SHA-SG Rotary Actuator

SHA Series AC Servo Actuators provide high torque and highly accurate rotary operation.
These hollow shaft servo actuators utilize Harmonic Drive® precision gears combined with a brushless servomotor and magnetic absolute encoder. The SHA Series features a large hollow shaft in a compact package. The SHA Series connects directly with Mitsubishi Electric’s MELSERVO-J4 SSCNETⅢ/H, see brochure.

Key Features:

High torque
Compact, slim design
Large center through hole
Low voltage winding available for SHA25A
New option - low voltage winding, 48V DC to 90V DC available for some sizes.
Connects directly with Mitsubishi Electric’s MELSERVO-J4 SSCNETⅢ/H, see brochure
Also available to order as a “motor only”

(click to enlarge)

Manual

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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, 58, 65
3.	Design Version	: M - Mitsubishi 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
7.	Motor Size	: 08 - SHA 20 : 09 - SHA 25 : 12 - SHA 32 : 15 - SHA 40 : 21 - SHA 58, 65
8.	Brake	: A - No Brake : B - With Brake
9.	Voltage Rating	: 200 - 200V : 100 - AC100V (Available in size 25) : LV - 48V DC to 90V DC (size 20) (size 25 & 32)
10.	Encoder Format	: 16 - Mitsubishi Format
11.	Encoder Resolution	: S17b - 17bit Absolute encoder : 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 – AC 200V Winding

Item / Model of actuator		SHA20A					SHA25A
Gear Ratio		51	81	101	121	161	11HP	51	81	101	121	161
Max torque	Nm	73	96	107	113	120	26	127	178	204	217	229
Max torque	lb-in	646	850	947	1,000	1,062	230	1,124	1,575	1,806	1,921	2,027
Max Speed	r/min	117.6	74.1	59.4	49.6	37.3	509.1	109.8	69.1	55.4	46.3	34.8
Torque Constant	Nm/Arms	16.5	27	33	40	53	4.2	19	31	39	46	62
Torque Constant	lb-in/Arms	146	239	292	354	469	37	168	274	345	407	549
Max. Current	Arms	6	4.9	4.5	4	3.4	8.9	8.6	7.5	7	6.3	5.2
Encoder Specification		Magnetic type 17 bit Absolute Encoder
		Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
		Multiple motor revolution counter: 2 16 (65,536) Battery back-up
Output resolution	Pulse/rev	6,684,672	10,616,832	13,238,272	15,859,712	21,102,592	1,441,792	6,684,672	10,616,832	13,238,272	15,859,712	21,102,592
Moment of Inertia(GD² /4)-w/o Brake	kg.m²	0.23	0.58	0.91	1.3	2.3	0.029	0.56	1.42	2.2	3.2	5.6
Moment of Inertia(GD² /4) - w Brake	kg.m²	0.26	0.65	1.0	1.4	2.6	0.034	0.66	1.66	2.6	3.7	6.6
Moment stiffness	Nm /rad	25.2 x 10⁴					37.2 x 10⁴	39.2 x 10⁴
Moment stiffness	lb-in /rad	223 x 10⁴					329 x 10⁴	346.9 x 10⁴
One-way positioning accuracy	arc-sec	60	50	50	50	50	120	50	40	40	40	40
Allowable moment of load	Nm	187					410	258
Allowable moment of load	lb-in	1,655					3629	2,283
Servo Drive Combinations	AC 200V	REL-230-18					REL-230-18
Servo Drive Combinations	AC 200V	HA-800-3D					HA-800-3D
Mass (w/out Brake)	kg	2.1 ( 2.0 )					5.1 (5.0)	3.1 ( 2.95 )
Cad Downloads		PDF DXF					PDF DXF	PDF DXF

Item / Model of actuator		SHA32A						SHA40A
Gear Ratio		11HP	51	81	101	121	161	51	81	101	121	161
Max torque	Nm	62	281	395	433	459	484	523	675	738	802	841
Max torque	lb-in	549	2,487	3,496	3,832	4,062	4,284	4,629	5,974	6,532	7,098	7,443
Max Speed	r/min	436.4	94.1	59.3	47.5	39.7	29.8	78.4	49.4	39.6	33.1	24.8
Torque Constant	Nm/Arms	4.5	21	33	42	50	66	25	41	51	61	81
Torque Constant	lb-in/Arms	40	186	292	372	443	584	221	363	451	540	717
Max. Current	Arms	19	17.3	15.2	13.5	12.2	9.9	26.7	21.8	19.4	17.9	14.6
Encoder Specification		Magnetic type 17 bit Absolute Encoder
		Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
		Multiple motor revolution counter: 2 16 (65,536) Battery back-up
Output resolution	Pulse/rev	1,441,792	6,684,672	10,616,832	13,238,272	15,859,721	21,102,592	6,684,672	10,616,832	13,238,272	15,859,712	21,102,592
Moment of Inertia(GD² /4)-w/o Brake	kg.m²	0.091	2	5.1	8	11	20	5	13	20	28	50
Moment of Inertia(GD² /4) - w Brake	kg.m²	0.110	2.3	5.9	9.2	13	23	6.1	15	24	34	61
Moment stiffness	Nm /rad	86.1 x 10⁴	100 x 10⁴					179x 10⁴
Moment stiffness	lb-in /rad	762 x 10⁴	885 x 10⁴					1,584.2 x 10⁴
One-way positioning accuracy	arc-sec	120	50	40	40	40	40	50	40	40	40	40
Allowable moment of load	Nm	932	580					849
Allowable moment of load	lb-in	8,249	5,133					7,514
Servo Drive Combinations	AC 200V	REL-230-18, REL-230-36						REL-230-36, REL-230-40
Servo Drive Combinations	AC 200V	HA-800-6D						HA-800-6D, HA-800-24D
Mass ( without Brake )	kg	9.7 (9.4)	6.2 ( 5.9 )					10.7 ( 9.9 )
Cad Downloads		PDF DXF	PDF DXF					PDF DXF

Item / Model of actuator		SHA58A				SHA65A
Gear Ratio		81	101	121	161	81	101	121	161
Max torque	Nm	1,924	2,067	2,236	2,392	2,400	2,990	3,263	3,419
Max torque	lb-in	17,029	18,294	19,790	21,171	21,242	26,464	28,880	30,261
Max Speed	r/min	37	29.7	24.8	18.6	34.6	27.7	23.1	17.4
Torque Constant	Nm/Arms	54	68	81	108	54	68	81	108
Torque Constant	lb-in/Arms	478	602	717	956	478	602	717	956
Max. Current	Arms	43	37	34	29	59	53	48	39
Encoder Specification		Magnetic type 17 bit Absolute Encoder
		Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
		Multiple motor revolution counter: 2 16 (65,536) Battery back-up
Output resolution	Pulse/rev	10,616,832	13,238,272	15,859,712	21,102,592	10,616,832	13,238,272	15,859,712	21,102,592
Moment of Inertia(GD² /4)-w/o Brake	kg.m²	96	149	214	379	110	171	245	433
Moment of Inertia(GD² /4) - w Brake	kg.m²	106	165	237	420	120	187	268	475
Moment stiffness	Nm /rad	531x 10⁴				741 x 10⁴
Moment stiffness	lb-in /rad	4,699.7 x 10⁴				6,558.4 x 10⁴
One-way positioning accuracy	arc-sec	40	40	40	40	40	40	40	40
Allowable moment of load	Nm	2,180				2,470
Allowable moment of load	lb-in	19,295				21,861
Servo Drive Combinations	AC 200V	─				─
Servo Drive Combinations	AC 200V	HA-800-24D				HA-800- 24D
Mass ( without Brake )	kg	32 ( 29.5 )				40 ( 37.5 )
Cad Downloads		PDF DXF				PDF DXF

Rating Table - AC 100V Winding

Item / Model of actuator		SHA25A
Gear Ratio		51	81	101	121	161
Max torque	Nm	127	178	204	217	229
Max torque	lb-in	1,124	1,575	1,806	1,921	2,027
Max Speed	r/min	94.1	59.3	47.5	39.7	29.8
Torque Constant	Nm/Arms	11.1	17.9	22	27	36
Torque Constant	lb-in/Arms	98	158	195	239	319
Max. Current	Arms	14.9	13.0	12.1	10.9	9.0
Encoder Specification		Magnetic type 17 bit Absolute Encoder
		Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
		Multiple motor revolution counter: 2 16 (65,536) Battery back-up
Output resolution	Pulse/rev	6,684,672	10,616,832	13,238,272	15,859,712	21,102,592
Moment of Inertia(GD² /4)-w/o Brake	kg.m²	0.56	1.42	2.2	3.2	5.6
Moment of Inertia(GD² /4) - w Brake	kg.m²	0.66	1.66	2.6	3.7	6.6
Moment stiffness	Nm/rad	39.2x 10⁴
Moment stiffness	lb-in/rad	346.9 x 10⁴
One-way positioning accuracy	arc-sec	50	40	40	40	40
Allowable moment of load	Nm	258
Allowable moment of load	lb-in	2,283
Servo Drive Combinations	AC 100V	REL-230-18, REL-230-36
Servo Drive Combinations	AC 100V	HA-800-_- 3D
Mass ( without Brake )	kg	3.1 ( 2.95 )

Rating Table – Low Voltage Winding , 48V DC to 90V DC

Item / Model of actuator		SHA25A					SHA32A
Gear Ratio		51	81	101	121	161	51	81	101	121	161
Max torque	Nm	100	163	204	217	229	146	238	298	357	477
Max torque	lb-in	885	1,443	1,805	1,920	2,027	1,292	2,106	2,638	3,160	4,222
Max Speed	r/min	75	47	38	32	24	50	31	25	21	16
Torque Constant	Nm/Arms	5.3	8.5	10.6	12.7	16.9	7.9	12.8	16.0	19.1	25.4
Torque Constant	lb-in/Arms	47	75	94	112	150	70	113	142	169	225
Max. Current	Arms	25.5			23	19	25.5
Encoder Specification		Magnetic type 17 bit Absolute Encoder
		Single motor revolution Encoder resolution: 2 17 (131,072) counts/rev
		Multiple motor revolution counter: 2 16 (65,536) Battery back-up
Output resolution	Pulse/rev	6,684,672	10,616,832	13,238,272	15,859,712	21,102,592	6,684,672	10,616,832	13,238,272	15,859,721	21,102,592
Moment of Inertia-w/o Brake	kg.m²	0.56	1.42	2.2	3.2	5.6	2.0	5.1	8.0	11	20
Moment of Inertia- w Brake	kg.m²	0.69	1.74	2.7	3.9	6.9	2.3	5.9	9.2	13	23
Allowable moment of load	Nm	258					580
Allowable moment of load	lb-in	2,283					5,133
Moment stiffness	Nm/rad	39.2x 10⁴					100 x 10⁴
Moment stiffness	lb-in/rad	346.9 x 10⁴					885 x 10⁴
One-way positioning accuracy	arc-sec	50	40	40	40	40	50	40	40	40	40
Servo Drive Model	48V-90VDC	DEP-090-36					DEP-090-36
Mass ( without Brake )	kg	3.3 ( 3.1 )					6.2 ( 5.9 )