AC Servo Actuator SHA SG and CG series manual

Transcription

1 AC Servo Actuator SHA SG and CG series manual ISO00 (Hotaka plant) ISO00

2 Introduction Introduction Thank you for purchasing our SHA series AC Servo Actuator. Improper handling or use of this product may result in an accident or reduced life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years to come. Product specifications are subject to change without notice. Keep this manual in a convenient location and refer to it as necessary when operating or maintaining the actuator. 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 manual carefully. It is important to 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 intended application, 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 PRECAUTIONS FOR ACTUATORS AT THE APPLICATION DESIGN PHASE 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 No contamination by water, oil No corrosive or explosive gas Follow the exact instructions in the related manuals to install the actuator in the equipment. Ensure precise alignment of the actuator shaft center and the corresponding center in the application. Failure to observe this caution may lead to vibration, resulting in damage of output elements. PRECAUTIONS FOR ACTUATORS IN OPERATION WARNING Comply with the toque limits for the actuator. Be aware, that if by accident, the arm attached to the output element hits a solid object, the output element may become uncontrollable. Never connect cables directly to a power supply socket. Each actuator must be operated with a proper driver. 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 DRIVER CAUTIONS RELATED TO THE DESIGN CAUTION Always use drivers under followings conditions. The driver generates heat. Use under the following conditions while paying careful attention to the heat radiation. Mount in a vertical position keeping sufficient clearance. 0 to 0, %RH or below (No condensation) No vibration or physical shock No dust, dirt, corrosive or inflammable gas Use sufficient noise suppressing means and safe grounding. Any noise generated on a signal wire will cause vibration or improper motion. Conform to the following conditions. Keep signal and power leads separated. Keep leads as short as possible. Ground actuator and driver at one single point, minimum ground resistance class: D (less than 00 ohms) Do not use a power line filter in the motor circuit. Pay attention to negative torque by inverse load. Inverse load may cause damages of drivers. Please consult our sales office, if you intent to apply products for inverse load. Use a fast-response type ground-fault detector designed for PWM inverters. Do not use a time-delay-type ground-fault detector. Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to malfunction or faulty operation. CAUTIONS FOR USAGE WARNING Never change wiring while power is active. Make sure of power non-active before servicing the products. Failure to observe this caution may result in electric shock or personal injury. Do not touch terminals or inspect products at least minutes after turning OFF power. Otherwise residual electric charges may result in electric shock. Make installation of products not easy to touch their inner electric components.

6 SAFETY GUIDE CAUTION Do not make a voltage resistance test. Failure to observe this caution may result in damage of the control unit. Please consult our sales office, if you intent to use a voltage resistance test. Do not operate control units by means of power ON/OFF switching. Start/stop operation should be performed via input signals. Failure to observe this caution may result in deterioration of electronic parts. DISPOSAL CAUTION All products or parts should be disposed of as industrial waste. Since the case or the box of drivers have a material indication, classify parts and dispose them separately.

7 Contents SAFETY GUIDE... NOTATION... LIMITATION OF APPLICATIONS... SAFETY NOTE... Contents... Overview - Overview... - Model Drivers and extension cables... - Specifications... - Motor shaft brake... - External dimensions... - Mechanical accuracy... - Positional accuracy... 0 One-way positional accuracy... 0 Repeatability (CG)... Bi-directional repeatability (CG)... - Encoder specifications (Absolute encoder) Output Stiffness... Moment stiffness... Torsional Stiffness... Torsional Stiffness (Ratio : HPF)... - Direction of rotation... - Shock resistance... - Vibration resistance Operable range... - Cable specifications... Motor cable specifications... Encoder cable specifications... Selection guidelines - SHA series selection... 0 Allowable load moment of inertia Change in load moment of inertia... - Verifying and examining load weights... Maximum load moment load...

8 - Overview Verifying life... Verifying static safety coefficients... - Examining operating conditions... 0 Calculate the actuator rotation speed... 0 Calculating and examining load moment of inertia... 0 Load torque calculation... Acceleration and deceleration time... Examining effective torque and average rotation speed... Installing the SHA actuator - Receiving Inspection... Inspection procedure... - Notices on handling... Installation and transmission torque... Precautions on installation... Use of positioning pins... 0 Surface treatments Location and installation... Operating Environment... Installation... Options - Options... Origin and end limit sensors (option code: L)... Option for side exit cables (option code: Y)... Output shaft single revolution absolute model (option code: S)... Stand (CG only)... Extension cables... Appendix - Unit conversion Calculating moment of inertia... 0 Formula for moment of inertia and mass... 0 Moment of inertia of a cylinder... 0 Index

9 - Overview Torque トルク [Nm] Overview of the SHA series Radiation 放熱板 plate: :0*0* 0*0* Motion range during acceleration 加減速運転領域 and deceleration 0% テ ューティ領域 duty range Allowable continuous torque Continuous motion 連続使用領域 range A Rotation 回転速度 speed [r/min] [rpm] 0

10 - Overview. SG/HP type Model SHA0A 0 Item () Output at point A W () Voltage at point A V () Allowable continuous current A () Speed at point A rpm 0 () Frequency at point A Hz 0 0 () Allowable range temperature 0 () Number of phase - Model SHAA Item (Motor input voltage 00V) SHAA (Motor input voltage 00V) 0 0 () Output at point A W () Voltage at point A V 0 0 () Allowable continuous A current () Speed at point A rpm. () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - Model SHAA SHA0A Item 0 0 () Output at point A W () Voltage at point A V 0 0 () Allowable continuous A current () Speed at point A rpm () Frequency at point A Hz 0 () Allowable range temperature 0 () Number of phase - Model SHAA SHAA Item 0 0 () Output at point A W 0 () Voltage at point A V () Allowable continuous A current () Speed at point A rpm () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - 0

11 - Overview 0 CG type Model SHA0A Item () Output at point A W () Voltage at point A V () Allowable continuous current A () Speed at point A rpm. () Frequency at point A Hz 00 0 () Allowable range temperature 0 () Number of phase - Model SHAA(Motor input voltage SHAA((Motor input Item 00V) voltage 00V) () Output at point A W 0 0 () Voltage at point A V () Allowable continuous A current () Speed at point A rpm () Frequency at point A Hz () Allowable range temperature 0 () Number of phase - Model SHAA SHA0A Item () Output at point A W 0 () Voltage at point A V 0 0 () Allowable continuous current A () Speed at point A rpm () Frequency at point A Hz () Allowable range temperature 0 () Number of phase -

12 - Overview Chapter Overview This chapter explains the features, functions and specifications of the actuator. - Overview - Model - Drivers and extension cables - Specifications - Motor shaft brake - External dimensions - Mechanical accuracy - Positional accuracy 0 - Encoder specifications (Absolute encoder) -0 Output Stiffness - Direction of rotation - Shock resistance - Vibration resistance 0 - Operable range - Cable specifications 0 0

13 - Overview 0 - Overview The SHA series of AC Servo Actuators provide high torque and high accuracy rotary motion. These AC Servo Actuators are each composed of a Harmonic Drive speed reducer for precise control and a flat, high performance AC servo motor with an integral absolute multi-turn encoder. The SHA series AC Servo Actuators all feature a large hollow shaft through the axis of rotation. There are types of speed reducers: SG with SHG series incorporated, HP with HPF series incorporated, and CG with the CSG series incorporated. They are an advanced version of current FHA series AC Servo Actuators having a flat, hollow structure. One key feature of the SHA actuators is their compact size. The outside diameter has been minimized, providing a maximum torque/volume ratio which is approximately double that of conventional FHA actuators. A through hole is provided in the center of the actuator, through which wiring, air lines, laser beams or concentric shafts may be passed. The HA-00 series driver is a dedicated family of servo drive units for position/speed control, developed exclusively for driving SHA series actuators. The small, multi-functional drivers control the SHA series actuators' operations with great accuracy and precision. Additionally, the REL driver series may be used, which provides interface to many network field buses. Improved Torque Density High-torque SHG series Harmonic Drive speed reducers are incorporated into the actuator for precise control and the outer diameter of the actuator has been reduced by 0% compared to our FHA series. As a result, the maximum torque/volume ratio has approximately doubled compared to our previous actuator designs. Based on maximum torque, you can select a model which is one size smaller. Also, the output torque is approximately 0 times higher than direct drive motors of similar volume/weight. This is another reason why the SHA series has an outstanding performance advantage. Expanded product lineup models are available for SG, accommodating high torque up to,00 Nm. The SHA line also includes models with reduction ratios of to. CG series has frame sizes available with reduction ratios of 0: to 0:. Modular design The components of the SHA series, such as speed reducers, output shaft bearing, motor, brake and encoder, are arranged based on a modular design. We can also custom-design a model to meet your specific requirements. Please contact your HDLLC sales representative for details. Standard -bit magnetic absolute encoder The newly developed AC servo motors are equipped with our original, highly reliable -bit magnetic* absolute encoder with safety functions. The serial communication reduces wiring and provides not only a multi-turn encoder, which is a must-have feature on actuators with speed reducers, but it also has an internal backup battery to retain absolute positions even when the encoder cable is disconnected for short periods of time. The encoder circuitry also constantly compares two separate sets of encoder signals. If any abnormality is detected, the encoder's built-in failsafe function outputs an alarm signal to the host system. *SHA 0 comes with an optical encoder. Support for network controls By using a dedicated HA-00 series driver, you can control your actuator on a MECHATROLINK-II or CC-Link network. The REL series drivers support EtherCat, CanOpen, and DeviceNet. For high speeds Also supports high speeds in combination with the HPF hollow shaft planetary speed reducer.

14 - Model - Model Model numbers for the SHA series actuators and how to interpret them are explained below. Examples of standard models: SHA A 0 SG - B A 00-0 Sb A - C L - SP () () () () () - () () () () - (0) () () - () () - () () Model: SHA series actuator () Size: SG: 0,,, 0,, CG: 0,,, 0 HP:, () Version: A: Standard, Y: Yaskawa compatible, M: Mitsubishi compatible, P: Panasonic compatible () Reduction ratio (R:) Reduction ratio is for the HPF hollow shaft planetary (Size, ) Reduction ratios 0 and higher are for the HarmonicDrive gears HPF SHG CSG : () Gearhead HP SG CG () Motor version symbol A : 0 0: : 0 0: 0 0: 00 00: : 0 0: : 0 0: HPF hollow shaft planetary HarmonicDrive SHG series HarmonicDrive CSG series Size:, (SG only) B Size:,, 0 C Size: 0 () Motor size () Brake 0 Size: 0 0 Size: Size: Size: 0 Size:, (SG only) A B Without brake With brake () Motor input voltage 00 00V (Size only) 00 00V LV V DC to 0V DC (Size 0,,) (0) Encoder format Conforming to A format, transmission rate:. 0 Mbps, -on- connection 00 Incremental Encoder Panasonic Format Biss-C Format (Available in Size ) Mitsubishi Format Yaskawa Format () Encoder type, resolution Sb -bit absolute encoder,,0 pulses/revolution D0 D0: Incremental encoder (size,, and 0) () Encoder phase angle: Phase difference between induced voltage in motor phase U and absolute origin A B 0 degree 0 Dgree () Connector specification With standard connector C (for extension cables) N () Option symbol L Y V With Pigtails With near origin and end limit sensors Side exiting cable With mounting stand (CG only) Output shaft single revolution absolute S model (CG only) (Please contact us for option-compatible models.) () Special specification Blank Standard product SP Special specification code 0

15 - Drivers and extension cables - Drivers and extension cables The proper combination of SHA actuators, drivers, and extension cables are as follows: REL Servo Drive REL-0- REL-0- HA-00 Standard I/O command type HA-00 MECHATROLINK HA-00 CC-Link Extension cables (option) Motor cable SHA0A SHAA SHAA SHA0A SHAA SHAA HA-00A- D/E -00 HA-00B- D/E -00 HA-00C- D/E -00 HA-00A- D/E-00 (HA-00A- D/E -00) HA-00B- D/E -00 (HA-00B- D/E -00) HA-00C- D/E -00 (HA-00C- D/E -00) EWD-MB**-A0-TN (Driver side connector supplied separately) REL0- REL 0-0 HA-00A- D/E -00 HA-00B- D/E -00 HA-00C- D/E -00 HA-00A- D/E - 00 or HA-00A-D/E - 00 HA-00B-D/E - 00 or HA-00B-D/E - 00 HA-00C-D/E - 00 or HA-00C-D/E - 00 HA-00 -D/E: EWD-MB**-A0- TN HA-00 -D/E: EWD-MB**-A0- TMC HA-00A- D/E -00 HA-00B- D/E -00 HA-00C- D/E -00 Encoder EWD-S**-A0-M cable ** in the extension cable model indicates the cable length: 0 = m, 0 = m, 0 = 0m The models shown in parenthesis are those with 00V motor input voltage combinations. HA-00A- D/E - 00 HA-00B- D/E - 00 HA-00C- D/E - 00 EWD-MB**-D0-TMC EWD-S**-D0-M 0

16 - Specifications - Specifications SG type Model SHA0A Item 0 Servo Drive REL-0- HA-00 -D/E-00 Max. torque * Nm 0 0 kgf m Allowable continuous Nm torque ** kgf m..... Max. rotational speed * rpm..... Torque constant * Nm/A. 0 kgf m/a..... Max. current * A Allowable continuous current ** A EMF constant * V/(rpm) 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. One-way positional accuracy Sec Encoder type Absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output 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. *: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *: 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 [- Vibration resistance ] (P0). 0

17 - Specifications 0 SG/HP type Item Servo Drive Max. torque * Allowable continuous torque ** Max. rotational speed * Model SHAA (Motor input voltage 00V) SHAA (Motor input voltage 00V) 0 0 REL-0- REL-0- REL-0- HA-00 -D/E-00 HA-00 -D/E-00 Nm 0 0 kgf m Nm.0 kgf m rpm Torque constant * Nm/A... kgf m/a Max. current * A Allowable continuous current ** A EMF constant * V/(rpm) Phase resistance (0 ) Ω 0.. Phase inductance mh.0 GD / kg m Inertia moment (without brake) kgf cm J Inertia moment (with brake) s GD / kg m J kgf cm. 0.. s Reduction ratio : : :0 : : : : : :0 : : Permissible Nm 0 moment load kgf m... Nm/rad. x 0. x 0. x 0 Moment stiffness kgf m/arc... min One-way positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output resolution Pulse/rev,, 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,0,,,,, 0,, 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. *: When combined with a HA-00 driver. *: 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 [- Vibration resistance ] (P0).,,,,,0,

18 - Specifications SG/HP type Item Servo Drive Max. torque * Allowable continuous torque ** Max. rotational speed * Model SHAA 0 REL-0-, REL-0- HA-00 -D/E-00 Nm kgf m Nm 0 kgf m r/min Torque constant * Nm/A. 0 kgf m/a Max. current * A..... Allowable continuous current ** A EMF constant * V/(r/min) Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia GD / kg m moment kgf (without J brake) cm s 0. 0 Inertia moment (with brake) GD / kg m J kgf cm s. 0 Reduction ratio : : : :0 : : Permissible Nm 0 moment load kgf m. Nm/rad. x 0 00 x 0 Moment stiffness kgf m/arc min.. One-way positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution (,0) Encoder resolution Motor multi revolution counter (,) Output resolution Pulse/rev,,,, 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. *: When combined with a HA-00 driver. *: 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] (P) and [- Vibration resistance ] (P0). 0

19 - Specifications 0 SG type Item Model SHA0A 0 0 Servo Drive HA-00 -D/E-00 * Max. torque * Allowable continuous torque ** Max. rotational speed * REL-0-, REL-0-0 HA-00 -D/E-00 Nm kgf m Nm 0 0 kgf m r/min Torque constant * Nm/A kgf m/a Max. current * A Allowable continuous current ** A EMF constant * V/(r/min) Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia GD / kg m moment (without kgf cm J brake) s Inertia GD / kg m.. moment kgf cm (with brake) J s 0 0 Reduction ratio : : :0 : : : : :0 : : Permissible Nm moment load kgf m. Nm/rad x 0 Moment stiffness kgf m/arc min. One-way positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output resolution Pulse/rev,, 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. *: If a HA-00 -D/E driver is combined with a SHA0A actuator, the maximum torque and allowable continuous torque are limited. *: When combined with HA-00 driver. *: 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] (P) and [- Vibration resistance ] (P0).,0,

20 - Specifications SG type Model SHAA SHAA Item 0 0 Servo Drive HA-00 -D/E-00 HA-00 -D/E-00 Max. torque * Nm kgf m 0 Allowable Nm 0 continuous torque ** kgf m Max. rotational speed * rpm Torque constant * Nm/A 0 0 kgf m/a Max. current * A 0 Allowable continuous A current ** EMF constant * V/(rpm) Phase resistance (0 ) Ω Phase inductance mh Inertia GD / kg m 0 moment kgf (without J brake) cm s Inertia moment (with brake) GD / kg m J kgf cm s Reduction ratio : :0 : : : :0 : : Permissible Nm 0 0 moment load kgf m 0 Nm/rad x 0 x 0 Moment stiffness kgf m/arc 0 min One-way positional accuracy Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Output resolution 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 Mounting direction Protection structure Insulation resistance: 00MΩ or more (by DC00V insulation tester) Dielectric strength: AC,00V/ min Insulation class: A Can be installed in any direction. Totally enclosed self-cooled type (IP) 0 The table shows typical output values of actuators. *: When combined with HA-00 driver. *: 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] (P) and [- Vibration resistance ] (P0).

21 - Specifications 0 CG type Actuator Model SHA0A Item Servo Drive REL-0- HA-00 -D/E-00 Max. torque * Nm 0 0 kgf m Allowable Nm continuous torque ** kgf m..... Max. rotational speed * r/min Torque constant * Nm/A kgf m/a Max. current * A Allowable continuous current ** A EMF constant * V/(rpm)..... Phase resistance (0 ) Ω. Phase inductance mh. Inertia GD / kg m moment (without J kgf cm s...0 brake) Inertia GD / kg m moment (with brake) J kgf cm s... Reduction ratio :0 :0 :00 :0 :0 Permissible moment Nm load kgf m. Nm/rad. 0 Moment stiffness kgf m/arc min. One-way positional accuracy Sec Repeatability Sec ± Bi-directional repeatability Sec Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output resolution Pulse/rev,,00 0,,0,000,,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. *: Typical characteristics when combined with our HA-00 driver. *: 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 [- Vibration resistance ] (P0).

22 - Specifications CG type Model SHAA(Motor input voltage 00V) SHAA(Motor input voltage 00V) Item REL-0- REL-0- Servo Drive REL-0- HA-00 -D/E-00 * REL-0- HA-00 -D/E-00 Max. torque * Nm 0 0 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 EMF constant * V/(rpm) Phase resistance (0 ) Ω 0.. Phase inductance mh.0.0 Inertia GD / kg m moment (without kgf cm J brake) s Inertia GD / kg m moment kgf cm (with brake) J s.. Reduction ratio mh 0: 0: 0: :0 0: 0: 0: 0: :0 0: Permissible moment load Nm kgf m. Nm/rad. 0 Moment stiffness kgf m/arc min. One-way positional accuracy Sec Repeatability Sec ± Bi-directional positional accuracy Sec 0 0 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output resolution Pulse/rev,, 00 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,0, 00,, 0 0,, 0,, 00 0,, 0,0, 00,, 0 0,, 0 0 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. *: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *: 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 [- Vibration resistance ] (P0). 0

23 - Specifications 0 CG type Item Model Servo Drive SHAA REL-0- REL-0- HA-00 -D/E-00 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 EMF constant * V/(rpm)..... Phase resistance(0 ) Ω 0. Max. current * mh. GD / kg m.... Inertia moment (without brake) Inertia moment (with brake) J kgf cm s GD / kg m J kgf cm s 0 0 Reduction ratio 0: 0: 00: 0: 0: Permissible moment load Nm 0 kgf m. Nm/rad 00 0 Moment stiffness kgf m/arc. min One-way positional accuracy Sec Repeatability Sec ± Bi-directional repeatability Sec 0 Encoder type Magnetic absolute encoder Single motor revolution Encoder resolution (,0) Motor multi revolution counter (,) Output resolution 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. *: Typical characteristics when used with HA-00. *: 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] (P) and [- Vibration resistance ] (P0).

24 - Specifications CG type Model SHA0A Item Combined driver HA-00 -D/E-00 * REL-0-, REL-0-0 HA-00 -D/E-00 Max. torque * Nm 0 0 kgf m Allowable continuous Nm 0 torque ** kgf m Max. rotational speed * rpm Torque constant * Nm/A kgf m/a Max. current * A..... Allowable continuous current ** A EMF constant V/(rpm) Phase resistance (0 ) Ω 0. Phase inductance mh. Inertia GD / kg m.. moment (without kgf cm J brake) s 0 0 Inertia GD / kg m.. moment kgf cm (with brake) J s Reduction ratio 0: 0: 00: 0: 0: 0: 0: 00: 0: 0: Permissible moment Nm load kgf m. Nm/rad 0 Moment stiffness kgf m/arc. min One-way positional accuracy Sec Repeatability Sec ± Bi-directional repeatability Sec Encoder type Magnetic absolute encoder Single motor revolution (,0) Encoder resolution Motor multi revolution count Output resolution Pulse/rev,, 00 0,, 0,0, 00,, 0 (,) 0,, 0 Mass (without brake) kg.0 Mass (with brake) kg.,, 00 0,, 0,0, 00,, 0 0,, 0 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. *: If a HA-00 -D/E driver is combined with a SHA0A actuator, the maximum torque and allowable continuous torque are limited. *: Typical characteristics when combined (driven by ideal sine wave) with our drivers. *: 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] (P) and [- Vibration resistance ] (P0).

25 - Motor shaft brake 0 - Motor shaft brake The brake is used to hold the motor shaft in place when the power is turned off. With smaller sizes (SHAA, A), 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 for the brake actuation (release). Specifications SG/HP type Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Holding torque * Inertia moment * (Actuator total) (with brake) Model SHA0A 0 Dry non-excitation actuation type (without powersaving control) V DCV ± 0% (no polarity) * A 0. A Same as current consumption during suction Nm kgf m (GD /) kg m (J) kgf cm s Mass (with brake) * kg. Allowable number of normal stops * Allowable number of emergency stops * Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Holding torque * Inertia moment * (Actuator total) (with brake) Model 00,000 times 00 times SHAA SHAA 0 0 Dry non-excitation actuation type (with power-saving control) V DCV ± 0% (no polarity) * A 0. * 0. * A Nm kgf m (GD /) kg m (J) kgf cm s Mass (with brake) * kg.... Allowable number of normal stops * Allowable number of emergency stops * 00,000 times 00 times

26 - Motor shaft brake Model SHA0A SHAA Item 0 0 Type Dry non-excitation actuation type (without power-saving control) Brake excitation voltage V DCV ± 0% (no polarity) * Current consumption during suction (at 0 ) A Current consumption during holding (at 0 ) A Same as current consumption during suction Holding torque * Nm kgf m (GD /) Inertia moment * kg m. 0 0 (Actuator total) (With brake) (J) kgf cm s Mass (with brake) * kg 0. Allowable number of normal stops * 00,000 times Allowable number of emergency stops * 00 times Model SHAA Item 0 Type Dry non-excitation actuation type (without power-saving control) Brake excitation voltage V DCV±0% (no polarity) * Current consumption during suction (at 0 ) A 0. Current consumption Same as current consumption during A during holding (at 0 ) suction Holding torque * Nm kgf m (GD /) Inertia moment * kg m 0 (Actuator total) (With brake) (J) kgf cm s Mass (with brake) * kg 0 Allowable number of normal stops * 00,000 times Allowable number of emergency stops * 00 times CG type Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Holding torque * Inertia moment * (Actuator total) (With brake) Model SHA0A SHAA Dry non-excitation actuation type (without powersaving Dry non-excitation actuation type (with power- control) saving control) V DCV±0%(no polarity) * A * A Same as current consumption during suction 0. Nm kgf m (GD /) kg m (J) kgf cm s Mass (with brake) * kg.. Allowable number of normal stops * Allowable number of emergency stops * 00,000 times 00 times 0

27 - Motor shaft brake Item Type Brake excitation voltage Current consumption during suction (at 0 ) Current consumption during holding (at 0 ) Holding torque * Inertia moment * (Actuator total) (With brake) Model SHAA SHA0A Dry non-excitation actuation type (with powersaving Dry non-excitation actuation type (without control) power-saving control) V DCV±0%(no polarity) * A 0. * 0. A 0. Same as current consumption during suction Nm kgf m (GD /) kg m (J) kgf cm s Mass (with brake) * kg.0. Allowable number of normal stops * Allowable number of emergency stops * 00,000 times 00 times *: 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 rpm or less. *: The service time for emergency stop is assured when the brake activates at motor speed of,000 rpm or less provided the load inertia moment is times of less than that of the actuator. 0 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 rpm or less) or allowable number of emergency stops (00 times with the motor shaft rotation speed of,000 rpm, provided the load inertia moment is times or less than that of the actuator). Exceeding the allowable number of normal stops or allowable number of emergency stops may deteriorate holding torque, and may consequently fail to properly serve as a brake.

28 - External dimensions - External dimensions SHA0A-SG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm 0

29 - External dimensions SHA0A-CG Unit: mm 0 Motor connector Jacking holes LipC0. chamfering Housing Pin contact (Motor Pin contact (Motor Encoder connector Housing Tab contact Encoder cable AWG x sets with shield Cable outer diameter Motor cable -core Output rotary unit or less Cable outer diameter or less or less Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Depth

30 - External dimensions SHAA-HP Unit: mm Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown 0

31 - External dimensions 0 SHAA-SG Unit: mm Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown

32 - External dimensions SHAA-CG Encoder connector Housing Tab contact Motor connector Housing Pin contact Motor Pin contact Motor Depth Lip C chamfering Encoder cable Motor cable AWG AWG x sets x + sets shield + shield (Cable (Cable Outer Outer diameter:φ.) AWG0x core (Cable outer dia.:φ.) or less (Jacking holes) R0. or less Output rotary unit R0. or less Unit: mm Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown 0 0

33 - External dimensions 0 SHAA-HP Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm

34 - External dimensions SHAA-SG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm 0

35 - External dimensions 0 SHAA-CG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm

36 - External dimensions SHA0A-SG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm 0

37 - External dimensions SHA0A-CG Encoder cable AWG x sets + shield (Cable Outer diameter:φ.) Unit: mm 0 Encoder connector Housing Tab contact Motor connector Housing Pin contact (Motor Pin contact (Motor Deapth 0 Motor cable Lip C chamfering AWG x core (Cable outer dia.:φ.) or less or less Or less Output rotary unit Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Jacking holes

38 - External dimensions SHAA-SG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm 0

39 - External dimensions 0 SHAA-SG Note: The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown Unit: mm

40 - Mechanical accuracy - Mechanical accuracy SHA series mechanical accuracy of the output shaft and mounting flange: SG/HP type unit: mm Accuracy items SHA0A SHAA SHAA SHA0A SHAA SHAA. Output shaft surface runout (0.00) (0.00) Output shaft radial run-out Parallelism between the output shaft and actuator mounting surface Parallelism between the output shaft and actuator mounting surface Concentricity between the output shaft and actuator mounting diameter Concentricity between the output shaft and actuator mounting diameter Note: All values are T.I.R. (Total Indicator Reading). The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer CG type unit: mm Accuracy items SHA0A SHAA SHAA SHA0A. Output shaft surface runout Output shaft radial run-out (Outside inlay) Output shaft radial run-out (Inside inlay) Parallelism between the output shaft and actuator mounting surface Parallelism between the output shaft and actuator mounting surface Concentricity between the output shaft and actuator mounting diameter Concentricity between the output shaft and actuator mounting diameter Note: All values are T.I.R. (Total Indicator Reading). 0 A B - A - B A A B B A A B SG/HP type CG type

41 - Mechanical accuracy The reported values are measured as follows: Output shaft surface runout The indicator is fixed and measures the axial run-out (T.I.R.) of the outermost circumference of the output shaft for one revolution. Output shaft radial run-out The indicator is fixed and measures the radial run-out (T.I.R.) of the output shaft for one revolution., Concentricity between the output shaft and actuator mounting diameter () () The indicator is mounted on the output shaft and measures the axial run-out (T.I.R.) of the outermost circumference of the mounting surface (on both the output shaft side and opposite side) for one revolution., Concentricity between the output shaft and actuator mounting diameter 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 - Positional accuracy One-way positional accuracy The one-way positioning accuracy is defined as the maximum positional difference between the commanded position and the actual stop position when a series of positioning moves are performed in the same rotation direction. (Refer to JIS B-0-). The SHA actuator incorporates a Harmonic Drive gear which inherently has high rotational position accuracy. Because of the gearing s high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (/ratio) and typically becomes negligible at the output. Therefore most of the error is represented by the transmission error of the Harmonic Drive gear itself. 0 The one-way positional accuracy is shown in the table below: SG/HP (Unit: Second) Model Reduction ratio SHA0A SHA A SHAA SHA0A SHAA SHAA : : : or more CG (Unit: Second) Model Reduction ratio SHA0A SHAA SHAA SHA0A 0: : or more

43 - Positional accuracy 0 Repeatability (CG type) The repeatability is measured by moving to a given theoretical position seven times, each time approaching from the same direction. The actual position of the output shaft is measured each time and repeatability is calculated as the / of the maximum difference of the seven data points. Measured values are indicated in angles (arc-sec) prefixed with "±".. CG type (Unit: Second) Model Reduction ratio SHA0A SHAA SHAA SHA0A Ratio to full speed ± ± ± ± Bi-directional repeatability (CG type) For the "bi-directional repeatability", 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. CG type Repeatability:±X/ (Unit: Second) Model Reduction ratio SHA0A SHAA SHAA SHA0A 0: : of more 0 0 P X P P *P~P:Stop position X:Maximum error P X P P P X P X P *P~P:Stop position after forward rotation P ~P :Stop position after reverse rotation X~X:Difference between the stop positions after forward and reverse rotations

44 - Encoder specifications (Absolute encoder) - Encoder specifications (Absolute encoder) The absolute encoder used in the SHA series is a multi-turn magnetic absolute encoder. This encoder consists of bit single turn absolute encoder and a bit cumulative counter for detecting the number of total revolutions. This encoder constantly monitors the absolute machine position and, by means of a backup battery, stores the position regardless of whether the driver or external controller power is turned ON or OFF. Accordingly, once the origin is detected when the machine is first installed, homing is not required for subsequent power ON operation. This facilitates an easy recovery after a power failure or machine breakdown. Additionally, when the power is ON, the single revolution absolute position and the number of revolutions is calculated with dual-redundant systems and comparison checks are continually performed on the data. This highly reliable design allows for encoder errors to be self-detected should they ever occur. In addition, a backup capacitor is installed in the encoder to retain the absolute position data even when the actuator is disconnected from the driver for the purpose of maintenance, etc. (Internal backup battery). It is recommended that you replace the backup battery in the HA-00 driver while the driver 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) *: Size 0 is equipped with an optical encoder; other models are equipped with a magnetic encoder. * : Battery box is sold separately (Recommended battery is Maxell ER / battery) Resolution at the output shaft Encoder resolution (,0) Resolution at the output shaft Resolvable angle per pulse (approximate) Resolution at the output shaft Resolvable angle per pulse (approximate) Reduction ratio : : : 0: : : Pulse/rev,,,, 0,,,,,,,0, Sec. Approx. 0. Approx. 0. Approx. 0. Approx. 0. Approx. 0.0 Reduction ratio 0: 0: 00: 0: 0: Pulse/rev,,00 0,,0,0,00,,0 0,,0 Sec Approx. 0. Approx. 0. Approx. 0. Approx. 0.0 Approx. 0.0 Approx 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 Transfer of encoder data Data is transferred via bi-directional communication in a normal condition while power is supplied. When the driver control power supply is turned OFF and the driver enters the battery backup mode, communication stops.

45 - Encoder specifications (Absolute encoder) Output shaft single revolution absolute model (Option) With the standard actuator, when it continues to rotate in just one direction, the absolute encoder eventually exceeds the number of revolutions that can be detected with multi-revolution detection and it becomes impossible to manage position information accurately. With the output shaft single revolution absolute model, each time the output shaft turns through single revolution, the cumulative multi revolution counter is cleared to 0. This is how position information is accurately managed when the shaft continuously turns in just one direction. 0

46 -0 Output Stiffness -0 Output Stiffness 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 Item SHA0A SHAA SHAA Reduction ratio 0: or more : 0: or more : 0: or more Nm/rad Moment kgf m/rad. 0 stiffness kgf m/arc-min..... Model Item SHA0A SHAA SHAA Reduction ratio 0: or more 0: or more 0: or more Nm/rad Moment kgf m/rad 0 stiffness 0 0 kgf m/arc-min. 0 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). 0 Sleeve (hollow shaft) Output shaft

47 -0 Output Stiffness 0 Torsional Stiffness The speed reducer uses () speed ratio 0 or more for the HarmonicDrive gear and () speed ratio for the HPF hollow shaft planetary series. The structures of the speed reducers are different, so their rotation direction torsional stiffness are different. Refer to individual characteristics shown on the graphs and tables. If a torque is applied to the output shaft of the actuator with the input locked, the output shaft will torsional deflect 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 the output shaft. This [torque vs. torsional angle] diagram, typically follows a loop of 0-A-B-A -B -A. The torsional stiffness of the SHA series actuator is expressed by the slope 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 = Range where torque T is T to T: Range where torque T is T to T: K T T ϕ = θ + K T T ϕ = θ + K * ϕ : Torsional angle The table below shows the averages of T to T, K to K, and θ to θ for each actuator. Model SHA0A SHAA SHAA SHA0A Reduction ratio 0: 0: or 0: 0: or 0: 0: or more 0: 0: or : 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

48 -0 Output Stiffness Model SHAA SHAA Reduction ratio : or more : or 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 SHA0A SHAA SHAA SHA0A 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 SHAA SHAA Reduction ratio : or more : or more arc min 0 arc min arc min

49 -0 Output Stiffness 0 Torsional Stiffness (Ratio : HPF) If a torque is applied to the output shaft of the actuator with the input locked, the output shaft will torsional deflect roughly in proportion to the torque. When the values for torque are gradually changed in sequence from () Rated output torque in the positive rotation direction () zero () Rated output torque in the negative rotation direction () zero () Rated output torque in the positive rotation direction, the values follow a loop () () () () () (returns to ()) shown in Fig. [torque vs. torsional angle diagram]. The gradient of the region [Rated output torque] from [0. x rated output torque] is small, and the torsional stiffness of the HPF series is the average of this gradient. The gradient of the region [0. x rated output torque] from [zero torque] is large. This gradient is caused by semi-partial contact in the meshing region and uneven load distribution from light loads and so forth on the planet gears. An explanation is provided below on how to calculate the total torsional quantity on one side from a noload state after a load has been applied by the speed reducer. θ=d+ T-TL A B The zero torque part widths of () and () in the figure on the right [torque vs. torsional angle diagram] is called the hysteresis loss. For the HPF series, backlash is defined as hysteresis loss [rated output torque in the negative rotation direction] from [rated output torque in the positive rotation direction]. The HPF series has a backlash of less than minutes (less than minute with special products) with factory settings. θ: total torsional quantity D: torsional quantity on one side given by rated output torque x 0. torque T: load torque TL: rated output torque x 0. torque (= TR x 0.) A/B: torsional stiffness Fig. Torque vs. torsional angle diagram Torsional angle () () () () Hysteresis loss = backlash Torque Model speed ratio SHAA SHAA Item Backlash arc-min 0 - rad.. Rated torque (TR) Nm Torsional quantity arc-min.0. on one side given by TR x 0. (D) 0 - rad.. Torsional stiffness kgf m/arc-min.. (A/B) x0 - Nm/rad.0. () TR: rated output torque A/B: torsional stiffness D: torsional quantity on one side given by TR x 0.

50 - Direction of rotation - Direction of rotation SG/HP As a default, Forward rotation direction of the actuator is defined as counterclockwise (CCW) rotation as viewed from the load shaft when a Forward command (FWD command pulse) is given to a SHA series actuator from a HA-00 driver This rotation direction can be changed on the HA-00 driver by selecting [SP0: Command polarity setting] under [System parameter mode ]. Setting of [SP0: Command polarity setting] Set value 0 FWD command pulse CCW (counterclockwise) direction CW (clockwise) direction REV command pulse CW (clockwise) direction CCW (counterclockwise) direction Setting Default CG As a default, the rotation direction is defined as clockwise (CW) rotation as viewed from the output shaft when a FWD command pulse is given from a HA-00 driver. This rotation direction can be changed on the HA-00 driver by selecting [SP0: Command polarity setting] under [System parameter mode ]. Setting of [SP0: Command polarity setting] Set value 0 FWD command pulse CW (clockwise) direction CCW (counterclockwise) direction Counterclockwise rotation direction REV command pulse CCW (counterclockwise) direction CW (clockwise) direction Setting Default 0

51 - Shock resistance - Shock resistance The actuator can withstand a 00 m/s shock in all directions (up/down, left/right, and front/rear): 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 0 Shock resistance test Do wn

52 - Vibration resistance - Vibration resistance The actuator can withstand a m/s vibration acceleration (frequency 0 to 00 Hz) in all directions (up/down, left/right, and front/rear): 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 Vibration resistance test Do wn 0 0

53 - Operable range 0 - Operable range The graph on the next page indicates the torque/speed operating range for the SHA actuators (combined with a HA-00 driver) is selected. For details, refer to [Chapter SHA series selection].. Continuous motion range The range allows continuous operation of the actuator.. 0% duty range range indicates the torque/speed where 0% duty cycle operation is permitted (the ratio of operating time and idle time is 0:0). Limit the operation cycle to a period of several minutes, and keep it within a range where the overload alarm of the driver does not sound.. Acceleration and deceleration range This range indicates the torque/speed which the actuator can be operated momentarily. The range allows instantaneous operation like acceleration and deceleration. The continuous and 0% duty motion ranges in each graph are measured when the actuator is mounted to an aluminum heatsink as specified in the graph. When the SHA SG is operated at a constant speed (motor shaft speed of,000 rpm 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. However, the planetary speed reducer (:) is not included.

54 - Operable range SHA0A SG SHA0ASG SHA0A0SG SHA0ASG SHA0ASG SHA0ASG 0

55 - Operable range SHAA SG (Specifications for motor input voltage of 00V) SHAASG Torque トルク [Nm] [Nm] Radiation 放熱板 plate: :0*0* mm 0 00 Motion range during acceleration 加減速運転領域 and deceleration 0 0% 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] SHAASG Torque トルク [Nm] [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 range Continuous 連続使用領域 motion range Radiation 放熱板 plate: :0*0* mm mm Rotation 回転速度 speed [r/min] SHAA0SG 0 Radiation 放熱板 :0*0* plate: mm mm SHAASG 0 Radiation 放熱板 :0*0* plate: mm mm トルク Torque [Nm] Motion range during acceleration 加減速運転領域 and deceleration 0% 0% duty テ ューティ領域 motion range Torque トルク [Nm] [Nm] Motion range during acceleration 加減速運転領域 and deceleration 0% 0% duty テ ューティ領域 motion range 0 0 Continuous 連続使用領域 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] SHAASG 0 Radiation 放熱板 :0*0* plate: mm mm 00 トルク Torque [Nm] 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 連続使用領域 motion range Rotation 回転速度 speed [r/min]

56 - Operable range SG/HP SHAA (Specifications for motor input voltage of 00V) SHAAHP Torque トルク [Nm] [Nm] SHAASG Torque トルク [Nm] [Nm] % duty motion range Continuous motion range Continuous 連続使用領域 motion range Motion range during acceleration and deceleration Radiation 放熱板 plate: :0*0* mm 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 Radiation 放熱板 plate: :0*0* mm mm Rotation speed [rpm] Rotation 回転速度 speed [r/min] [rpm] SHAASG Torque トルク [Nm] [Nm] Radiation 放熱板 plate: :0*0* mm mm 0 00 Motion range during acceleration 加減速運転領域 and deceleration 0 0% 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] [rpm] SHAA0SG Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :0*0* mm mm 0 00 Motion range during 0 acceleration 加減速運転領域 and deceleration 00 0% テ ューティ領域 duty motion range 0 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] [rpm] 0 SHAASG SHAASG Radiation 放熱板 plate: :0*0* mm mm Radiation 放熱板 plate: :0*0* mm mm Torque トルク [Nm] [Nm] 0 00 Motion range during acceleration 加減速運転領域 and deceleration 0% 0% duty テ ューティ領域 motion range Torque [Nm] トルク [Nm] 0 00 Motion range during acceleration 加減速運転領域 and deceleration 0% 0% duty テ ューティ領域 motion range 0 Continuous 連続使用領域 motion range 0 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] [rpm] Rotation 回転速度 speed [rpm] [r/min]

57 - Operable range 0 SG/HP SHAA SHAAHP Torque トルク [Nm] SHAASG Torque [Nm] トルク [Nm] % duty motion range Continuous motion range 0% duty テ ューティ領域 motion range Continuous 連続使用領域 motion range Motion range during acceleration 加減速運転領域 and deceleration Radiation 放熱板 plate: :00*00*0 mm mm Rotation 回転速度 speed [r/min] [rpm] SHAASG Radiation 放熱板 :00*00*0 plate: 00*00*0 mm mm Motion range during acceleration and deceleration Rotation speed [rpm] SHAASG 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 Radiation 放熱板 plate: :00*00*0 mm mm Rotation 回転速度 speed [r/min] [rpm] SHAA0SG Torque トルク [Nm] [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] [rpm] SHAA SG 00 Radiation 放熱板 plate: :00*00*0 mm 00 Radiation 放熱板 plate: :00*00*0 mm Torque 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 motion 連続使用領域 range 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 motion 連続使用領域 range Rotation 回転速度 speed [r/min] [rpm] Rotation 回転速度 speed [r/min] [rpm]

58 - Operable range SHA0A SG SHA0ASG /HA-00-D/E SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] 放熱板 Radiation :00*00* plate: 00*00* 放熱板 Radiation :00*00* plate: 00*00* 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 00 Continuous 連続使用領域 motion range 回転速度 Rotation speed [r/min] [rpm] SHA0A0SG/HA-00-D/E SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] Motion 加減速運転領域 range during acceleration 00 and deceleration % duty テ ューティ領域 motion range 00 Continuous 連続使用領域 motion range 回転速度 Rotation speed [r/min] [rpm] 放熱板 Radiation :00*00* plate: 00*00* 放熱板 Radiation :00*00* plate: 00*00* Motion 加減速運転領域 range during acceleration Motion 加減速運転領域 range during acceleration and deceleration and deceleration % 0% duty テ ューティ領域 motion range 00 0% duty テ ューティ領域 motion range Continuous 連続使用領域 motion Continuous 連続使用領域 motion 00 range range 回転速度 Rotation speed [r/min] [rpm] 回転速度 Rotation speed [r/min] [rpm] SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] Torque [Nm] トルク [Nm] 0 00 放熱板 Radiation :00*00* plate: 00*00* 00 Torque [Nm] トルク [Nm] Motion 加減速運転領域 range during acceleration and deceleration 0% duty テ ューティ領域 motion Continuous 連続使用領域 motion range 回転速度 Rotation speed [r/min] [rpm]

59 - Operable range 0 SHA-0A SG SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :00*00* mm mm Motion 加減速運転領域 range during acceleration and deceleration % テ ューティ領域 duty motion range 00 Continuous 連続使用領域 motion range Rotation 回転速度 speed [r/min] [rpm] SHA0A0SG/HA-00-D/E Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :00*00* mm mm 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 Rotation 回転速度 speed [r/min] [rpm] SHA0ASG/HA-00-D/E SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :00*00* mm mm Motion 加減速運転領域 range during acceleration 00 and deceleration % duty テ ューティ領域 motion range 00 Continuous 連続使用領域 motion 00 range Rotation 回転速度 speed [r/min] [rpm] SHA0ASG/HA-00-D/E Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :00*00* mm mm 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 Rotation 回転速度 speed [r/min] [rpm] 00 Radiation 放熱板 plate: :00*00* mm mm 00 Torque [Nm] トルク [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 Rotation 回転速度 speed [r/min] [rpm]

60 - Operable range SHAA SG SHAASG SHAA0SG Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :0*0*0 mm mm Radiation 放熱板 plate: :0*0*0 mm mm Motion range during acceleration and 加減速運転領域 deceleration Motion range during acceleration and 加減速運転領域 deceleration 00 0% 0% duty テ ューティ領域 motion range 000 0% 0% duty テ ューティ領域 motion range Torque [Nm] トルク [Nm] 00 0 Continuous 連続使用領域 motion range 00 Continuous 連続使用領域 motion range 回転速度 Rotation speed [r/min] [rpm] 回転速度 Rotation speed [r/min] [rpm] SHAASG 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 Continuous motion 連続使用領域 range SHAASG 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] [rpm] 回転速度 Rotation speed [r/min] [rpm]

61 - Operable range SHAA SG SHAASG Torque [Nm] トルク [Nm] Radiation 放熱板 :0*0*0 plate: mm mm Motion 加減速運転領域 range during acceleration and deceleration 00 0% duty テ ューティ領域 motion range 000 Continuous 連続使用 00 motion 領域 range 回転速度 Rotation speed [r/min] [rpm] SHAA0SG Torque [Nm] トルク [Nm] 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 % テ ューティ領域 duty motion range 000 Continuous 連続使用 00 motion range 領域 回転速度 Rotation speed [r/min] [rpm] 0 SHAASG SHAASG Torque [Nm] トルク [Nm] Radiation 放熱板 plate: :0*0*0 mm mm Radiation 放熱板 plate: :0*0*0 mm mm Motion 加減速運転領域 range during acceleration 00 Motion 加減速運転領域 range during acceleration and deceleration 00 and deceleration % duty テ ューティ領域 motion range 00 0% テ ューティ領域 duty motion 000 Continuous 連続使用 motion 領域 Continuous 連続使用領域 range 00 motion range 回転速度 Rotation speed [r/min] rpm] 回転速度 Rotation speed [r/min] [rpm] Torque [Nm] トルク [Nm]

62 - Operable range SHA0A CG SHA0A0CG Radiation plate: 0*0* mm SHA0A0CG Radiation plate: 0*0* mm Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [rpm] Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [rpm] SHA0A00CG Torque [Nm] SHA0A0CG Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 0*0* mm Rotation speed [rpm] Radiation plate: 0*0* mm SHA0A0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Radiation plate: 0*0* mm Rotation speed [rpm] 0 Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous motion range Rotation speed [rpm] 0

63 - Operable range SHAA CG (Motor input voltage 00V) SHAA0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range 連続使用領域 Radiation plate: 0*0* mm Rotation speed [rpm] SHAA0CG Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous 連続使用領域 motion range Radiation plate: 0*0*mm Rotation speed [rpm] SHAA00CG SHAA0CG Radiation plate: 0*0*mm Radiation plate: 0*0*mm 0 Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion 連続使用領域 range Rotation speed [rpm] Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion 連続使用領域 range Rotation speed [rpm] SHAA0CG Radiation plate: 0*0*mm Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous motion range 連続使用領域 Rotation speed [rpm]

64 - Operable range SHAA CG (Motor input voltage 00V) SHAA0CG Torque [Nm] SHAA00CG Torque [Nm] Continuous motion range 連続使用領域 Continuous motion range 連続使用領域 SHAA0CG Motion range during acceleration and deceleration 0% duty motion range Radiation plate: 0*0* mm Motion range during acceleration and deceleration 0% duty motion range Radiation plate: 0*0* mm Rotation speed [rpm] Rotation speed [rpm] Radiation plate: 0*0* mm SHAA0CG Torque [Nm] Continuous motion range 連続使用領域 SHAA0CG Torque [Nm] Continuous motion range 連続使用領域 Radiation plate: 0*0* mm Motion range during acceleration and deceleration 0% duty motion range Radiation plate: 0*0* mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] Rotation speed [rpm] 0 Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous 連続使用領域 motion range Rotation speed [rpm]

65 - Operable range 0 SHAA CG SHAA0CG Torque [Nm] Continuous motion range 連続使用領域 SHAA00CG Torque [Nm] Continuous motion range 使用 SHAA0CG Motion range during acceleration and deceleration 0% duty motion range Radiation plate: 00*00*0 mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] Radiation plate: 00*00*0 mm Rotation speed [rpm] Radiation plate: 00*00*0 mm SHAA0CG Torque [Nm] Torque [Nm] Continuous motion range 連続使用領域 SHAA0CG Radiation plate: 00*00*0 mm Motion range during acceleration and deceleration 0% duty motion range Radiation plate: 00*00*0 mm Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [rpm] Rotation speed [rpm] Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [rpm]

66 - Operable range SHA0A CG SHA0A0CG/HA-00-D/E Radiation plate: 00*00* mm SHA0A0CG/HA-00-D/E Radiation plate: 00*00* mm Torque [Nm] Motion range during acceleration and deceleration Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range Rotation speed [rpm] 0% duty motion range Continuous motion range Rotation speed [rpm] SHA0A00CG/HA-00-D/E Torque [Nm] Continuous motion range 連続使用領域 SHA0A0CG/HA-00-D/E Radiation plate: 00*00* mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] Radiation plate: 00*00* mm SHA0A0CG/HA-00-D/E Torque [Nm] Continuous motion range 連続使用領域 Radiation plate: 00*00* mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] 0 Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous motion range 連続使用領域 Rotation speed [rpm]

67 - Operable range 0 SHA0A CG SHA0A0CG/HA-00-D/E Torque [Nm] Continuous motion 連続使用領域 range SHA0A00CG/HA-00-D/E Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion range 連続使用領域 SHA0A0CG/HA-00-D/E Radiation plate: 00*00* mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] Radiation plate: 00*00* mm Rotation speed [rpm] Radiation plate: 00*00* mm SHA0A0CG/HA-00-D/E Torque [Nm] Motion range during acceleration and deceleration 0% duty motion range Continuous motion 連続使用領域 range SHA0A0CG/HA-00-D/E Torque [Nm] Continuous motion 連続使用領域 range Radiation plate: 00*00* mm Radiation plate: 00*00* mm Motion range during acceleration and deceleration 0% duty motion range Rotation speed [rpm] Rotation speed [rpm] Motion range during acceleration and deceleration Torque [Nm] 0% duty motion range Continuous motion 連続使用領域 range Rotation speed [rpm]

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

69 - Cable specifications Encoder cable specifications Size 0,,, 0 Pin number Color Signal name Remarks Connector pin layout A Red Vcc Power supply input +V B Black GND(Vcc) Power supply input 0V (GND) A Yellow SD+ Serial signal differential output (+) B Blue SD- Serial signal differential output (-) A - No connection - B Shield FG A Orange Vbat Battery + B Gray GND(bat) Battery - (GND) A A Connector model: -00- Pin model: 0-, 0- or 0- by AMP B B 0 Size, Pin number Signal name Remarks Connector pin layout Vbat Battery + GND(bat) Battery - (GND) No connection Vcc Power supply input +V GND(Vcc) Power supply input 0V (GND) No connection No connection SD+ Serial signal differential output (+) SD- Serial signal differential output (-) 0 FG Connector model: CM0-R0P (D)-0 (by DDK)

70 - Cable specifications 0

71 Chapter Selection guidelines This chapter explains how to select the right SHA series actuator. - SHA series selection 0 - Change in load inertia moment - Verifying and examining load weights - Examining operating status 0

72 - SHA series selection - SHA series selection Allowable load moment of inertia To achieve high accuracy and performance, select a SHA series actuator where the allowable load moment of inertia for the actuator is not exceeded. Note: The recommended values in the graphs below should be followed if you wish to shorten the transient vibration period during positioning moves or operate the actuator at a constant speed in a stable manner. It is possible to operate the actuator when exceeding the allowable value if the actuator is accelerated and decelerated gradually, commands given from the host to the servo driver are adjusted, or the servo driver's vibration suppression function is used. Refer to [A- Calculating moment of inertia ] (P0) for the calculation of inertia moment. SG type Selection guidelines 0 0

73 - SHA series selection CG type Allowable load inertia moment Selection guidelines Max rotational speed (r/min) Allowable load inertia moment 0 Max rotational speed (r/min) When making a preliminary selection of the actuator, make certain that the moment of inertia and maximum speed do not exceed the allowable values shown in the table below. When a load with a large inertia moment is stopped and started 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 driver, an additional regenerative resistor must be connected externally to the driver. For details, refer to the manual of your driver.

74 - SHA series selection SG/HP Actuator model SHA0A 0 Reduction ratio : : 0: : : Max. speed (rpm)..... Actuator kg m inertia (without brake) kgf cm s..0. Actuator kg m inertia (with brake) kgf cm s.. 0 Max allowable load inertia kg m..... kgf cm s Actuator model SHAA 0 Reduction ratio : : : 0: : : Max. speed (rpm) Actuator kg m inertia (without brake) kgf cm s 0.0. Actuator kg m inertia (with brake) kgf cm s 0.. Max allowable load inertia kg m kgf cm s. 0 0 Actuator model SHAA 0 Reduction ratio : : : 0: : : Max. speed (rpm) Actuator kg m inertia (without brake) kgf cm s 0. 0 Actuator kg m inertia (with brake) kgf cm s. 0 Max allowable load inertia kg m kgf cm s Actuator model SHA0A SHAA 0 0 Reduction ratio : : 0: : : : 0: : : Max. speed (rpm) Actuator kg m inertia (without brake) kgf cm s Actuator kg m. 0 0 inertia (with brake) kgf cm s Max allowable kg m load inertia kgf cm s Selection guidelines 0

75 - SHA series selection Selection guidelines 0 Actuator model SHAA 0 Reduction ratio : 0: : : Max. speed (rpm).... Actuator kg m 0 inertia kgf cm (without brake) CG Actuator inertia (with brake) Max allowable load inertia s kg m 0 kgf cm s kg m kgf cm s Actuator model SHA0A Reduction ratio 0: 0: 00: 0: 0: Max. speed (rpm) Actuator kg m inertia (without brake) kgf cm s...0 Actuator kg m inertia (with brake) kgf cm s... Max allowable load inertia kg m..... kgf cm s Actuator model SHAA SHAA Reduction ratio 0: 0: 00: 0: 0: 0: 0: 00: 0: 0: Max. speed (rpm) Actuator kg m inertia (without brake) kgf cm s. 0 Actuator kg m inertia (with brake) kgf cm s. 0 0 Max allowable kg m load inertia kgf cm s Actuator model SHA0A Reduction ratio 0: 0: 00: 0: 0: Max. speed (rpm) Actuator kg m. inertia (without brake) kgf cm s 0 Actuator kg m. inertia (with brake) kgf cm s 0 0 Max allowable load inertia kg m kgf cm s

76 - SHA series selection Selection guidelines 0

77 - Change in load moment of inertia Selection guidelines - Change in load moment of inertia SHA series actuators include Harmonic Drive gearing that has a high reduction ratio. Because of this, the effects of changes in the load moment of inertia on the servo performance are minimal. In comparison to direct servo drive mechanisms, this benefit allows the load to be driven with a better servo response. For example, assume that the load moment of inertia increases by N-times. The total inertia reflected to the motor shaft, having an effect on servo response, is as follows: The symbols in the formulas are: JS: Total inertia moment converted to motor shaft JM: Inertia moment of motor R: Reduction ratio of SHA 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 series Before: L NL JS =JM After: Ratio: + JS' =JM + R R + NL Js' /Js= + L + NL /R Js' /Js= + L /R With the SHA 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 drive systems are hardly affected by the load variation. Therefore, it is not necessary to take changes of the load moment of inertia into consideration when selecting a SHA actuator or when setting up the initial driver parameters. 0

78 - Verifying and examining load weights - Verifying and examining load weights The SHA 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 actuators. Table : Specifications of the cross roller bearings Basic Circular Offset Basic static Permissible Moment dynamic Item pitch of the amount rated load moment stiffness rated load Model roller (dp) (R) (Co) load (Mc) (Km) (C) mm mm kn kn Nm x0 Nm/rad SHA0A-SG 0... SHA0A-CG 0... SHAA-SG.... SHAA-CG.... SHAA-HP SHAA-SG SHAA-CG SHAA-HP.... SHA0A-SG.. SHA0A-CG... SHAA-SG.. 0 SHAA-SG 0 0 Selection guidelines 0

79 - Verifying and examining load weights Maximum load moment load Selection guidelines 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 allowable 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 0 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 Faav = 0/ 0/ ntfa + nt Fa 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

80 - Verifying and examining load weights Radial load coefficient and axial load coefficient Determine the values of radial load coefficient (X) and axial load coefficient (Y) based on the condition below. 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 Life of cross roller bearing 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. Calculate the life of cross roller bearing with the formula (): Selection guidelines 0 Formula (): Cross roller bearing life L B 0 0 C = 0 Nav fw Pc Symbols used in the formulas 0/ 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

81 - Verifying and examining load weights Cross roller bearing life with oscillating motion Use formula () to calculate the cross roller bearing life against oscillating movement. Selection guidelines Formula (): Cross roller bearing life (oscillating) 0 Loc = 0 n 0/ 0 C 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.. Oscillating angle θ Fig. : Oscillating movement 0 If the oscillating angle is or less, fretting wear may occur because the oil film does not form effectively on the contact surfaces between the race and rolling elements of the cross roller bearing. In such cases, consult with our engineering staff. Verifying static safety coefficients Static equivalent radial load Formula (): Static equivalent radial load Mma x Po = Frma x Fama x 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 (). 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.

82 - Examining operating conditions - Examining 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: Calculate the actuator rotation speed Calculate the required rotation speed (rpm) of the load driven by the SHA series. For linear operation, use the rotation speed conversion formula below: Screw pitch (mm) 0 Rotation speed (r/min) Selection guidelines Linear travel speed (mm/min) Rotation speed (r/min) = Screw feed pitch (mm) 0 0r/min 0r/min 0r/min r/min 00r/min 00r/min Linear travel speed (mm/min) Select an appropriate reduction ratio so that the calculated rotation speed does not exceed the maximum rotational speed of the SHA series actuator. Calculating and examining load moment of inertia Calculate the load inertia moment of the load driven by the SHA series actuator. Refer to [A- Calculating moment of inertia ] (P0) for the calculation. Based on the calculated result, tentatively select an SHA actuator by referring to [Allowable load moment of inertia ] (P0). 0 0

83 - Examining operating conditions Selection guidelines 0 Load torque calculation Calculate the load torque as follows: Rotary motion The rotary torque for the rotating mass W on the ring of radius r from the center of rotation is shown in the figure to the right. T =. µ W r T : Rotary torque (Nm) μ : Friction coefficient W : Mass (kg) r : Average radius of friction side (m) 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. 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 π T : Rotary torque (Nm) μ : friction coefficient W : mass (kg) P : Screw feed pitch (m) Radius r of friction side (mm) Pitch: P Mass: W Friction: μ Radius: r Example of rotary torque calculation (friction coefficient = 0.) SHA: 0% torque of maximum torque is shown Nm 00 Nm 00 Nm 0 Nm 0 Nm 0 Nm 0 Nm Nm Nm 00 Nm 00 Nm 00 Nm SHAA 0 Nm Mass W (kg) Mass: W Friction: μ SHAA SHA0A SHAA 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

84 - Examining operating conditions Acceleration and deceleration time Calculate acceleration and deceleration times for the selected actuator. Acceleration time: t a = k t = k ( JA + JL) ( J + J ) π N 0 TM TL π N Deceleration time: d A L 0 TM + TF 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) + T L N Rotation speed ta td Time Selection guidelines TF=KT x IR-TR KT: Torque constant TR: Allowable continuous torque IR: Allowable continuous current (Nm/A) (Nm) (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 rpm 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 [-], SHAASG-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 0

85 - Examining operating conditions Selection guidelines 0 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]. 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 Calculation example An example of SHAASG-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 d d 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 T 0. m = = Nm () Calculate the average rotation speed. Apply the values in (), and N = 0 (rpm) and t = (s), to the above formulas = Nav = 0 r /mi n

86 - Examining operating conditions () The figure on the right shows the point of operation determined by the effective torque and average rotation speed calculated above, plotted on the graph of operable range of SHAA, 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 model number. 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 放熱板 :0*0* plate: 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. 0 Continuous motion range 連続使用領域 Motion range during acceleration and 加減速運転領域 deceleration 0% テ ューティ領域 0 0 Rotation 0 speed 0 [rpm] 回転速度 [r/min] The aforementioned continuous duty range represents an allowable range when the actuator is installed on the specified aluminum heatsink and operated under natural air cooling. If the radiation area of the mounting member is smaller or the heat conduction of the material is poor, adjust the operating conditions to limit the temperature rise of the actuator to 0º C or less as a guide. 0% duty motion range Operable range of SHAA Selection guidelines 0

87 Chapter Installing the SHA actuator The following explains the installation procedures of the actuators. - Receiving Inspection - Notices on handling - Location and installation

88 - Receiving Inspection - Receiving Inspection Check the following items after unpacking the package. Inspection procedure Check the items thoroughly for damage sustained during transportation. If any item is damaged, immediately contact the dealer. Confirm the actuator is what you ordered. The nameplate is found on the rear end face of the SHA 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 - in this manual for the detail of the model codes. Check driver input voltages. The driver's model code is shown in the TYPE field of the driver's nameplate. The last three digits of this model code indicate the input voltage to be input. 00: indicates a single phase 00VAC power supply. 00: indicates a -phase/single-phase 00VAC power supply. If the voltage to be supplied is different from the label voltage, immediately contact the dealer it was purchased from. WARNING Do not connect a supply voltage other than the voltage specified on the driver label. The wrong power supply voltage may damage the driver, resulting in physical injury or fire. Installing the SHA actuator 0

89 - Notices on handling - Notices on handling Handle the SHA series actuator carefully by observing the notices specified below. Installing the SHA actuator CAUTION () Do not apply any excessive force or impact, especially to the actuator's output shaft. () Do not put the SHA 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 models (SHAA, SHAA) are heavy. Handling these models may cause lower back pain. Injury may occur if the actuator falls and you are pinned underneath. Handle your actuator with due care by wearing safety shoes or take other proper precautions. Use supporting fixtures and lifting equipment as necessary for safe handling. 0 Installation and transmission torque Examples of actuator assembly are shown below. Assembly examples and are for SHA-SG. Assembly examples and are for SHA-CG. 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. SHA-SG assembly example Output structure Machine base Output structure Machine base flat Washer Assembly example Assembly example

90 - Notices on handling SHA-CG assembly example Output shaft fixing parts Actuator fixing parts Actuator fixing parts Output shaft fixing parts Recommended tightening torque and transmission torque SG/HP type SHA0A SHAA SHAA Model Item Output Output Output Actuator Actuator Actuator shaft shaft shaft -M -M Number of bolts, size -M -M -M -M (-M) (-M) Bolt installation P.C.D. Assembly example Assembly example mm 0 (). Nm.0.0. Tightening (.) torque 0. kgf m (0.) 0 00 Nm 0 0 Transmission () () () torque kgf m (.) (.) (.) The values in parenthesis are those combined with the HPF hollow shaft planetary speed reducer. 00 () (.) 0. (0.) () (.) Item SHA0A SHAA SHAA 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 Notes, kgf m Transmission Nm torque Note kgf m 0 Installing the SHA actuator 0

91 - Notices on handling Installing the SHA actuator 0 CG type Item SHA0A SHAA Model Output Output Actuator Actuator shaft shaft Number of bolts, size -M -M -M -M Bolt installation mm 0 0 P.C.D. Tightening Nm.. torque Notes, kgf m Transmission Nm 00 torque Note kgf m 0 Item SHAA SHA0A Model Output Output Actuator Actuator shaft shaft Number of bolts, size -M -M -M -M0 Bolt installation mm 0 P.C.D. Tightening Nm. torque Notes, kgf m.... Transmission Nm 0 torque Note 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 the SHA series actuator fully, take note of the following points: Warping or deformation on the machine mounting surfaces Foreign matter on the mounting surfaces Raised burrs or deformation around the tapped mounting holes Insufficient chamfering of mounting pilot diameter Mounting pilot diameter is out-of-round When the installation method is as shown in assembly example mentioned above, the recessing shown to the right is recommended for the spigot corner section on the actuator fixing member.

92 - Notices on handling Use of positioning pins The SHA series SG type actuator has positioning pin holes in the output rotary unit and flange fixed to the actuator. The SHA 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* Output structure * *. 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. *. The hollow shaft planetary speed reducer model is not equipped with a positioning pin. Surface treatments Machine Base Positioning pin* Example of use of positioning pins Standard SHA series actuators are given the following surface treatments: Installing the SHA actuator SG/HP type CG type Location Housing Output shaft bearing Speed reducer rotating part Output flange Hollow shaft (sleeve) Bolt Location Housing Output flange Speed reducer rotating part Hollow shaft (sleeve) Bolt Surface treatments No treatment (aluminum material is exposed) Raydent Chrome plating Nickel plating Raydent Nickel plating Chrome plating Surface treatments No treatment (aluminum material is exposed) Raydent treatment Raydent treatment, enamel resin is applied to some surfaces Nickel plating Chrome plating or Nickel plating 0 The surface treatments given to SHA series actuators do not fully prevent rust. 0

93 - Location and installation Installing the SHA actuator 0 - Location and installation Operating Environment The environmental conditions of the installation location for SHA series actuators must be as follows. Select an appropriate installation location and observe 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 [- Vibration resistance ] (P0)) 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 SHA0,, and 0 are not IP--compliant. Connectors of SHA and 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.

94 - Location and installation Installation The SHA 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 driver and wiring. An extension cable is provided. Use it when wiring the driver. For details on wiring, refer to [- Cable specifications]. 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 objects (magnet chucks, permanent magnets, etc.) near the rear cover of the actuator. Encoder abnormality may result. This encoder retains absolute positions when the power is turned OFF by means of the driver's battery or its own built-in capacitor. If the encoder cable is disconnected for maintenance, etc., turn on the driver 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. Installing the SHA actuator 0 Do not disassemble/reassemble the actuator. May cause damage to electrical and mechanical components. WARNING

95 - Location and installation Installing the SHA actuator 0

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

97 - Options Options - Options Origin and end limit sensors (option code: L) This option includes sensors that are directly connected to the output shaft on the rear of the actuator. Use this option if a mechanical origin is required (when the virtual origin of the absolute encoder is not sufficient) or you want to define an operation range as a safety measure. SHA0A is not compatible. Option for side exit cables (option code: Y) This option allows the motor and encoder cables te exit from the side of the actuator. Use this option if the actuator is housed in a system and there is not enough room for cables to exit at the rear of the housing. This option is not available with the SHA0 (SG type), SHA and SHA. Contact us for details. 0 Output shaft single revolution absolute model (option code: S) With the standard encoder, when it continues to rotate in just one direction, the absolute encoder eventually exceeds the number of revolutions that can be detected with multi-revolution detection and it becomes impossible to manage position information accurately. With the output shaft single revolution absolute model, each time the output shaft turns through single revolution, the cumulative multi revolution counter is cleared to 0. This is how position information is accurately managed when the shaft continuously turns in just one direction. To use this function, it is necessary to setup a driver. Refer to "HA-00 Series AC Servo Driver Manual". This model is compatible with CG type only. Stand (CG type only) A stand is available for purchase to use the CG type for table drive. For details, contact our sales office.

98 - Options Extension cables These extension cables are used to connect the SHA series actuators and HA-00 drivers. 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 series actuator and HA-00 driver. Motor extension cable: SHA 0,,, 0 (Size 0 requires an extension cable when combined with the HA-00-D/E.) EWD-MB**-A0-TN Cable length (0 = m, 0 = m, 0 = 0m) (** in the model code indicates the cable length (0 = m, 0 = m, 0 = 0m).) Options Cable length [Driver side] Solder processing Brake: blue Brake: yellow Outer diameter φ. [Actuator side] (SHA0A A A 0A) PE: green/yellow Wiring display seal W: black V: white U: red (Unit: mm) 0 SHA 0 (when combined with the HA-00-D/E) EWD-MB**-A0-TMC Cable length (0 = m, 0 = m, 0 = 0m) Cable length [Driver side] [Actuator side] Solder processing Brake: blue Brake: yellow Outer diameter φ. PE: green/yellow W: black V: white U: red (Unit: mm)

99 - Options SHA, EWD-MB**-D0-TMC Cable length (0 = m, 0 = m, 0 = 0m) [Actuator side] Cable length [Driver side] Outer diameter φ. U: red V: white W: Black Options Waterproof cable clamp Angle plug PE: green/yellow Brake: blue Brake: yellow (Unit: mm) 0

100 - Options Absolute encoder extension cable: SHA 0,,, 0 EWD-S**-A0-M (** in the model code indicates the cable length (m, m, 0m). [Actuator side] SHA, EWD-S**-D0-M Cable length (0 = m, 0 = m, 0 = 0m) Cable length Outer diameter φ. [Driver side] (Unit: mm) Options [Actuator side] Cable length (0 = m, 0 = m, 0 = 0m) [Driver side] Cable length Outer diameter φ. 0 (Unit: mm)

101 - Options Options 0

102 Chapter Appendix A- Unit conversion 0 A- Calculating inertia moment 0

103 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 0

104 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 Unit kgf m lb ft lb in oz in Factor x0 - 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.. Apx Appendix 0 SI system N m/rad 0

105 Calculating moment of inertia Apx Appendix 0 A- Calculating moment of inertia Formula for moment of inertia and mass () For cases where the center of gravity is coincident with the axis of rotation: 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} m = BCL ρ ( 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 x D 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 0

106 Calculating moment of inertia 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 () For cases where the center of gravity is not coincident with the axis of rotation: The following formula calculates the inertia moment when the rotary center is different from the gravity center. I = Ig + mf I: Inertia moment when the gravity center axis does not match the rotational axis (kg m ) Ig: 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) 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 = Rotary center m A + B F Gravity center B G = Apx Appendix 0 () Moment of inertia of an object in linear motion 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) 0

107 Calculating moment of inertia Moment of inertia of a 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 ) Inertia moment (kgm ) Radius R (mm) Inertia moment (specific gravity:.) 00 0 Length (mm) Radius R (mm) 0

108 Calculating moment of inertia Apx Appendix 0 0

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110 Index A Absolute encoder... Allowable load inertia moment... 0 Average rotation speed... C Cable specifications... Combinations with drivers and extension cables.. D Deceleration time... Detector specifications... E Effective torque... Encoder cable specifications... Examining actuator rotation speed... 0 Examining operating status... 0 Extension cable... External dimensions... I Inertia moment... 0 Inertia moment of a cylinder... 0 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... s... P Positioning pins... 0 Precautions on installation... R Receiving inspection... Resistance to vibration... 0 Rigidity... Rotation direction... S SHA series selection... 0 Shock resistance... Specifications... Static safety coefficient... Surface treatment... 0 T Torsional rigidity..., Transmission torque... U Uni-directional positional accuracy... 0 Unit... 0 W With near origin and end limit sensors...

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112 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. All efforts have been made to assure that the information in this catalog is complete and accurate. However, Harmonic Drive LLC is not liable for any errors, omissions or inaccuracies in the reported data. Harmonic Drive LLC reserves the right to change the product specifications, for any reason, without prior notice.

113 HarmonicDrive.net / --00 Harmonic Drive LLC Headquarters/Manufacturing Lynnfield Street, Peabody, MA 00 New York Office 00 Motor Parkway Suite #, Hauppauge, NY Chicago Office N. Oak Park Ave. Suite 0, Oak Park, IL 00 Group Companies Harmonic Drive Systems, Inc. -- Minami-Ohi, Shinagawa-ku Tokyo -00, Japan Harmonic Drive AG Hoenbergstrasse,, D- Limburg/Lahn Germany California Office W. San Carlos St. Suite 00, San Jose, CA 0 Harmonic Drive is a registered trademark of Harmonic Drive LLC. 00