiving power. Specifications Type * Resolution per motor revolution Maximum cumulative motor shaft revolutions Maximum permissible motor shaft rotational speed Magnetic sensor/electronic battery backup type (Single rotation optic, multiple revolution magnetic sensor/electronic battery backup type) bits ( :,0 pulses) bits ( :, revolutions cumulatively) 000r/min * Check method in which two identical single revolution detectors are compared Safety/redundancy Check method in which two identical cumulative revolution counters are compared Backup time by external battery year (when power is not supplied) 0 minutes (after hours of charge, ambient temperature of, axis stopped) Backup time by internal battery (For backup while the driver and encoder are disconnected briefly) *: Model No. 0 is equipped with an optical encoder; other models are equipped with a magnetic encoder. *: This is the rotation speed limit of the encoder and is different from the rotation speed that the motor can drive. Resolution of output shaft Encoder resolution bits ( :,0 pulses) Reduction ratio : : :0 : : Resolution of output shaft Resolvable angle per pulse (approximate value) Pulse/rev,, 0,,,,,,,0, Sec. Approx. 0. Approx. 0. Approx.0. Approx. 0.0 Approx. 0.0 Reduction ratio :0 :0 :00 :0 :0 Resolution of output Pulse/rev,,00 0,,0,0,00,,0 0,,0 shaft Resolvable angle per Approx. Approx. Approx. Approx. pulse (approximate Sec. Approx value) 0 Absolute position data [Absolute position] indicates the absolute position within one motor shaft revolution, while [multi revolution] indicates the number of motor revolutions. The position of the actuator output shaft is obtained by the following formula: Position of actuator output shaft = (Absolute position + Multi revolution data x Encoder resolution) / Reduction ratio -

46 - Detector specifications (Absolute encoder) 0 Transfer of encoder data Data is transferred via bi-directional communication in a normal condition while power is supplied. When the servo amplifier control power supply is turned OFF and the driver enters the battery backup mode, communication stops. Differences in specifications with the MINAS A series bit absolute encoder The encoder installed in the SHA-P series uses a different format, meaning that its specifications are slightly different. Differences and points of note are shown in the table below. Item Size No 0 SHA-P series Specifications Size No and later MINAS Ⅱseries MINAS AⅡN series MINAS AB series Battery alarm voltage V.0 to..0 to..0 to. None Power-on stand-by time s 0. or less or less. or less Current consumption during normal operation Current consumption during backup (when axis stopped) Current consumption during backup (when axis rotating) Overspeed detection Notices It is necessary to change amplifier parameter Pr. [Power ON wait time]. If this is not changed, then at power supply ON, error.0 will be generated. Change the wait time, with (. + set value), from the amplifier factory set value of "0" (default value) to ".". However, this change is not necessary when size No 0 is used. TYP 0 0 No problem up to 0 m with the standard encoder cable. ma Separate examination MAX required for special specifications. TYP MAX μa 0 0 Careful consideration required when calculating TYP battery life. μa MAX In normal operation At backup At backup Careful consideration required for responses during abnormal operation. -

47 -0 Rigidity -0 Rigidity Moment stiffness The moment stiffness refers to the torsional stiffness when a moment load is applied to the output shaft of the actuator (shown in the figure). For example, when a load is applied to the end of an arm attached on the output shaft of the actuator, the face of the output shaft of the actuator tilts in proportion to the moment load. The moment stiffness is expressed as the load/gradient angle. Gradient Load Model SHA0P SHAP SHAP SHA0P SHAP SHAP Item :0 or :0 or :0 or :0 or : or : or Reduction ratio more more more more more more Nm/rad Moment stiffness kgf m/rad kgf m/arc-min CAUTION Do not apply torque, load or thrust to the sleeve (hollow shaft) directly. The sleeve (hollow shaft) is adhered to the output rotary shaft. Accordingly, the adhered sleeve may be detached from the output rotary shaft if a torque or load is applied to the sleeve (hollow shaft). Do not apply any torque, moment load or thrust load directly to the sleeve (hollow shaft). Sleeve (hollow shaft) 0 Output rotary shaft -

48 -0 Rigidity 0 Torsional rigidity If a torque is applied to the output shaft of the actuator with the servo locked, the output shaft generates a torsional stress roughly in proportion to the torque. The upper right figure shows the torsional angle of the output shaft when a torque starting from zero and increased to positive side [+T0] and negative side [ T0] is applied to Hysteresis loss the output shaft. This is called [torque vs. torsional angle] Torque diagram, which typically follows a loop 0 A B A B A. The torsional rigidity of SHA-P series actuator is expressed by the gradient of this [torque vs. torsional angle diagram] representing a spring constant (unit: Nm/rad). As shown by lower right figure, this [torque vs. torsional angle] diagram is divided into three regions and the spring constants in these regions are expressed by K, K, and K, respectively. K:Spring constant for torque region 0 to T K:Spring constant for torque region T to T K:Spring constant for torque region over T The torsional angle for each region is expressed as follows: T Range where torque T is T or below: ϕ = K T T Range where torque T is T to T: ϕ = θ + K T T Range where torque T is T to T: ϕ = θ + K The table below shows the averages of T to T, K to K, and θ to θ for each actuator. Model SHA0P SHAP SHAP SHA0P Reduction ratio :0 :0 or :0 :0 or :0 :0 or :0 :0 or : more : more : more : more T Nm.0 kgf m K x0 Nm/rad kgf m/arc min θ x0 - rad arc min T Nm 0 kgf m.. 0 K X0 Nm/rad kgf m/arc min θ x0 - rad arc min K x0 Nm/rad..... kgf m/arc min Torsional angle Torsional angle * ϕ : Torsional angle Torque -

49 -0 Rigidity Model SHAP SHAP Reduction ratio : or : or more more T Nm kgf m K x0 Nm/rad 0 kgf m/arc min θ x0 - rad.. arc min.. T Nm kgf m K X0 Nm/rad kgf m/arc min θ x0 - rad.. arc min.. K x0 Nm/rad kgf m/arc min The table below shows reference torque values calculated for different torsional angle. (Unit: N m) Model SHA0P SHAP SHAP SHA0P Reduction ratio :0 : :0 or more :0 : :0 or more :0 : :0 or more :0 : :0 or more arc min arc min 0 0 arc min 0 Model SHAP SHAP Reduction ratio : or more : or more arc min 0 arc min arc min

50 - Rotation direction - Rotation direction SG type With the factory settings, the rotation direction is defined as clockwise (CW) as viewed from the output shaft when a pulse train is applied from the MINAS A servo amplifier in the direction of rising position addresses. This rotation direction can be changed with the MINAS A servo amplifier parameter Pr Setting of [Pr 0.00: Rotation direction setting] Set value 0 Actuator rotation direction FWD pulse input REV pulse input CCW (counterclockwise) direction CW (clockwise) direction CW (clockwise) direction CCW (counterclockwise) direction Setting Default CG type With the factory settings, the rotation direction is defined as counterclockwise (CCW) as viewed from the output shaft when a pulse train is applied from the MINAS A servo amplifier in the direction of rising position addresses. This rotation direction can be changed with the MINAS A servo amplifier parameter Pr Setting of [Pr 0.00: Rotation direction setting] Set value 0 CCW (counterclockwise) rotation direction Actuator rotation direction FWD pulse input REV pulse input CW (clockwise) CCW (counterclockwise) direction direction CCW (counterclockwise) direction CW (clockwise) direction Setting Default -

51 - Shock resistance - Shock resistance The shock resistance of the actuator is as follows, and this value is the same in up/down, left/right and front/rear directions: Impact acceleration: 00 m/s In our shock resistance test, the actuator is tested times in each direction. Actuator operation is not guaranteed in applications where impact exceeding the above value is constantly applied. Up Front Left Right Rear Shock resistance test Do wn 0 -

52 - Resistance to vibration - Resistance to vibration The resistance to vibration of the actuator is as follows, and this value is the same in up/down, left/right and front/rear directions: Vibration acceleration: m/s (frequency: 0 to 00Hz) In our test, the actuator is tested for hours in each direction at a vibration frequency sweep period of 0 minutes. Up Front Left Right Rear 0 Resistance to vibration test Do wn -

53 - Operable range - Operable range The graph on the next page indicates the operable range when SHA-P series actuator (Combination with MINAS A servo amplifier) is selected. For details, refer to [Chapter SHA-P series selection].. Continuous motion range The range allows continuous operation for the actuator.. 0% duty motion range This range indicates the torque rotation speed which is operable in the 0% duty operation (the ratio of operating time and delay time is 0:0).. Motion range during acceleration and deceleration This range indicates the torque rotation speed which is operable momentarily. The range allows instantaneous operation like acceleration and deceleration, usually. The continuous and 0% duty motion ranges in each graph are measured on the condition where the radiation plate specified in the graph is installed. When the SHA-P series SG type is operated at a constant speed (motor shaft speed of,000 r/min or less) in the same direction under a constant load torque in a condition where the output shaft is facing up (output shaft is facing down with CG type), improper lubrication of the built-in speed reducer may cause abnormal sound or wear, leading to a shorter life. Improper lubrication can be prevented by changing the speed in the operation pattern, such as by periodically stopping the actuator. The continuous motion range and 0% duty motion range represent allowable ranges where the actuator installed on a specified aluminum radiation plate is operated under natural air cooling. If the radiation area of the mounting member is small or heat conduction of the material is poor, adjust the operating conditions to keep the rise in the actuator's ambient temperature to 0 K or less as a guide. 0-0

54 - Operable range 0 SG type SHA0P SHA0PSG SHA0P0SG SHA0PSG SHA0PSG SHA0PSG - * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum.

55 - Operable range SG type SHAP SHAP Torque [Nm] トルク [Nm] SHAP0 Torque トルク [Nm] [Nm] Continuous motion 連続使用領域 range Radiation 放熱板 plate: :0*0* mm mm Motion 加減速運転領域 range during acceleration and deceleration 0% 0% duty テ ューティ領域 motion range Rotation 回転速度 speed [r/min] [r/min] 0% テ ューティ領域 duty motion range Continuous 連続使用領域 motion range Radiation 放熱板 plate: :0*0* mm mm Motion range during acceleration 加減速運転領域 and deceleration Rotation 回転速度 speed [r/min] [r/min] SHAP Torque [Nm] トルク [Nm] SHAP Torque [Nm] トルク [Nm] Continuous 連続使用領域 motion range Radiation 放熱板 plate: :0*0* mm Motion range during acceleration 加減速運転領域 and deceleration 0% duty 0% motion テ ューティ領域 range Rotation 回転速度 speed [r/min] 0% 0% duty テ ューティ領域 motion range Radiation 放熱板 plate: :0*0* mm mm Motion range during acceleration 加減速運転領域 and deceleration Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] 0 SHAP 0 Radiation 放熱板 plate: :0*0* mm mm 00 Torque [Nm] トルク [Nm] % 0% duty テ ューティ領域 motion range Motion range during acceleration 加減速運転領域 and deceleration 0 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum. -

56 - Operable range 0 SG type SHAP SHAP Torque トルク [Nm] [Nm] SHAP0 Torque トルク [Nm] [Nm] Motion 加減速運転領域 range during acceleration and deceleration 0% duty テ ューティ領域 motion range Continuous 連続使用領域 motion range Radiation 放熱板 plate: :00*00*0 mm Rotation 回転速度 speed [r/min] 0% duty motion range 0% テ ューティ領域 Continuous motion 連続使用領域 range Radiation 放熱板 plate: :00*00*0 mm mm Motion range during 加減速運転領域 acceleration and deceleration Rotation 回転速度 speed [r/min] SHAP Torque [Nm] トルク [Nm] SHAP Torque [Nm] % duty テ ューティ領域 motion range Continuous motion 連続使用領域 range Radiation 放熱板 plate: :00*00*0 mm mm Motion range during acceleration 加減速運転領域 and deceleration Rotation 回転速度 speed [r/min] 0% duty motion range Continuous motion range Radiation plate: 00*00*0 mm Motion range during acceleration and deceleration Rotation speed [r/min] SHAP 00 Radiation 放熱板 plate: :00*00*0 mm mm 00 Torque [Nm] トルク [Nm] Motion range during acceleration 加減速運転領域 and deceleration 0% duty テ ューティ領域 motion range Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] * The motion ranges are typical values of -phase 00 VAC. - * The radiation plate is made of aluminum.

57 - Operable range SG type SHA0P SHA0P Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00*00* SHA0P Rotation speed [r/min] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00*00* Rotation speed [r/min] SHA0P Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00*00* Rotation speed [r/min] SHA0P Torque [Nm] トルク [Nm] Motion 加減速運転領域 range during acceleration and deceleration 0% 0% テ ューティ領域 duty motion range Continuous 連続使用領域 motion range Radiation 放熱板 :00*00* plate: 00*00* Rotation 回転速度 speed [r/min] 0 SHA0P 放熱板 Radiation :00*00* plate: 00*00* Torque [Nm] トルク [Nm] Motion 加減速運転領域 range during acceleration and deceleration 0% 0% duty テ ューティ領域 motion Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum. -

58 - Operable range SG type SHAP SHAP Torque [Nm] Radiation plate: 0*0*0 mm Motion range during acceleration and deceleration 0% duty motion range Continuous motion range SHAP0 Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 0*0*0 mm Rotation speed [r/min] Rotation speed [r/min] 0 SHAP Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :0*0*0 mm mm Motion range during acceleration 加減速運転領域 and deceleration 00 0% 0% duty テ ューティ領域 motion range 000 Continuous motion 00 連続使用領域 range SHAP Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :0*0*0 mm mm Motion 加減速運転領域 range during acceleration and deceleration 00 0% テ ューティ領域 duty motion range 000 Continuous 連続使用領域 motion 00 range 回転速度 Rotation speed [r/min] [r/min] 回転速度 Rotation speed [r/min] [r/min] * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum. -

59 - Operable range SG type SHAP SHAP トルク Torque [Nm] SHAP Torque [Nm] トルク [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation 放熱板 plate: :0*0*0 mm mm Motion 加減速運転領域 range during acceleration and deceleration Continuous 連続使用 motion 領域 range Radiation plate: 0*0*0 mm Rotation speed [r/min] 回転速度 Rotation speed [r/min] [r/min] SHAP0 Torque [Nm] Torque [Nm] トルク [Nm] トルク [Nm] SHAP Continuous 連続使用 motion range 領域 Radiation 放熱板 :0*0*0 plate: 0*0*0 mm mm Motion 加減速運転領域 range during acceleration and deceleration 0% テ ューティ領域 duty motion range 0% duty テ ューティ領域 motion range 00 0% 0% duty テ ューティ領域 motion range * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum 回転速度 Rotation speed [r/min] [r/min] Radiation 放熱板 plate: :0*0*0 mm mm Motion 加減速運転領域 range during acceleration and deceleration Continuous 連続使用領域 motion range 回転速度 Rotation speed [r/min] [r/min] 0 -

60 - Operable range CG type SHA0P SHA0P0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 0*0* mm Rotation speed [r/min] SHA0P0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 0*0* mm Rotation speed [r/min] SHA0P00CG Radiation plate: 0*0* mm SHA0P0CG Radiation plate: 0*0* mm Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range 0 Continuous motion range Continuous motion range Rotation speed [r/min] Rotation speed [r/min] SHA0P0CG Radiation plate: 0*0* mm Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous motion range Rotation speed [r/min] - * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum.

61 トルク [Nm] トルク [Nm] トルク [Nm] トルク [Nm] トルク [Nm] - Operable range CG type SHAP SHAP0CG Torque [Nm] Motion 加減速運転領域 range during acceleration and deceleration 0% テ ューティ領域 duty motion range Continuous 連続使用領域 motion range Radiation 放熱板 plate: :0*0*mm mm SHAP0CG Torque [Nm] Radiation plate: 放熱板 0*0* :0*0*mm mm 00 0 Motion 加減速運転領域 range during acceleration and deceleration 00 0% 0% duty テ ューティ領域 motion range 0 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] Rotation 回転速度 speed [r/min] SHAP00CG Torque [Nm] Radiation 放熱板 plate: :0*0*mm mm 0 00 Motion 加減速運転領域 range during acceleration and deceleration % テ ューティ領域 duty motion range 0 Continuous motion 連続使用領域 range SHAP0CG Torque [Nm] Radiation plate: 放熱板 0*0* :0*0*mm 0 00 Motion range during acceleration 加減速運転領域 and deceleration % 0% duty テ ューティ領域 motion range 0 Continuous motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] 回転速度 Rotation speed [r/min] [r/min] SHAP0CG 0 Radiation 放熱板 plate: :0*0*mm mm Torque [Nm] Motion range during acceleration and 加減速運転領域 deceleration 0% 0% duty テ ューティ領域 motion range 0 Continuous motion 連続使用領域 range 回転速度 Rotation [r/min] speed [r/min] * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum. -

62 トルク [Nm] トルク [Nm] トルク [Nm] トルク [Nm] - Operable range CG type SHAP SHAP0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 00*00*0 mm Rotation speed [r/min] SHAP0CG Torque [Nm] Radiation plate: 放熱板 00*00*0 :00*00*0mm Motion range during acceleration and deceleration 加減速運転領域 % テ ューティ領域 duty motion range 0 00 Continuous motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] 0 SHAP00CG SHAP0CG Torque [Nm] 00 Radiation 放熱板 plate: :00*00*0mm mm 00 Radiation plate: 放熱板 :00*00*0mm Motion 加減速運転領域 range during acceleration Motion range during acceleration 0 加減速運転領域 and deceleration and deceleration % テ ューティ領域 duty motion range 00 0% テ ューティ領域 duty motion range Continuous 00 Continuous motion 連続使用領域 range motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] Rotation 回転速度 speed [r/min] [r/min] SHAP0CG Torque [Nm] 00 Radiation 放熱板 plate: :00*00*0mm mm 00 Torque [Nm] Motion range during acceleration 加減速運転領域 and deceleration 0% テ ューティ領域 duty motion range 00 0 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] [r/min] * The motion ranges are typical values of -phase 00 VAC. - * The radiation plate is made of aluminum.

63 トルク [Nm] トルク [Nm] トルク [Nm] トルク [Nm] トルク [Nm] - Operable range CG type SHA0P SHA0P0CG Torque [Nm] Radiation 放熱板 plate: :00*00*mm mm Motion range during acceleration and deceleration 加減速運転領域 0% テ ューティ領域 duty motion range 00 Continuous motion 連続使用領域 range SHA0P00CG Rotation 回転速度 speed [r/min] [r/min] SHA0P0CG Torque [Nm] Radiation plate: 放熱板 00*00* :00*00*mm Motion range during acceleration and deceleration 加減速運転領域 % テ ューティ領域 duty motion range 00 Continuous 00 motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] SHA0P0CG Torque [Nm] Torque [Nm] 00 Radiation 放熱板 plate: :00*00*mm mm 00 Radiation plate: 放熱板 :00*00*mm Motion 加減速運転領域 range during acceleration Motion range during acceleration 加減速運転領域 and deceleration 00 and deceleration % duty テ ューティ領域 motion range 0% duty テ ューティ領域 motion range Continuous 連続使用領域 motion range 00 Continuous 00 motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] Rotation speed [r/min] 回転速度 [r/min] SHA0P0CG Radiation 放熱板 plate: :00*00*mm mm Motion range during acceleration and 加減速運転領域 deceleration % duty テ ューティ領域 motion range Torque [Nm] Continuous motion 連続使用領域 range Rotation 回転速度 speed [r/min] [r/min] * The motion ranges are typical values of -phase 00 VAC. * The radiation plate is made of aluminum. -0

64 - Cable specifications 0 - Cable specifications The following tables show specifications of the motor and encoder cables of SHA-P series actuators. Motor cable specifications Size Nos 0,,, 0 Pin number Color Name Without brake With brake Red Motor phase-u Motor phase-u Black Motor phase-v Motor phase-v White Motor phase-w Motor phase-w Green/yellow PE PE Blue No connection Brake Yellow No connection Brake Connector pin layout Size Nos, Pin number Name Color Without brake With brake (Extension cables) A No connection Brake Blue B No connection Brake Yellow C No connection No connection - D Motor phase-u Motor phase-u Red E Motor phase-v Motor phase-v White F Motor phase-w Motor phase-w Black G PE PE Green/yellow H PE PE - I No connection No connection - Connector pin layout Connector model: 0- Pin model: Size Nos 0, Size Nos, 0 Motor UVW Brake Motor PE 0-0- by TE Connectivity (AMP) Connector model: CE0-A-PGHS-D (by DDK) -

65 - Cable specifications Encoder cable specifications Size Nos 0,,, 0 Pin number Color Signal name Remarks Connector pin layout Orange BAT+ Battery + Gray BAT- Battery - (GND) Shield FG Yellow PS Serial signal differential output (+) Blue PS Serial signal differential output (-) - No connection Red EV Power supply input +V Black E0V Power supply input 0V (GND) - No connection Model Nos, Pin number Signal name Remarks E0V Power supply input 0V (GND) No connection - PS Serial signal differential output (+) EV Power supply input +V BAT Battery - (GND) BAT+ Battery PS Serial signal differential output (-) No connection - FG 0 No connection - Connector pin layout Connector model: - Pin model (Size No 0): 0- or 0- Pin model (Size Nos,, 0): 0- by TE Connectivity (AMP) 0 Connector model: JNAS0ML-R (by JAE) -

66 - Cable specifications 0 -

67 Chapter Selection guidelines This chapter explains how to select a proper SHA-P series actuator. - SHA-P series selection - - Change in load inertia moment - - Verifying and examining load weights - - Verifying operating conditions -

68 - SHA-P series selection Selection guidelines - SHA-P series selection Allowable load inertia moment To achieve high accuracy and performance, select SHA-P series actuator where the allowable load inertia moment specified for the applicable size No. is not exceeded. Note that the allowable values in the table below should be referenced if you wish to shorten the transient vibration period during positioning or operate the actuator at a constant speed in a stable manner. The operation is possible with the allowable value exceeded if the actuator is accelerated/decelerated gradually, commands given from the host to the servo amplifier are adjusted, or the servo amplifier's vibration suppression function is used. Refer to [A- Calculating inertia moment] (P.A-) for the calculation of inertia moment. SG type 0 (kg m )Allowable load inertia moment Max. rotational speed (r/min) (kg m )Allowable load inertia moment 0000 (kg m )Allowable load inertia moment SHA0P SHAP SHA0P SHAP SHA0P0 SHA0P SHAP0 SHAP SHA0P SHAP Max. rotational speed (r/min) (kg m )Allowable load inertia moment SHAP SHAP SHAP SHAP 0 SHAP0 SHAP 0 SHAP0 SHAP Max. rotational speed (r/min) Max. rotational speed (r/min) -

69 - SHA-P series selection CG type (kg m )Allowable load inertia moment Max. rotational speed (r/min) When temporarily selecting an actuator, make certain that the inertia moment and max. rotational speed do not exceed the allowable values shown in the table on the following page. When a load generating a large inertia moment is operated frequently, a greater regenerative energy will be produced during braking. If the regenerative energy produced exceeds the absorption capacity of the built-in regenerative resistor of the servo amplifier, an additional regenerative resistor must be connected externally to the servo amplifier. For details, refer to the manual of your servo amplifier. Selection guidelines 0 -

70 - SHA-P series selection Selection guidelines 0 SG type Actuator model SHA0P 0 Reduction ratio : : :0 : : Max. rotational speed r/min..... Actuator kg m inertia moment (without brake) kgf cm s..0. Actuator kg m inertia moment (with brake) kgf cm s.. 0 Allowable load kg m..... inertia moment kgf cm s Actuator model SHAP 0 Reduction ratio : : :0 : : Max. rotational speed r/min Actuator kg m inertia moment (without brake) kgf cm s. Actuator kg m inertia moment (with brake) kgf cm s. Allowable load kg m.. 0 inertia moment kgf cm s 0 0 Actuator model SHAP 0 Reduction ratio : : :0 : : Max. rotational speed r/min..... Actuator kg m inertia moment (without brake) kgf cm s 0 Actuator kg m... inertia moment (with brake) kgf cm s 0 Allowable load kg m inertia moment kgf cm s Actuator model SHA0P SHAP 0 0 Reduction ratio : : :0 : : : :0 : : Max. rotational speed r/min Actuator kg m inertia moment (without brake) kgf cm s Actuator kg m. 0 0 inertia moment (with brake) kgf cm s Allowable load kg m inertia moment kgf cm s

71 - SHA-P series selection Actuator model SHAP 0 Reduction ratio : :0 : : Max. rotational speed r/min.... Actuator kg m 0 inertia moment (without brake) kgf cm s Actuator kg m 0 inertia moment (with brake) kgf cm s Allowable load kg m inertia moment kgf cm s CG type Actuator model SHA0P Reduction ratio :0 :0 :00 :0 :0 Max. rotational speed r/min Actuator kg m inertia moment (without brake) kgf cm s...0 Actuator kg m inertia moment (with brake) kgf cm s... Allowable load kg m..... inertia moment kgf cm s Actuator model SHAP Reduction ratio :0 :0 :00 :0 :0 Max. rotational speed r/min 0. Actuator kg m inertia moment (without brake) kgf cm s. 0 Actuator kg m inertia moment (with brake) kgf cm s. Allowable load kg m.. 0 inertia moment kgf cm s 0 0 Actuator model SHAP Reduction ratio :0 :0 :00 :0 :0 Max. rotational speed r/min Actuator kg m.... inertia moment (without brake) kgf cm s Actuator kg m inertia moment (with brake) kgf cm s 0 0 Allowable load kg m inertia moment kgf cm s Selection guidelines 0 -

72 - SHA-P series selection Selection guidelines Actuator model SHA0P Reduction ratio :0 :0 :00 :0 :0 Max. rotational speed r/min Actuator kg m. inertia moment (without brake) kgf cm s 0 Actuator inertia moment kg m kgf cm s. 0 0 (with brake) Allowable load inertia moment kg m kgf cm s

73 - Change in load inertia moment - Change in load inertia moment For SHA-P series combined with the high reduction ratio of HarmonicDrive, the effects of change in load inertia moment on the servo performance are minimal. In comparison to direct servo drive mechanisms, therefore, this benefit allows the load to be driven with a better servo response. For example, assume that the load inertia moment increases to N-times. The total inertia moment converted to motor shaft which has an effect on servo response is as follows: The symbols in the formulas are: J S : Total inertia moment converted to motor shaft J M : Inertia moment of motor R: Reduction ratio of SHA-P series actuator L: Ratio of load inertia moment to inertia moment of motor N: Rate of change in load inertia moment Direct drive S ( ) ( ) Before: J =JM + L After: JS= ' JM + NL Ratio: Driven by SHA-P series Before: L NL JS=JM After: Ratio: + JS= ' JM + R R + NL Js' /Js= + L + NL /R Js' /Js= + L /R With SHA-P series, the value of R increases from 0 to, which means that the value increases substantially from R =,00 to R =,. Then the ratio is Js'/Js. This means that SHA-P drive systems are hardly affected by the load variation. Therefore, it is not necessary to take change in load inertia moment into consideration when selecting SHA-P series actuator or setting up the initial servo amplifier parameters. Selection guidelines 0 -

74 - Verifying and examining load weights Selection guidelines 0 - Verifying and examining load weights The SHA-P series actuator incorporates a precise cross roller bearing for directly supporting an external load (output flange). To demonstrate the full ability of the actuator, verify the maximum load moment load as well as the life and static safety coefficient of the cross roller bearing. Checking procedure Verifying the maximum load moment load (Mmax) Calculating the maximum load moment load (Mmax) Verifying the maximum load moment load (Mmax) is less than or equal to the permissible moment load (Mc) Verifying life Calculate the average radial load (Frav) and average axial load (Faav). Calculate the radial load coefficient (X) and the axial load coefficient (Y). Calculate the life of the bearing and verify the life is allowable. Verifying the static safety coefficient Calculate the static equivalent radial load (Po). Verify the static safety coefficient (fs). Specifications of the main roller bearing The following table shows the specifications of the main roller bearings built in SHA-P actuators. Table : Specifications of the main roller bearings Model Item Circular pitch of the roller (dp) Offset amount (R) Basic dynamic rated load (C) Basic static rated load (Co) Permissible moment load (Mc) Moment stiffness (Km) mm mm kn kn Nm x0 Nm/rad SHA0P-SG 0... SHA0P-CG 0... SHAP-SG.... SHAP-CG.... SHAP-SG SHAP-CG SHA0P-SG.. SHA0P-CG... SHAP-SG.. 0 SHAP-SG 0 0 -

75 - Verifying and examining load weights Maximum load moment load The formula below shows how to calculate the maximum load moment load (Mmax). Verify that the maximum load moment load (Mmax) is less than or equal to the permissible moment load (Mc). Formula (): Maximum load moment load Fr max (Lr + R) + Fa max La M max = 000 Symbols used in the formula Mmax Maximum load moment load Nm Frmax Max. radial load N Refer to Fig.. Famax Max. axial load N Refer to Fig.. Lr,La mm Refer to Fig.. R Offset amount mm Refer to Fig. and Table. Load Fa La Actuator Fr Lr R dp Selection guidelines Verifying life Calculating average loads (average radial and axial loads, average output rotational speed) When the radial and/or axial loads vary during motion, calculate and verify the life of the cross roller bearing converting the loads to their average values. Formula (): Average radial load (Frav) Frav = 0/ 0/ 0/ 0/ ntfr + ntfr nntn Frn nt + nt + + nntn The maximum radial load in section t is given by Fr, while the maximum radial load in section t is given by Fr. Formula (): Average axial load (Faav) + Radial load - Fig. : External load action Fr Fa Fr Fr Time 0 Faav = 0/ 0/ ntfa + ntfa 0/ 0/ nntn Fan nt + nt + + nntn The maximum axial load in section t is given by Fa, while the maximum axial load in section t is given by Fa. + Axial load - Fa Fa Time t t t Formula (): Average output rotational speed (Nav) nt + nt + + nntn Nav = t + t + + tn + Output rotational speed - n n n Time Fig. : Illustration of load variation -

76 - Verifying and examining load weights Selection guidelines 0 Radial load coefficient and axial load coefficient Determine the values of radial load coefficient (X) and axial load coefficient (Y) based on conditional judgment according to formula (). Table : Radial load coefficient (X), axial load coefficient (Y) Formula () X Y Faav. Frav + (Frav (Lr + R) + Faav La)/dp Faav >. Frav + (Frav (Lr + R) + Faav La)/dp Dynamic equivalent radial load Symbols used in the formulas Frav Average radial load N Refer to the average load. Faav Average axial load N Refer to the average load. Lr,La mm Refer to Fig.. R Offset amount mm Refer to Fig. and Table. dp Pitch circle diameter of a roller mm Refer to Fig. and Table. Formula (): Dynamic equivalent radial load (Frav (Lr + R) + Faav La) Pc = X Frav + + Y Faav dp Symbols used in the formulas Pc Dynamic equivalent radial load N Frav Average radial load N Obtained by formula (). Faav Average axial load N Obtained by formula (). dp Pitch circle diameter of a roller mm Refer to Table. X Radial load coefficient - Refer to Table. Y Axial load coefficient - Refer to Table. Lr,La - mm Refer to Fig.. R Offset amount mm Refer to Fig. and Table. Life of cross roller bearing Calculate the life of cross roller bearing with the formula (): Formula (): Cross roller bearing life L B 0 0 C = 0 Nav fw Pc 0/ Symbols used in the formulas L B-0 Life hour Nav Average output rotational speed r/min Obtained by formula (). C Basic dynamic rated load N Refer to Table. Pc Dynamic equivalent radial load N Obtained by formula (). fw Load coefficient - Refer to Table. Table : Load coefficient Loaded state fw Smooth operation free from impact/vibration to. Normal operation. to. Operation subject to impact/vibration. to -

77 - Verifying and examining load weights Cross roller bearing life based on oscillating movement Use formula () to calculate the cross roller bearing life against oscillating movement. Formula (): Cross roller bearing life (oscillating) 0/ 0 0 C Loc = 0 n θ fw Pc Symbols used in the formulas Loc Life hour n Number of reciprocating oscillation per min. cpm C Basic dynamic rated load N Refer to Table. Pc Dynamic equivalent radial load N Obtained by formula (). fw Load coefficient - Refer to Table. θ Oscillating angle/ - Refer to Fig.. θ Oscillating angle Fig. : Oscillating movement Selection guidelines If the oscillating angle is or less, fretting wear may occur because oil film does not form effectively on the contact surface between the race and rolling element of the cross roller bearing. In such cases, consult HDS. Verifying static safety coefficients Static equivalent radial load Formula (): Static equivalent radial load Mmax Po = Frmax Famax dp Symbols used in the formulas Frmax Max. radial load N Refer to Fig.. Famax Max. axial load N Refer to Fig.. Mmax Max. moment load Nm Refer to the maximum load weight calculation methods. dp Pitch circle diameter of a roller mm Refer to Table. Static safety coefficient Generally, the static equivalent load is limited by the basic static rated load(co). However, the specific limit should be calculated according to the using conditions and required conditions. In this case, calculate the static safety coefficient (fs) by formula (0). Table shows general values representing using conditions. Calculate the static equivalent radial load (Po) by formula (). 0 Formula (0): Static safety coefficient Co fs = Po Symbols used in the formulas fs Static safety coefficient - Refer to Table. Co Basic static rated load N Refer to Table. Po Static equivalent radial load N Obtained by formula (). Table : Static safety coefficients Using conditions fs High rotational accuracy is required, etc. Operation subject to impact/vibration Normal operation. -0

78 - Verifying operating conditions Selection guidelines 0 - Verifying operating conditions The actuator generates heat if started/stopped repeatedly or operated continuously at high speed. Accordingly, examine whether or not the generated heat can be accommodated. The study is as follows: Examining actuator rotation speed Calculate the required rotation speed (r/min) of the load driven by SHA-P series. For linear operation, use the rotation speed conversion formula below: Linear travel speed (mm/min) Rotation speed (r/min) = Screw feed pitch (mm) Screw pitch (mm) 0r/min 0r/min 00r/min 00r/min Linear travel speed (mm/min) Select an appropriate reduction ratio from 0,, 0,, 00, 0, 0,, 0 and so that the calculated rotation speed does not exceed the maximum rotational speed of SHA-P series actuator. Calculating and examining load inertia moment Calculate the load inertia moment of the load driven by SHA-P series actuator. Refer to [A- Calculating inertia moment] (P.A-) for the calculation. Based on the calculated result, tentatively select SHA-P series actuator by referring to [Allowable load inertia moment] (P-). 0 0 Rotation speed (r/min) 0r/min r/min -

79 - Verifying operating conditions Load torque calculation Calculate the load torque as follows: Rotary motion The rotary torque for the rotating mass W on the ring Mass: W of radius r from the center of rotation is shown in the figure to the right. Radius: r T =. µ W r T : Rotary torque (Nm) μ : Friction coefficient Friction: μ W : Mass (kg) r : Average radius of friction side (m) Example of rotary torque calculation (friction coefficient = 0.) SHA-P: 0% torque of maximum torque is shown. The right graph gives a calculation example when the friction coefficient μ is assumed as 0. and the horizontal axis and vertical axis represent mass and rotational radius of friction side, respectively. The actuator toque value shown in the graph indicates 0% of the maximum torque. Radius r of friction side (mm) 0 Nm 0 Nm SHAP 00 Nm SHAP SHAP Nm SHA0P 0 Nm Mass W (kg) Linear operation (horizontal operation) The rotary torque when the mass W moves horizontally due to the screw of pitch P is shown below. P T =. µ W Mass: W π Pitch: P T : Rotary torque (Nm) Friction: μ μ : friction coefficient W : mass (kg) P : Screw feed pitch (m) Nm 00 Nm 00 Nm 0 Nm 0 Nm 00 Nm 00 Nm 00 Nm Selection guidelines 0 Linear operation (vertical operation) The rotary torque when the mass W moves vertically due to the screw of pitch P is shown below. P T =. W π Mass: W Pitch: P -

80 - Verifying operating conditions Selection guidelines 0 Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator. Acceleration time: Deceleration time: t a = k td = k ( JA + JL) ( JA + JL) π N 0 TM TL π N 0 TM + T ta: Acceleration time (s) td: Deceleration time (s) k: Acceleration reduction coefficient to. The total positioning time may become shorter if the acceleration is lowered for the purpose of reducing the settling time after positioning. JA: Actuator inertia moment (kg m ) JL: Load inertia moment (kg m ) N: Actuator rotation speed (r/min) TM: Maximum actuator torque (Nm) TF: Actuator friction torque (Nm) TF=KT x IR-TR KT: Torque constant (Nm/A) TR: Allowable continuous torque (Nm) IR: Allowable continuous current (A) TL: Load torque (Nm); The polarity is positive (+) when the torque is applied in the rotation direction, or negative (-) when it is applied in the opposite direction. Calculation example Select an actuator that best suits the following operating conditions: Rotation speed: 0 r/min Load inertia moment:. kg m Since the load mechanism is mainly inertia, the load torque is negligibly small. () After applying these conditions to the graph in [-], SHAPSG-B0A00 is tentatively selected. () From the rated table, the following values are obtained: JA = 0. kg m, TM = Nm, TR = Nm, KT = Nm/A, IR = A. () Based on the above formula, the actuator's friction torque TF is calculated as x - = Nm. () If k =., the acceleration time and deceleration time can be obtained as follows from the above formulas: ta =. x (0.+.) x x π/0 x 0/ = 0. s td =. x (0.+.) x x π/0 x 0/(+ x ) = 0. s () If the calculated acceleration/deceleration times are too long, correct the situation by: Reducing load inertia moment Selecting an actuator with a larger frame size F + T L N Rotation speed ta td Time -

81 - Verifying operating conditions Examining effective torque and average rotation speed One way to check if the heat generated from the actuator during operation would present a problem is to determine if the point of operation, determined by the effective torque and average rotation speed, is inside the continuous motion range explained in [- Operable range] (P.-0). Using the following formula, calculate the effective torque Tm and average rotation speed Nav when the actuator is operated repeatedly in the drive pattern shown to the right. T N m av = T a ta + Tr t t N ta + N tr = t + T d t ta : Acceleration time from speed 0 to N (s) td : Deceleration time from speed N to 0 (s) tr : Operation time at constant speed N (s) t : Cycle time (s) Tm : Effective torque (Nm) Ta : Torque during acceleration (Nm) Tr : Torque at constant speed (Nm) Td : Torque during deceleration (Nm) Nav : Average rotation speed (r/min) N : Rotation speed at constant speed (r/min) r + N t d d Calculation example An example of SHAPSG-B0A00 is explained. Operating conditions: Accelerate an inertia load and then let it move at a constant speed, followed by deceleration, based on conditions similar to those used in calculation example. The travel angle per cycle is 0 and the cycle time is second. () The travel angle is calculated from the area of the rotation speed vs. time diagram shown above. In other words, the travel angle is calculated as follows: θ = (N / 0) x {tr + (ta + td) / } x 0 Accordingly, tr = θ/ ( x N) (ta + td) / When θ= 0, and ta = 0. (s), td = 0. (s), N = 0 (r/min) in calculation example, are applied to this formula, tr is calculated as 0.0 (s). () Next, calculate the torque during acceleration and torque during deceleration. Based on the acceleration/deceleration time formulas in the preceding section, the relational expressions for torque during acceleration and torque during deceleration if k = are as follows: Ta = (Ja+JL) x xπ / 0 x N / ta + TL Td = (Ja+JL) x xπ / 0 x N / td xtf TL When the values in calculation example are applied to this formula, Ta = (Nm) and Td = 0 (Nm) are obtained. () Calculate the effective torque. Apply the values in () and (), and Tr = 0 (Nm) and t = (s), to the above formulas. N Torque Rotation speed ta Ta tr td t: Cycle time Tr ts: Stopped time Td ts Ta, Tr, Td: Output torques Time Time Selection guidelines 0 T 0. m = = Nm () Calculate the average rotation speed. Apply the values in (), and N = 0 (r/min) and t = (s), to the above formulas = Nav = 0 r/min -

82 - Verifying operating conditions Selection guidelines 0 () The figure on the right shows the points of operation determined by the effective torque and average rotation speed calculated above, plotted on the graph of operable range of SHAP, exceeding the continuous motion range. The conclusion is that this actuator cannot be operated continuously under these conditions. Accordingly, the operation pattern load (possible reduction) actuator size No. etc., must be reexamined. The following formula is a modified version of the formula for effective torque. By applying the value of allowable continuous torque to Tm in this formula, the allowable cycle time can be calculated. T t = a t a + T r tr Tm + T d t d Torque [Nm] トルク [Nm] Radiation plate: 0*0* (mm) 放熱板 :0*0* Apply the following:ta = Nm, Tr = 0 Nm, Td = 0 Nm, Tm = Nm, ta = 0. s, tr = 0.0 s, td = 0. s. Then, the following equation is obtained: t = ( x x 0.)/ =. s Based on the result, setting the cycle time to. seconds or more to provide a longer stopped time gives Tm = Nm or less, thereby permitting continuous operation within the allowable continuous torque Continuous 連続使用領域 motion range Motion range during acceleration 加減速運転領域 and deceleration 0% duty テ ューティ領域 motion range Rotation 回転速度 speed [r/min] Operable range of SHAP The aforementioned continuous motion range represents an allowable range where the actuator installed on a specified aluminum radiation plate is operated under natural air cooling. If the radiation area of the mounting member is small or heat conduction of the material is poor, adjust the operating conditions to keep the rise in the actuator's ambient temperature to 0 K or less as a guide. -

83 Chapter Installing SHA-P actuator The following explains the installation procedures of the actuators. - Product Verification - - Notices on handling - - Location and installation -

84 - Product Verification Installing the SHA-P actuator - Product Verification Check the following items after unpacking the package. Verification steps Check the items thoroughly for damage sustained during transportation. If any item is damaged, immediately contact the dealer. Check if the actuator is what you ordered. The nameplate is found on the rear end face of SHA-P series actuator. Check the TYPE field on the nameplate to confirm that it is indeed the model you have ordered. If any item is wrong, immediately contact the dealer. Refer to the section - Model (P.-) in this manual for the detail of the model codes. Check if the servo amplifier combinations are correct. Check that this is the model combination given in this document in Chapter Section Combinations with servo amplifier and extension cables (P.-) column. Check if the input voltage being input are correct. The value of the power voltage input is shown in the servo amplifier nameplate INPUT column. If the voltage to be supplied is different from the label voltage, immediately contact the dealer it was purchased from. 0 WARNING Do not combine with an actuator other than the one given in this document. The characteristics of the servo amplifier have been adjusted according to the actuator. A wrong combination of servo amplifier and actuator may cause inadequate torque or overcurrent that may cause burn damage to the actuator, injury or fire. Do not connect a supply voltage other than the voltage specified on the servo amplifier s nameplate. Connecting a power supply not matching the input voltage specified on the nameplate may result in damage to the servo amplifier, injury or fire. -

85 - Notices on handling - Notices on handling Handle SHA-P series actuator carefully by observing the notices specified below. CAUTION () Do not apply any excessive force or impact, especially to the actuator's output shaft. () Do not put SHA-P series actuator on a table, shelf, etc., where the actuator could easily fall. () Do not connect the actuator terminals directly to the power supply. The actuator may burn and cause fire or electric shock. () The allowable storage temperature is -0 to +0. Do not expose the actuator to direct sunlight for long periods of time or store it in areas in low or high temperature. () The allowable relative storage humidity is 0% or less. Do not store the actuator in a very humid place or in areas where temperatures are likely to fluctuate greatly during day and night. () Do not use or store the actuator in locations subject to flammable or corrosive gases or dust particles. () The large sizes (SHAP, SHAP) are heavy. Handling these sizes may cause lower back pain, or injury if the actuator drops or topples and you get pinned underneath. Handle your actuator with due care by wearing safety shoes or take other proper precaution and also by using supporting jigs. Installing the SHA-P actuator Installation and transmission torque Examples of actuator assembly are shown below. Assembly examples and are for SG type, and are for CG type. Use high-tension bolts and tighten them with a torque wrench to control the tightening torque. In assembly example, use flat washers because the tightening torque is high and the actuator flange is made of aluminum. SG type assembly example Output shaft fixing parts Actuator fixing parts Output shaft fixing parts Actuator fixing parts Fixing washer 0 Assembly example Assembly example -

86 - Notices on handling CG type assembly example Output shaft fixing parts Actuator fixing parts Output shaft fixing parts Actuator fixing parts Installing the SHA-P actuator 0 Assembly example Assembly example Recommended tightening torque and transmission torque SG type Item SHA0P SHAP SHAP Model Output Output Output Actuator Actuator Actuator shaft shaft shaft Number of bolts, size -M -M -M -M -M -M Bolt installation mm 0 00 P.C.D. Tightening Nm torque Kgf m Transmission Nm torque kgf m Item SHA0P SHAP SHAP Model Output Output Output Actuator Actuator Actuator shaft shaft shaft Number of bolts, size -M -M -M0 -M -M0 -M0 Bolt installation mm P.C.D. Tightening Nm.. torque Kgf m Transmission Nm torque kgf m 0 -

87 - Notices on handling CG type Item SHA0P SHAP Model Output Output Actuator Actuator shaft shaft Number of bolts, size -M -M -M -M Bolt installation P.C.D. mm 0 0 Tightening Nm.. torque kgf m Transmission Nm 00 torque kgf m 0 Item SHAP SHA0P Model Output Output Actuator Actuator shaft shaft Number of bolts, size -M -M -M -M0 Bolt installation P.C.D. mm 0 Tightening Nm. torque kgf m.... Transmission Nm 0 torque kgf m 0 Note ) The female thread material is premised to withstand the bolt tightening torque. ) Recommended bolt: Hexagonal bolt per JIS B Intensity category: JIS B 0. or higher ) Calculation conditions Torque efficiency: 0. Tightening efficiency:. Tightening friction coefficient: 0. Precautions on installation When designing the assembly, take note that application of any abnormal or excessive force that causes deformation of the installation surface may result in performance drop. To demonstrate the excellent performance of SHA-P series actuator fully, take note of the following points: Warp and deformation on the mounting surface Blocking of foreign matter Burrs, rising and abnormal position accuracy around tapped mounting holes Insufficient chamfering of mounting faucet joint Abnormal circularity of mounting faucet joint When the installation method is as shown in assembly example on the previous page, the recessing shown to the right is recommended for the fixing part mounting faucet joint corner section. Installing the SHA-P actuator 0 [Unit: mm] -

88 - Notices on handling Installing the SHA-P actuator Use of positioning pins The SHA-P series SG type has positioning pin holes in the output rotary unit and flange fixed to the actuator. The SHA-P series CG type has positioning pin holes only in the output rotary unit. Use these pins as necessary. For details, refer to [- External dimensions] (P-) or the illustrated specifications. Positioning pin *. Do not drive positioning pins into the output rotary unit, but keep proper fitting clearances to the actuator parts. Failure to do so may result in lower positional accuracy. Surface treatments Positioning pin Output shaft fixing part * Actuator fixing parts Example of use of positioning pins Standard SHA-P series actuators are given the following surface treatments: 0 SG type Location Housing Output shaft bearing Speed reducer rotating part Output flange Hollow shaft (sleeve) Bolt CG type Location Housing Output shaft bearing Speed reducer rotating part Hollow shaft (sleeve) Bolt Surface treatments No treatment (aluminum material is exposed) Low temperature, black chrome plating Chrome plating Nickel plating or Raydent treatment Nickel plating Chrome plating Surface treatments No treatment (aluminum material is exposed) Low temperature, black chrome plating Low temperature, black chrome plating Nickel plating Chrome plating or Nickel plating The surface treatments given to SHA-P series actuators do not fully prevent rust. -

89 - Location and installation - Location and installation Installing environment The environmental conditions of the installation location for SHA-P series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. Operating temperature: 0 to 0 The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet. Plan the cabinet size, cooling system, and device locations so the ambient temperature of the actuator is kept 0 or below. Operating humidity: Relative humidity of 0 to 0%. Make sure no condensation occurs. Take note that condensation is likely to occur in a place where there is a large temperature change between day and night or when the actuator is started/stopped frequently. Vibration: Impact: Use environment: Protection class: m/s (0 to 00Hz) or less (Refer to [- Resistance to vibration] (P-).) 00 m/s or less (Refer to [- Shock resistance] (P-).) Free from condensation, metal powder, corrosive gases, water, oil mist, flammable gases, etc. Standard products are structurally designed to meet the IP- requirements. However, rotating and sliding areas (oil seal areas) and connectors of SHA0P, P, P and 0P are not IP--compliant. Also, SHAP and P connector sections are protected in fitted conditions. Locate the driver indoors or within an enclosure. Do not expose it to the sunlight. Altitude: lower than,000 m above sea level The protection class against water entry is as follows: : Protected against water splashed from all directions. The protection class against contact and entry of foreign matter is as follows: : Protected against entry of dust/dirt. Entry of water or foreign matter caused by incomplete protection must not affect the operation of the system. The oil seals in rotating and sliding areas do not fully prevent leakage of lubricant. If the actuator is used in a clean room, etc., provide additional oil leakage prevention measures. Installing the SHA-P actuator 0 -

90 - Location and installation Installing the SHA-P actuator 0 Installation The SHA-P series actuator drives mechanical load system at high accuracy. When installing the actuator, pay attention to precision and do not tap the actuator output part with a hammer, etc. The actuator houses an encoder. Excessive impact may damage the encoder. Installation procedure Align the axis of rotation of the actuator and the load mechanism precisely. Note : Perform this alignment carefully, especially when a rigid coupling is used. Even slight misalignment may cause the permissible load of the actuator to be exceeded, resulting in damage to the output shaft. Output shaft Flange Connect the servo amplifier and wiring. An extension cable is provided. Use it when wiring the servo amplifier. For details on wiring, refer to [- Cable specifications] (P-) and the manual of your MINAS A servo amplifier. Wire the motor cable and encoder cable. Do not pull the cables with a strong force. The connection points may be damaged. Install the cable with slack not to apply tension to the actuator. Provide a sufficient bending radius (at least times the cable diameter), especially when the cable flexes. Do not bring strong magnetic bodies (magnet chucks, permanent magnets, etc.) near the rear cover of the actuator. Encoder abnormality may result. This encoder retains absolute positions by means of the servo amplifier's battery or its own built-in capacitor when the power is switched OFF. If the encoder cable is disconnected for maintenance, etc., turn on the servo amplifier power and charge the backup capacitor first. After hours of charge, the encoder cable can be disconnected for 0 minutes, provided that the axis is stopped and ambient temperature is. However, when the backup capacitor is deteriorated, the absolute positions may not be retained. WARNING Do not disassemble/reassemble the actuator. The actuator uses many precision parts. If the actuator is disassembled/reassembled by the customer, it may cause burned damage or uncontrollable operation of the actuator, resulting in fire or injury. -

91 Chapter Options This chapter explains the options available for SHA-P series actuator. - Options -

92 - Options Options - Options With near origin and end limit sensors (option code: L) Revolution sensors are directly connected to the output shaft on the counter-output side of the actuator. Use this option if the mechanical origin is needed (when the virtual origin of the absolute encoder does not do the job) or you want to define an operation range as a safety measure. This option is not available with SHA0P. Cable taken out from side face (option code: Y) The cables (motor and encoder wires) are taken out from the side face of the actuator. Use this option if the actuator is housed in a system and there is not enough space at the rear of the housing. This option is not available with the SHA0P (SG type), SHAP and SHAP. For details on cable taken out from side face, contact our sales office. 0 With stand (CG type, option code: V) The model with an optional stand is available for purchase to use the CG type for table drive. In this case, the cable is taken out from the side of the actuator (option code: Y). The models with near home & end limit sensors (option code: L) are not supported. -

93 - Options Outline drawing of the actuator with an optional stand Options Nameplate 0 -

94 - Options Options 0 Dimensions and installation specifications of the actuator with an optional stand Item Unit SHA0P SHAP SHAP SHA0P a mm φ h 0/-0.00 φ h 0/-0.0 φ0 h 0/-0.0 φ h 0/-0.00 b mm φ φ0 φ φ c mm φ φ φ0 φ d mm φ h 0/-0.00 φ0 h 0/-0.0 φ0 h 0/-0.0 φ h 0/-0.0 e mm ±0..±0. ±0. 0±0. f mm 0 g mm. 0 h mm 0 i mm -φ. counterbore φ depth -φ counterbore φ depth -φ counterbore φ depth -φ counterbore φ depth j mm φ φ0 φ φ k - -M -M -M 0 -M m mm φ0 φ φ φ n mm o Note) mm p Note) mm φ0.00 φ0.00 φ0.00 φ0.00 r 0. 0 s mm φ0 φ φ φ0 t mm -M depth -M depth -M depth -M depth Mass Note) kg.(.).(.).(.) 0() Note ) Section i Bolts used - -M -M -M0 -M Section i Recommended tightening torque Nm 0 Note ) All values are T.I.R. (Total Indicator Reading). ) The values in parentheses are for models with a brake. ) For detailed dimensions and specifications of the actuator, refer to the illustrated specifications. ) Cast aluminum is used for the material of the stand. No surface treatment has been applied. ) Use flat washers when installing the product. -

95 - Options Extension cables These extension cables are used to connect SHA-P series actuators and MINAS A servo amplifiers. Two types of extension cables are available for motor (including brake wire) and absolute encoder. You must use an extension cable to connect your SHA-P series actuator and MINAS A servo amplifier. For details on encoder extension cables, contact Panasonic Corporation. Motor extension cable: Actuator size Nos 0,,, 0 EWD-MB**-A0-TN-P Cable length (0 = m, 0 = m, 0 = 0m, 0 = 0m) (** in the model code indicates the cable length (0 = m, 0 = m, 0 = 0m, 0 = 0m).) Cable length Options Actuator size No., EWD-MB**-D0-TMC-P [Actuator side] Cable length (0 = m, 0 = m, 0 = 0m, 0 = 0m) Cable length (Unit: mm) (Unit:mm) [Driver side] 0 (Unit:mm) -

96 - Options Options 0 -

97 Chapter Appendix A- Unit conversion A- A- Calculating inertia moment A-

98 A- Unit conversion Apx Appendix 0 A- Unit conversion This manual employs SI system for units. Conversion factors between the SI system and other systems are as follows: ()Length SI system m Unit ft. in. Factor Unit ft. in. Factor.. SI system m ()Linear speed SI system m/s Unit m/min ft./min ft./s in/s Factor 0.0.0x Unit m/min ft./min ft./s in/s Factor 0... SI system m/s ()Linear acceleration SI system m/s Unit m/min ft./min ft./s in/s Factor. x0 -.x Unit m/min ft./min ft./s in/s Factor 00.x0.. SI system m/s ()Force SI system N Unit kgf lb (force) oz (force) Factor.. 0. Unit kgf lb (force) oz (force) Factor SI system N ()Mass SI system kg Unit lb. oz. Factor Unit lb. oz. Factor.0. SI system kg ()Angle SI system rad Unit deg. min. sec. Factor 0.0.x0 -.x0 - Unit deg. min. sec. Factor..x0.0x0 SI system rad ()Angular speed SI system rad/s Unit deg/s deg/min r/s r/min Factor 0.0.x Unit deg/s deg/min r/s r/min Factor..x0 0.. SI system rad/s A-

99 A- Unit conversion ()Angular acceleration SI system rad/s Unit deg/s deg/min Factor 0.0.x0 - Unit deg/s deg/min Factor..x0 SI system rad/s ()Torque SI system N m Unit kgf m lb ft lb in oz in Factor x0 - Unit kgf m lb ft lb in oz in Factor SI system N m (0)Inertia moment SI system kg m Unit kgf m s kgf cm s lb ft lb ft s lb in lb in s oz in oz in s Factor x0..x0. Unit kgf m s kgf cm s lb ft lb ft s lb in lb in s oz in oz in s Factor x0-0..x0 -.0x0 - SI system kg m ()Torsional spring constant, moment stiffness SI system N m/rad Unit kgf m/rad kgf m/arc min kgf m/ deg lb ft/ deg lb in/ deg Factor 0.0. x0 -.x Unit kgf m/rad kgf m/arc min kgf m/ deg lb ft/ deg lb in/ deg Factor.. x0.. SI system N m/rad Apx Appendix 0 A-

100 A- Calculating inertia moment Apx Appendix 0 A- Calculating inertia moment Formula of mass and inertia moment () Both centerlines of rotation and gravity are the same: The following table includes formulas to calculate mass and inertia moment. m : mass (kg), Ix, Iy, Iz: inertia moments which rotates around x-, y-, z-axes respectively (kg m ) G : distance from end face of gravity center (m) ρ : specific gravity Unit Length: m, Mass: kg, Inertia moment: kg m Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Cylinder x R z L Slanted cylinder Ellipsoidal cylinder x B z L Rectangular pillar x θ B L z A R y y C C y m = π R L ρ Ix = mr Iy = Iz = m m m = π R L ρ Iθ = m L R + L R + { R ( + cos θ) + L sin θ} ( C ) Ix = m B + C L Iy = m + B L Iz = m + m = ABCρ ( C ) Ix = m B + ( A ) Iy = m C + ( B ) Iz = m A + Circular pipe z x Ball R R Cone L R: Outer diameter R: Inner diameter x R G z Square pipe D x B z A R L y y y m = π Iy = m ( R R ) Lρ ( ) Ix = m R + R Iz = m m = πr I = mr m = π R Ix = mr 0 ( R + R ) ( R + R ) Lρ ( L ) Iy = m R + 0 ( L ) Iz = m R + 0 L G = ρ m = AD( B - D)ρ {( B - D) D } L + L + Ix = m + A Iy = m + ( B- D) + D A Iz = m + ( B- D) + D A-

101 A- Calculating inertia moment Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar x Isosceles triangle pillar z x G B B z A A Hexagonal pillar Right triangle pillar Example of specific gravity The following tables show references of specific gravity. Confirm the specific gravity for the material of the drive load. Material C y C y m = ABCρ Ix = m B + Iy = m C + m = ABCρ = B Ix m Iy = Iz = C G = ( C ) ( A ) ( A ) Iz = m B + + C m A + C B m A + Specific gravity Material Specific gravity Material Specific gravity SUS0. Aluminum.0 Epoxy resin.0 SC. Duralumin.0 ABS.0 SS00. Silicon.0 Silicon resin.0 Cast iron. Quartz glass.0 Polyurethane rubber. Copper. Teflon.0 Brass.0 Fluorocarbon resin.0 () Both centerlines of rotation and gravity are not the same: The following formula calculates the inertia moment when the rotary center is different from the gravity center. x B x G B G z z A A C y B y m = AB ρ Ix = mb Iy = m A + B Iz = m = ABCρ Ix = m( B + C ) Iy = m A + C Iz = m A + B C G = m A + B B G = Apx Appendix 0 I = Ig + mf I: Inertia moment when the gravity center axis does not match the rotational axis (kg m ) I g : Inertia moment when the gravity center axis matches the rotational axis (kg m ) Calculate according to the shape by using formula (). m: mass (kg) F: Distance between rotary center and gravity center (m) Rotary center F Gravity center () Inertia moment of linear operation objects The inertia moment, converted to actuator axis, of a linear motion object driven by a screw, etc., is calculated using the formula below. P I = m π I: Inertia moment of a linear operation object converted to actuator axis (kg m ) m: mass (kg) P: Linear travel per actuator one revolution (m/rev) A-

102 A- Calculating inertia moment Inertia moment of cylinder The inertia moment of a cylinder may be obtained from the graphs to the right. Inertia moment (kgm ) 000 Inertia moment (specific gravity:.) Length (mm) 000 Apx Appendix 0 Length Radius Apply the top graph to aluminum materials (specific gravity:.) and bottom graph to steel materials (specific gravity:.). (Example) Material: Aluminum Outer diameter: 00mm Length: mm Shape: Column Since the outer diameter is 00mm, the radius is 0mm. Therefore, the above graph gives the inertia moment as follows: Approx.. x 0 - kg m (Calculated value: kg m ) Radius R (mm) Inertia moment (kgm ) Length (mm) 000 Inertia moment (specific gravity:.) Radius R (mm) A-

103 A- Calculating inertia moment Apx Appendix 0 A-

104 Index A Absolute encoder... - Acceleration time... - Allowable load inertia moment... - Average rotation speed... - C Cable specifications... - Cable taken out from side... - Conformance to overseas standards... D Deceleration time... - Detector specifications... - E Effective torque... - Encoder cable specifications... - Environmental conditions... - Examining actuator rotation speed Examining operating status Extension cable... - External dimensions... - I Inertia moment... A- Inertia moment of a cylinder... A- Installation... -, -, - Installation location... - L Life... - Load inertia moment... -, -0 Load torque... - Load weight... - M Maximum load moment load... - Mechanical accuracy... - Model... - Moment stiffness Motor cable specifications... - Motor shaft holding brake... - N Notices on handling... - O Operable range... - Option P Positional accuracy... - Positioning pins... - Precautions on installation... - R Receiving inspection... - Related manual... Repeatability (CG type)... - Resistance to vibration... - Reverse Uni-directional positional accuracy (CG type)... - Rigidity Rotation direction... - S SHA-P series selection... - Shock resistance... - Specifications... - Static safety coefficient... - Surface treatment... - T Torsional rigidity... - Transmission torque... - U Uni-directional positional accuracy... - Unit... A- W With near origin and end limit sensors... - With stand (CG type, option codev)... -

105 Warranty Period and Terms The equipment listed in this document is warranted as follows: Warranty period Under the condition that the actuator are handled, used and maintained properly followed each item of the documents and the manuals, all the applicable products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or,000 hours of operation time. Warranty terms All the applicable 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: () user's misapplication, improper installation, inadequate maintenance, or misuse. () disassembling, modification or repair by others than Harmonic Drive Systems, Inc. () imperfection caused by a non-applicable product. () 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.

106 Certified to ISO00/ISO00 (TÜV Management Service GmbH) All specifications and dimensions in this manual subject to change without notice. This manual is correct as of September 0. Head Office/Ichigo Omori Building, F -- Minami-Ohi, Shinagawa-ku, Tokyo, Japan 0-00 TEL+(0)--00 FAX+(0)-- Overseas Division/- Hotakamaki Azumino-shi Nagano, Japan -0 TEL+(0)-- FAX+(0)--0 HOTAKA Plant/- Hotakamaki Azumino-shi Nagano, Japan -0 TEL+(0)--00 FAX+(0)--0 Harmonic Drive AG/Hoenbergstraβe, Limburg, Germany TEL FAX0-00- Harmonic Drive L.L.C/ Lynnfield Street, Peabody, MA, 00, U.S.A. TEL FAX "HarmonicDrive " is a registered trademark of Harmonic Drive Systems, Inc. "HarmonicDrive " represents the academic concept generally referred to as wave motion gearing. 0-R-TSHAP-E