SHA-SG Rotary Actuator

SHA-SG Series AC Servo Actuators provide high torque and highly accurate rotary operation.
These hollow shaft servo actuators utilize Harmonic Drive® precision strain wave gears combined with a brushless servomotor and magnetic absolute encoder. The SHA Series is an advanced version of the FHA series AC Servo Actuators, featuring a larger hollow shaft with a smaller, outside diameter. The SHA Series is designed to operate with REL Series and HA-800 drivers.

Key Features:

High torque
Compact, slim design
Large center through hole
Low voltage winding, 20VDC to 90VDC available for sizes 20, 25, 32.
Connects directly with Mitsubishi Electric’s MELSERVO-J4 SSCNETⅢ/H, see brochure
Connects directly with Σ-7 servo drives from Yaskawa, see brochure
Connects directly with MINAS A5II/A5IIN series from Panasonic
Also available to order as a motor only
NEW, size 45 added to the lineup

(click to enlarge)

Manual

DXF CAD Files

PDF Drawings

3D CAD Files

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Ordering Code

SHA	32	A	101	SG	-	B	12	A	200	-	10	S17b	A	-	C	L	-	SP
1	2	3	4	5		6	7	8	9		10	11	12		13	14		15

1.	Type	SHA Series
2.	Size	20, 25, 32, 40, 45, 58, 65
3.	Design Version	A - Standard Y - Yaskawa compatible M - Mitsubishi compatible P - Panasonic compatible
4.	Gear Ratio	11 (size 25 & 32), 51, 81, 101, 121, 161
5.	Gearhead	SG - SHG Series HP - HPF Planetary Series (size 25 & 32)
6.	Motor Version	A - Size 58, 65 B - Size 25, 32, 40 C - Size 20 D - Size 45
7.	Motor Size	08 - SHA 20 09 - SHA 25 12 - SHA 32 15 - SHA 40 16 - SHA 45 21 - SHA 58, 65
8.	Brake	A - No Brake B - With Brake
9.	Voltage Rating	200 - 200V 100 - AC100V (Available in size 25) LV - 48VDC (20 to 90VDC) (size 20) (size 25 & 32)
10.	Encoder Format	10 - A-Format (2.5Mbps, 1 to 1 connection) 00 - Incremental Encoder 14 - Panasonic Format 16 - Mitsubishi Format (Not available in size 20) 17 - Yaskawa Format (Not available in size 20)
11.	Encoder Resolution	S17b - 17bit Absolute encoder; (Nikon-A format) D250 - Incremental encoder (size 25, 32 and 40)
12.	Encoder Offset Angle	The phase difference of the Motor U phase and the Absolute encoder origin. A - 0 degree B - 30 degree
13.	Connector Specification	C - With standard Connectors (This is for extension cable) N - With pigtails
14.	Option symbol	L - Origin & End Limit Sensor (not available on size 20) Y - Side Exiting Cables
15.	Special specification	Blank - Standard product SP____ - Special specification code

Rating Table

(100V & 200V)

Size (Voltage)	Ratio	Maximum Torque [Nm]	Maximum Current [Arms]	Continuous Torque [Nm]	Allowable Continuous Current [Arms]	Maximum Speed [rpm]	One-way Positioning Accuracy [arc-sec]	Servo Driver		Mass (w/brake) [kg]
20A (200VAC)	51	73	6.0	21	2.1	117.6	60	REL-230-18	HA-800□-3D/E-200	2.0 (2.1)
	81	96	4.9	35	2.0	74.1	50
	101	107	4.5	43	2.0	59.4	50
	121	113	4.0	48	1.9	49.6	50
	161	120	3.4	48	1.6	37.3	50
25A (100VAC)	51	127	14.9	35	4.7	94.1	50	REL-230-36	HA-800□-6D/E-100	2.95 (3.1)
	81	178	13.0	58	4.7	59.3	40
	101	204	12.1	73	4.7	47.5	40
	121	217	10.9	81	4.5	39.7	40
	161	229	9.0	81	3.7	29.8	40	REL-230-18
25A (200VAC)	11	26	8.9	9.0	3.0	509.1	120	REL-230-18	HA-800□-3D/E-200	5.0 (5.1)
	51	127	8.6	41	3.0	109.8	50			2.95 (3.1)
	81	178	7.5	67	3.0	69.1	40
	101	204	7.0	81	2.9	55.4	40
	121	217	6.3	81	2.6	46.3	40
	161	229	5.2	81	2.1	34.8	40
32A (200VAC)	11	62	19	20	6.0	436.4	120	REL-230-36	HA-800□-6D/E-200	9.4 (9.7)
	51	281	17.3	92	6.0	94.1	50			5.9 (6.2)
	81	395	15.2	153	6.0	59.3	40
	101	433	13.5	178	5.7	47.5	40
	121	459	12.2	178	5.0	39.7	40
	161	484	9.9	178	4.1	29.8	40	REL-230-18
40A (200VAC)	51	340	18	94	6.0	78.4	50	REL-230-40	HA-800□-6D/E-200	9.9 (10.7)
	81	560	18	158	6.0	49.4	40
	101	656	18	198	6.0	39.6	40
	121	802	17.9	237	6.0	33.1	40	REL-230-36
	161	841	14.6	317	6.0	24.8	40	REL-230-36
40A (200VAC) ^{Used with HA-800□-24D/E (rated output current: 24A)}	51	523	26.7	160	9.0	78.4	50	-	HA-800□-24D/E-200	9.9 (10.7)
	81	675	21.8	263	9.0	49.4	40
	101	738	19.4	330	9.0	39.6	40
	121	802	17.9	382	8.8	33.1	40
	161	841	14.6	382	7.2	24.8	40
45A (200VAC)	51	650	36.5	174	10	74.5	40	-	HA-800□-24D/E-200	12.4 (13.2)
	81	918	29.9	290	10	46.9	40	-
	101	982	25.9	363	10	37.6	40	REL-230-40
	121	1070	24.5	437	10	31.4	40	REL-230-40
	161	1147	19.3	523	9.2	23.6	40	REL-230-36
58A (200VAC)	81	1924	45	714	17.7	37.0	40	REL-230-40	HA-800□-24D/E-200	29.5 (32)
	101	2067	39	905	17.8	29.7	40
	121	2236	36	969	16.4	24.8	40
	161	2392	30	969	13.4	18.6	40
65A (200VAC)	81	2400	55	921	22.0	34.6	40	HA-800□-24D/E-200		37.5 (40)
	101	2990	55	1149	21.9	27.7	40
	121	3263	51	1236	20.1	23.1	40
	161	3419	41	1236	16.3	17.4	40

Low Voltage, 48VDC (20-90VDC)

Size (Voltage)	Ratio	Maximum Torque [Nm]	Maximum Current [Arms]	Continuous Torque [Nm]	Allowable Continuous Current [Arms]	Maximum Speed [rpm]	One-way Positioning Accuracy [arc-sec]	Servo Drive*	Mass (w/brake) [kg]	Engineering Spec
20A (20-90VDC)	51	68	14.9	16.0	4.7	63	60	DDP-090-36	2.0 (2.1)	PDF
	81	96	13.2	26.6	4.7	40	50	DDP-090-36
	101	107	12.0	33.4	4.7	32	50	DDP-090-18
	121	113	10.8	40.2	4.7	27	50
	161	120	9.1	48.0	4.4	20	50
25A (20-90VDC)	51	100	25.5	28	8.5	75	50	DDP-090-36	3.1 (3.3)	PDF
	81	163	25.5	46	8.5	47	40
	101	204	25.5	57	8.5	38	40
	121	217	23.2	69	8.5	32	40
	161	229	19.0	81	7.8	24	40
32A (20-90VDC)	51	146	25.5	37	8.5	50	50	DDP-090-36	5.9 (6.2)
	81	238	25.5	61	8.5	31	40
	101	298	25.5	77	8.5	25	40
	121	357	25.5	93	8.5	21	40
	161	477	25.5	126	8.5	16	40