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HarmonicDrive SHA - Y series Manual

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AC Servo Actuator
S H A - Y s e r i e s m a n u a l
ISO14001
ISO9001

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Summary of Contents for HarmonicDrive SHA - Y series

  • Page 1 AC Servo Actuator S H A - Y s e r i e s m a n u a l ISO14001 ISO9001...
  • Page 2 Introduction Introduction Thank you for purchasing our SHA-Y series AC Servo Actuator. Wrong handling or use of this product may result in unexpected accidents or shorter life of the product. Read this document carefully and use the product correctly so that the product can be used safely for many years.

  • Page 3: Safety Guide

    SAFETY GUIDE SAFETY GUIDE To use this actuator safely and correctly, be sure to read SAFETY GUIDE and other parts of this document carefully and fully understand the information provided herein before using the actuator. NOTATION Important safety information you must note is provided herein. Be sure to observe these instructions. Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious personal injury.

  • Page 4: Safety Note

    SAFETY GUIDE SAFETY NOTE ITEMS YOU SHOULD NOTE WHEN USING THE ACTUATOR  CAUTIONS RELATED TO THE DESIGN Always use under followings conditions. The actuator is designed to be used indoors. Observe the following conditions: ・ Ambient temperature: 0℃ to 40℃ CAUTION ・...
  • Page 5 SAFETY GUIDE ITEMS YOU SHOULD NOTE WHEN USING THE SERVOPACK  DESIGN PRECAUTIONS Please be sure to read the operating manual for the Servopack. Japanese: Document No. SIJPS80000192 English: Document No. SIEPS80000192  OPERATIONAL PRECAUTIONS Please be sure to read "SAFETY NOTE (TOMP C71082800□)" included in the Servopack.
  • Page 6 SAFETY GUIDE DISPOSAL All products or parts have to be disposed of as industrial waste. Since the case or the box of drivers have a material indication, classify parts CAUTION and dispose them separately.

  • Page 7: Table Of Contents

    Contents SAFETY GUIDE ...................... 1 NOTATION ......................1 LIMITATION OF APPLICATIONS................1 SAFETY NOTE ...................... 2 Contents ......................5 Related manual ....................... 7 Conformance to overseas standards ................7 Chapter 1 Outlines 1-1 Outlines ....................... 1-1 1-2 Model ....................... 1-3 1-3 Combinations with Servopacks and extension cables ............

  • Page 8: Contents

    Contents 2-2 Change in load inertia moment ..............2-5 2-3 Verifying and examining load weights ..............2-6 Maximum load moment load ................2-7 Verifying life ......................2-7 Verifying static safety coefficients ................ 2-9 2-4 Examining operating status ................ 2-10 Examining actuator rotation speed ..............2-10 Calculating and examining load inertia moment ..........

  • Page 9: Related Manual

    Related manual Related manual The table below lists related manual. Check each item as necessary. Title Description Σ-7-FT81 manual The specifications and characteristics of Σ-7 are explained. Japanese: SIJPS80000192 English: SIEPS80000192 Conformance to overseas standards The SHA-Y series actuator conforms to following overseas standards. UL1004-1,UL1004-6（File No.
  • Page 10 Conformance to overseas standards The nameplate values of various models are shown below. SG/HP Mode SHA25Y Item (1) Output at point A (2) Voltage at point A (3) Allowable continuous current (4) Speed at point A 24.5 (5) Frequency at point A (6) Allowable range ℃...
  • Page 11 Conformance to overseas standards Model SHA25Y Item (1) Output at point A (2) Voltage at point A (3) Allowable continuous current (4) Speed at point A 20.5 (5) Frequency at point A (6) Allowable range ℃ temperature － (7) Number of phase Model SHA32Y SHA40Y...
  • Page 12 Chapter 1 Outlines This chapter explains the features, functions and specifications of the actuator. 1-1 Outlines ·············································································· 1-1 1-2 Model ················································································ 1-3 1-3 Combinations with Servopacks and extension cables ········································ 1-4 1-4 Specifications ······································································ 1-5 1-5 Motor shaft holding brake ···················································· 1-12 1-6 External dimensions ···························································...

  • Page 13: Outlines

    ◆ Doubled torque/volume ratio ® The incorporation of a SHG or CSG high-torque HarmonicDrive reducer has achieved an approximately 20% smaller external diameter when compared with our conventional products. Accordingly, the maximum torque/volume ratio has increased to approximately double the ratio of any conventional actuator. Based on the maximum torque, you can select a model of one smaller size.
  • Page 14 1-1 Outlines ◆ For high speeds Also supports high speeds in combination with the hollow planetary speed reducer HPF series. ◆ CG type with an improved output shaft deflection accuracy is added to the product lineup After reviewing the output rotary unit structure, the higher accuracy of the surface runout and shaft deflection has been achieved.

  • Page 15: Model

    (3) Version symbol Y = YASKAWA (4) Reduction ratio (indicated by R in 1/R format) Reduction ratio 11:1 is for the HPF hollow shaft planetary gearhead (Model 25, 32) ® Reduction ratios 50:1 and higher are for the HarmonicDrive SHG and CSG gears. 51:1 50:1...

  • Page 16: Combinations With Servopacks And Extension Cables

    1-3 Combinations with Servopacks and extension cables Combinations with Servopacks and extension cables The combinations of SHA-Y actuators, Σ-7 Servopacks and extension cables are as follows: SHA25Y SHA32Y SHA40Y SHA58Y SHA65Y SGD7S- SGD7S- SGD7S- SGD7S- Servopack 3R8A20A 120A20A 180A20A 330A20A MECHATROLINK-Ⅲtype □□□F81 □□□F81...

  • Page 17: Specifications

    1-4 Specifications Specifications SG/HP Model SHA25Y Item Combined Servopack SGD7S-3R8A20A□□□F81 Max. torque kgf･m 18.2 20.8 22.1 23.4 Allowable continuous kgf･m 0.92 *1*2 torque Max. rotational 509.1 109.8 69.1 55.4 46.3 34.8 speed Nm/A Torque constant kgf･m/A 0.43 Max. current Allowable continuous *1*2 current V/(rpm)
  • Page 18 1-4 Specifications SG/HP Model SHA32Y Item Combined Servopack SGD7S-120A20A□□□F81 Max. torque kgf･m 28.7 40.3 44.2 46.8 49.4 Allowable continuous kgf･m 15.6 18.2 18.2 18.2 *1*2 torque Max. rotational 436.4 94.1 59.3 47.5 39.7 29.8 speed Nm/A Torque constant 0.46 kgf･m/A 17.3 15.2 13.5...
  • Page 19 1-4 Specifications SHA40Y Model Item Combined Servopack SGD7S-180A20A□□□F81 Max. torque kgf･m 53.4 68.9 75.3 81.8 85.8 Allowable continuous *2*3 torque kgf･m 16.3 26.8 33.7 Max. rotational speed 78.4 49.4 39.6 33.1 24.8 Nm/A Torque constant kgf･m/A Max. current 26.7 21.8 19.4 17.9 14.6...
  • Page 20 1-4 Specifications Model SHA58Y SHA65Y Item Combined Servopack SGD7S-330A20A□□□F81 1924 2067 2236 2392 2743 2990 3263 3419 Max. torque kgf･m Allowable 1149 1236 1236 continuous kgf･m *1*2 torque Max. rotational 37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4 speed Nm/A Torque constant kgf･m/A 11.0...
  • Page 21 1-4 Specifications SHA25Y Model Item Combined Servopack SGD7S-3R8A20A□□□F81 Max. torque kgf･m 13.0 18.2 20.8 22.1 23.4 Allowable *1*2 continuous torque kgf･m Max. rotational 46.7 speed Nm/A Torque constant kgf･m/A Max. current Allowable continuous *1*2 current V/(rpm) MEF constant Phase resistance Ω...
  • Page 22 1-4 Specifications CG type Model SHA32Y Item Combined Servopack SGD7S-120A20A□□□F81 Max. torque kgf･m 28.7 40.3 44.2 46.8 49.4 Allowable continuous *1*2 torque kgf･m 15.4 18.2 18.2 18.2 Max. rotational speed Nm/A Torque constant kgf･m/A Max. current 17.7 15.4 13.7 12.2 10.0 Allowable continuous *1*2...
  • Page 23 1-4 Specifications SHA40Y Model Item SGD7S-180A20A□□□F81 Combined Servopack Max. torque kgf･m 53.4 68.9 75.3 81.8 85.8 Allowable continuous *2*3 torque kgf･m 16.0 26.5 33.3 39.0 39.0 Max. rotational speed 33.3 Nm/A Torque constant kgf･m/A Max. current 27.2 22.0 19.6 18.0 14.7 Allowable continuous *1*2...

  • Page 24: Motor Shaft Holding Brake

    1-5 Motor shaft brake Motor shaft brake The brakes equipped on SHA-Y series actuators are used to hold the motor shaft in place when the power is cut off. With small models (SHA25Y, 32Y), 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.
  • Page 25 1-5 Motor shaft brake Model SHA65Y Item Dry non-excitation actuation type (without Type power-saving control) Supply brake voltage DC24V±10% (no polarity) Activating current (at 20℃) Normal current Same as current consumption during (at 20℃) suction 1220 1520 1820 2420 Holding torque kgf·m Inertia moment kg·m...
  • Page 26 1-5 Motor shaft brake *1: Power supply is user’s responsibility. Use a power supply capable of outputting enough current consumption during suction for the brake. *2: The duration for current consumption during suction is 0.5 second or less for the power supply of DC24V ± 10%. *3: The values are converted for the output shaft of the actuator.

  • Page 27: External Dimensions

    1-6 External dimensions External dimensions The external dimensions of SHA-Y series actuators are shown below.  SHA25Y-SG (Speed reducer: SHG series) Unit: mm (third angle projection) 付 1-15...
  • Page 28 1-6 External dimensions  SHA25Y-CG (Speed reducer: Harmonic Drive® CSG series) Unit: mm (third angle projection) 付 1-16...
  • Page 29 1-6 External dimensions  SHA25Y-HP (Speed reducer: HPF hollow shaft planetary gearhead) Unit: mm (third angle projection) 付 1-17...
  • Page 30 1-6 External dimensions  SHA32Y-SG (Speed reducer: HarmonicDrive ® SHG series) Unit: mm (third angle projection) 付 1-18...
  • Page 31 1-6 External dimensions  ® SHA32Y-CG (Speed reducer: HarmonicDrive CSG series) Unit: mm (third angle projection) 付 1-19...
  • Page 32 1-6 External dimensions SHA32Y-HP (Speed reducer: HPF hollow shaft planetary)  Unit: mm (third angle projection) 付 1-20...
  • Page 33 1-6 External dimensions  SHA40Y-SG (Speed reducer: HarmonicDrive ® SHG series) Unit: mm (third angle projection) 付 1-21...
  • Page 34 1-6 External dimensions  SHA40Y-CG (Speed reducer: Harmonic Drive® CSG series) Unit: mm (third angle projection) 付 1-22...
  • Page 35 1-6 External dimensions  SHA58Y-SG (Speed reducer: Harmonic Drive® SHG series) Unit: mm (third angle projection) 付 1-23...
  • Page 36 1-6 External dimensions  SHA65Y-SG (Speed reducer: Harmonic Drive® SHG series) Unit: mm (third angle projection) 付 1-24...

  • Page 37: Mechanical Accuracy

    1-7 Mechanical accuracy Mechanical accuracy The mechanical accuracies of the output shaft and mounting flange are shown below for SHA-Y series actuators: SG/HP type unit: mm Accuracy items SHA25Y SHA32Y SHA40Y SHA58Y SHA65Y 0.035 0.040 1. Output shaft surface runout 0.045 0.050 0.050...
  • Page 38 1-7 Mechanical accuracy The measuring for the values are as follows: Output shaft surface runout The indicator on the fixed part measures the axial runout (maximum runout width) of the outermost circumference of output shaft of the output rotary unit per revolution. Deflection of output shaft The indicator on the fixed part measures the radial runout (maximum runout width) of output shaft of...

  • Page 39: Positional Accuracy

    1-8 Positional accuracy Positional accuracy One-way positional accuracy The one-way positional accuracy means the maximum positional difference between the actual rotated angle from the datum position and its theoretical rotational angle in one revolution when series of positioning are performed in the same rotation direction. (Refer to JIS B-6201-1987.) Since the SHA-Y series incorporates a SHG, CSG or HPF speed reducer, the impact of motor shaft positioning error becomes 1/multiple of reduction ratio.

  • Page 40: Reverse Positional Accuracy (Cg)

    1-8 Positional accuracy ＊P1～P7：Stop position X：Maximum error Repeatability：±X/2 Reverse positional accuracy (CG) For the "reverse positional accuracy", the shaft is rotated beforehand in the forward (or reverse) direction and the stop position for that rotation is set as the reference position. An instruction is given to rotate the shaft in the same direction and from the stopped position, the same instruction is given in the reverse (or forward) direction and the difference between the stop position after this rotation and the reference position is measured.

  • Page 41: Detector Specifications (Absolute Encoder)

    1-9 Detector specifications (Absolute encoder) Detector specifications (Absolute encoder) Absolute encoders installed in the SHA-Y series are a multi revolution-type absolute encoder. This encoder consists of a detector (17 bits) for detecting the position per motor shaft revolution, and a cumulative counter (16 bits) for detecting the number of revolutions.
  • Page 42 1-9 Detector specifications (Absolute encoder) Transfer of encoder data Data is transferred via bi-directional communication in a normal condition while power is supplied. When the Servopack control power supply is turned OFF and the driver enters the battery backup mode, communication stops.

  • Page 43: Stiffness

    1-10 Stiffness 1-10 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.

  • Page 44: Torsional Stiffness (Speed Ratio 50:1 Or More)

    1-10 Stiffness Torsional stiffness (Ratio 50:1 or more)  The speed reducer uses (1) speed ratio 50 or more for the CSG/SHG speed reducers and (2) speed ratio 11 for the HPF hollow shaft planetary. The structures of the speed reducer are different, so their rotation direction and torsional stiffness are different.
  • Page 45 1-10 Stiffness , and θ to θ The table below shows the averages of T to T to K for each actuator. Model SHA25Y SHA32Y SHA40Y 1:50 1:80 or 1:50 1:80 or 1:50 1:80 or Reduction ratio 1:51 more 1:51 more 1:51 more...

  • Page 46: Torsional Stiffness (Speed Ratio 11:1 Hpf Hollow Shaft Planetary)

    1-10 Stiffness Torsional stiffness (Ratio 11: HPF hollow shaft planetary) If a torque is applied to the output unit with the input and casing of the speed reducer are locked, the output unit generates a torsion in proportion to the torque. When the values for torque are gradually changed in sequence from (1) Rated output torque in the positive rotation direction→(2) zero→(3) Rated output torque in the negative rotation direction→(4) zero→(5) Rated output torque in the positive rotation direction, the values follow a loop (1)→(2)→(3)→(4)→(5) (returns to (1)) shown in Fig.1 [torque vs.

  • Page 47: Rotation Direction

    1-11 Rotation direction 1-11 Rotation direction SG/HP As a default, the rotation direction is defined as counter-clockwise (CCW) rotation as viewed from the output shaft when a forward command is given from the Σ-7 Servopack. This rotation direction can be changed with the Σ-7 Servopack parameter [Pn000] setting. Counterclockwise rotation direction Setting of [Pn000: Motor direction setting] FWD command...

  • Page 48: Shock Resistance

    1-12 Shock resistance 1-12 Shock resistance The shock resistance of the actuator is as follows, and this value is the same in up/down, left/right and front/rear directions: Impact acceleration: 300 m/s In our shock resistance test, the actuator is tested 3 times in each direction. Actuator operation is not guaranteed in applications where impact exceeding the above value is constantly applied.

  • Page 49: Resistance To Vibration

    1-13 Resistance to vibration 1-13 Resistance to vibration The resistance to vibration of the actuator is as follows, and this value is the same in up/down, left/right and front/rear directions: Vibration acceleration: 25 m/s (frequency: 10 to 400Hz) In our test, the actuator is tested for 2 hours in each direction at a vibration frequency sweep period of 10 minutes.

  • Page 50: Operable Range

    1-14 Operable range 1-14 Operable range The graph on the next page indicates the operable range when a SHA-Y series actuator (combined withΣ- 7) is selected. For details, refer to [Chapter 2 SHA-Y series selection]. 1. Continuous motion range The range allows continuous operation for the actuator. 2.
  • Page 51 1-14 Operable range SG/HP SHA25Y ■SHA25Y11HP ■SHA25Y51SG 　　　　　　　　　　　　　　　　　　放熱板：350*350*18 Radiation plate: 350*350*18 mm 放熱板：350*350*18 mm Radiation plate: 350*350*18 mm Motion range during acceleration and 加減速運転領域 deceleration Motion range during acceleration and deceleration 50%ﾃﾞｭｰﾃｨ領域 50% duty motion range 50% duty motion range Continuous 連続使用領域...
  • Page 52 1-14 Operable range SG/HP SHA32Y ■SHA32Y11HP ■SHA32Y51SG Radiation plate: 400*400*20 mm 放熱板：400*400*20 mm Radiation plate: 400*400*20 mm 放熱板：400*4 00*20 Motion range during acceleration and Motion range during 加減速運転領域 deceleration acceleration and deceleration 50%ﾃﾞｭｰﾃｨ領域 50% duty motion range 50% duty motion range Continuous motion Continuous...
  • Page 53 1-14 Operable range SHA40Y ■SHA40Y51SG ■SHA40Y81SG 　　　　　　　　　　　　　　　　　　放熱板：500*500*25 　　　　　　　　　　　　　　　　　　放熱板： 5 0 0 * 5 0 0 * 2 5 Radiation plate: 500*500*25 mm Radiation plate: 500*500*25 mm Motion range during acceleration Motion range during 加減速運転領域 加減速運転領域 and deceleration acceleration and deceleration 5 0 % ﾃﾞｭｰﾃｨ領域...
  • Page 54 1-14 Operable range SHA58Y ■SHA58Y81SG ■SHA58Y101SG 　　　　　　　　　　　　　　　　　　放熱板：650*650*30 　　　　　　　　　　　　　　　　　放熱板：6 5 0 * 6 5 0 * 3 0 Radiation plate: 650*650*30 mm Radiation plate: 650*650*30 mm 2 5 0 0 2000 1750 2 0 0 0 1500 Motion range during acceleration 加減速運転領域...
  • Page 55 1-14 Operable range SHA65Y ■SHA65Y81SG ■SHA65Y101SG 　　　　　　　　　　　　　　　　　放熱板：650*650*30 Radiation plate: 650*650*30 mm Radiation plate: 650*650*30 mm 3500 3000 Motion range during acceleration 2500 加減速運転領域 and deceleration Motion range during acceleration and deceleration 2000 1500 50%ﾃﾞｭｰﾃｨ領域 50% duty motion range 50% duty motion range 1000 Continuous Continuous...
  • Page 56 1-14 Operable range SHA25Y ■SHA25Y50CG ■SHA25Y80CG Radiation plate: 350*350*18 mm Radiation plate: 350*350*18 mm Motion range during acceleration Motion range during acceleration and deceleration and deceleration 50% duty motion range 50% duty motion range Continuous motion Continuous motion 連続使用領域 連続使用領域 range range Rotation speed [rpm]...
  • Page 57 1-14 Operable range SHA32Y ■SHA32Y50CG ■SHA32Y80CG Radiation plate: 400*400*20 mm Radiation plate: 400*400*20 mm Motion range during acceleration Motion range during acceleration and deceleration and deceleration 50% duty motion range 50% duty motion range Continuous motion Continuous motion 連続使用領域 連続使用領域 range range Rotation speed [rpm]...
  • Page 58 1-14 Operable range SHA40Y ■SHA40Y50CG ■SHA40Y80CG Radiation plate: 500*500*25 mm Radiation plate: 500*500*25 mm Motion range during acceleration Motion range during acceleration and deceleration and deceleration 50% duty motion range 50% duty motion range Continuous motion range 連続使用領域 Continuous 連続使用領域 motion range Rotation speed [rpm] Rotation speed [rpm]...

  • Page 59: Cable Specifications

    1-15 Cable specifications 1-15 Cable specifications The following tables show specifications of the motor and encoder cables for the SHA-Y series actuators. Motor cable specifications  Size 25, 32, 40 Name Pin number Color Without brake With brake Motor phase-U Motor phase-U White Motor phase-V...

  • Page 60: Encoder Cable Specifications

    1-15 Cable specifications Encoder cable specifications  Size 25, 32, 40 Pin number Signal name Remarks PG5V Power supply input +5V PG0V Power supply input 0V (GND) BAT(+) Battery power supply BAT(-) Battery power supply ground Serial signal differential output (+) Serial signal differential output (-) Shell ...
  • Page 61 1-15 Cable specifications 付 1-49...
  • Page 62 Chapter 2 Selection guidelines This chapter explains how to select a proper SHA-Y series actuator. 2-1 SHA-Y series selection··························································· 2-1 2-2 Change in load inertia moment ··············································· 2-5 2-3 Verifying and examining load weights ············································· 2-6 2-4 Examining operating status ·················································· 2-10...

  • Page 63: Sha-Y Series Selection

    2-1 SHA-Y series selection SHA-Y series selection Allowable load inertia moment To achieve high accuracy and performance, select a SHA-Y series actuator where the allowable load inertia moment specified for the applicable size is not exceeded. Note that the allowable values in the table below should be referenced if you wish to shorten the transient vibration period during positioning or operate the actuator at a constant speed in a stable manner.
  • Page 64 2-1 SHA-Y series selection CG type （kg・m （kg・m ）許容負荷慣性モーメント ）許容負荷慣性モーメント （kg・m （kg・m ）許容負荷慣性モーメント ）許容負荷慣性モーメント Allowable load inertia moment Allowable load inertia moment Allowable load inertia moment Allowable load inertia moment 1000 SHA40Y120 SHA40Y100 SHA40Y160 SHA40Y80 SHA25Y160 SHA40Y50 SHA25Y120 SHA32Y160 SHA25Y100 SHA32Y120 SHA32Y100 SHA25Y80...
  • Page 65 2-1 SHA-Y series selection SG/HP SHA25Y Actuator model Reduction ratio 1:11 1:51 1:81 1:101 1:121 1:161 Max. rotational (rpm) 509.1 109.8 69.1 55.4 46.3 34.8 speed Actuator kg･m 0.029 0.56 inertia moment kgf･cm･s 0.30 (without brake) Actuator kg･m 0.034 0.66 inertia moment kgf･cm･s 0.35...
  • Page 66 2-1 SHA-Y series selection SHA65Y Actuator model Reduction ratio 1:81 1:101 1:121 1:161 Max. rotational (rpm) 34.6 27.7 23.1 17.4 speed kg･m Actuator inertia moment kgf･cm･ 1120 1740 2500 4420 (without brake) kg･m Actuator inertia moment kgf･cm･ 1230 1910 2740 4850 (with brake) Allowable load...

  • Page 67: Change In Load Inertia Moment

    2-2 Change in load inertia moment Change in load inertia moment ® For the SHA-Y series combined with the high reduction ratio of the HarmonicDrive gear, the effects of change in load inertia moment on the servo performance are minimal. In comparison to direct servo drive mechanisms, therefore, this benefit allows the load to be driven with a better servo response.

  • Page 68: Verifying And Examining Load Weights

    2-3 Verifying and examining load weights Verifying and examining load weights The SHA-Y 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.

  • Page 69: Maximum Load Moment Load

    2-3 Verifying and examining load weights Maximum load moment load The formula below shows how to calculate the maximum load Actuator moment load (Mmax). Verify that the maximum load moment load (Mmax) is less than Load or equal to the permissible moment load (Mc). ◆...
  • Page 70 2-3 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 conditional judgment according to formula (5). Table 2: Radial load coefficient (X), axial load coefficient (Y) ◆...

  • Page 71: Verifying Static Safety Coefficients

    2-3 Verifying and examining load weights Cross roller bearing life based on oscillating movement Use formula (8) to calculate the cross roller bearing life against oscillating movement. ◆ Formula (8): Cross roller bearing life (oscillating) 10/3   × × ...

  • Page 72: Examining Operating Status

    2-4 Examining operating status Examining operating status The actuator generates heat if started/stopped repeatedly or operated continuously at high speed. Accordingly, examine whether or not the generated heat can be accommodated. The study is as follows: Examining actuator rotation speed Calculate the required rotation speed (rpm) of the load driven by the SHA-Y series.

  • Page 73: Load Torque Calculation

    2-4 Examining operating status Load torque calculation Calculate the load torque as follows:  Rotary motion The rotary torque for the rotating mass W on the ring Mass: W of radius r from the center of rotation is shown in the figure to the right.

  • Page 74: Acceleration Time And Deceleration Time

    2-4 Examining operating status Acceleration time and deceleration time Calculate acceleration and deceleration times for the selected actuator. × π × × × Acceleration time: − × π × × × Deceleration time: × Rotation speed : Acceleration time : Deceleration time k: Acceleration reduction coefficient 1 to 1.5 The total positioning time may become shorter if the acceleration is lowered for the purpose...

  • Page 75: Examining Effective Torque And Average Rotation Speed

    2-4 Examining operating status 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 [1-14 Operable range].
  • Page 76 2-4 Examining operating status (5) The figure on the right shows the points of operation determined by the effective torque and average rotation speed calculated above, plotted on the graph of operable range of SHA25Y51, exceeding the continuous motion range. The conclusion is that this actuator cannot be operated continuously under these conditions.
  • Page 77 2-4 Examining operating status 付 2-15...

  • Page 78: Chapter 3 Installing The Sha-Y Actuator

    Chapter 3 Installing the SHA-Y actuator The following explains the installation procedures of the actuators. 3-1 Receiving Inspection ····························································· 3-1 3-2 Notices on handling ······························································ 3-2 3-3 Location and installation ························································ 3-6...

  • Page 79: Receiving Inspection

    3-1 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. Check if the actuator is what you ordered. The nameplate is found on the rear end face of the SHA-Y series actuator.

  • Page 80: Notices On Handling

    3-2 Notices on handling Notices on handling Handle the SHA-Y series actuator carefully by observing the notices specified below. （1） Do not apply any excessive force or impact, especially to the actuator's output shaft. （2） Do not put the SHA-Y series actuator on a table, shelf, etc., where the CAUTION actuator could easily fall.
  • Page 81 3-2 Notices on handling SHA-CG assembly example Actuator fixing parts Actuator fixing parts Output shaft fixing parts Output shaft fixing parts Assembly example 3 Assembly example 4  Recommended tightening torque and transmission torque SG/HP SHA25Y SHA32Y Model Output Output Item Actuator Actuator...

  • Page 82: Precautions On Installation

    3-2 Notices on handling SHA25Y SHA32Y SHA40Y Model Output Output Output Item Actuator Actuator Actuator shaft shaft shaft Number of bolts, size 12-M5 8-M6 12-M6 12-M6 12-M8 8-M10 Bolt installation P.C.D. 15.3 Tightening Notes 1, 2 kgf･m 0.92 torque 1114 2012 2639 Transmission...

  • Page 83: Use Of Positioning Pins

    3-2 Notices on handling Use of positioning pins The SHA-Y series SG type actuator has positioning pin holes in the output rotary unit and flange fixed to the actuator. The SHA-Y series CG type has positioning pin holes only in the output rotary unit. Use these pins as necessary.

  • Page 84: Location And Installation

    3-3 Location and installation Location and installation Environment of location The environmental conditions of the installation location for SHA-Y series actuators must be as follows. Determine an appropriate installation location by observing these conditions without fail. ◆ Operating temperature: 0 to 40℃ The temperature in the cabinet may be higher than the atmosphere depending on the power loss of housed devices and size of the cabinet.

  • Page 85: Installation

    3-3 Location and installation Installation The SHA-Y 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 Output...

  • Page 86: Chapter 4 Options

    Chapter 4 Options This chapter explains the options available for the SHA-Y series actuator. 4-1 Options ·············································································· 4-1...

  • Page 87: Options

    4-1 Options Options With near origin and end limit sensors (option code: L) Revolution sensors are directly connected to the output shaft on the counter-output side of the actuator. Use this option if the mechanical origin is needed (when the virtual origin of the absolute encoder does not do the job) or you want to define an operation range as a safety measure.
  • Page 88 4-1 Options With stand (CG type, option code: V) Optional stand is available for purchase to use the SHA-CG type for table drive. ●Outline drawing of the actuator with an optional stand 付 For models with a stand, the cable is exited from the side of the actuator (option code: Y) Models with near home &...
  • Page 89 4-1 Options ●Dimensions and installation specifications of the actuator with an optional stand Item Unit SHA25Y SHA32Y SHA40Y φ84 h7 0/-0.035 φ110 h7 0/-0.035 φ132 h7 0/-0.040 φ160 φ198 φ248 φ168 φ208 φ258 φ210 h7 0/-0.046 φ260 h7 0/-0.052 φ316 h7 0/-0.057 135.5±0.3 152±0.3 180±0.3...

  • Page 90: Extension Cables

    4-1 Options Extension cables These extension cables are used to connect a SHA-Y series actuator to the Σ-7 Servopack. Two types of extension cables are available for motors (including brake wire). You must use an extension cable to connect your SHA-Y series actuator and the Σ-7 Servopack.
  • Page 91 4-1 Options  Actuator model Nos 58, 65 EWD-MB**-D09-TMC Cable length (03 = 3m, 05 = 5m, 10 = 10m) (Unit: mm) * 15 m cable is also available. The model number of the cable of this length is "EWD-MB15-D09-TMC". 付...

  • Page 92: A-1 Unit Conversion

    Chapter 5 Appendix A-1 Unit conversion···································································· 5-1 A-2 Calculating inertia moment ····················································· 5-3...

  • Page 93: Appendix A-1 Unit Conversion

    Unit conversion Unit conversion This manual employs SI system for units. Conversion factors between the SI system and other systems are as follows: （1）Length SI system Unit Factor 0.3048 0.0254 Unit Factor 3.281 39.37 SI system （2）Linear speed SI system Unit m/min ft./min...
  • Page 94 Unit conversion （8）Angular acceleration SI system rad/s Unit deg/s deg/min Factor 0.01755 2.93x10 Unit deg/s deg/min Factor 57.3 3.44x10 SI system rad/s （9）Torque SI system N･m Unit kgf･m lb･ft lb･in oz･in Factor 9.81 1.356 0.1130 7.06x10 Unit kgf･m lb･ft lb･in oz･in Factor 0.102...

  • Page 95: Formula Of Mass And Moment Of Inertia

    Calculating moment of inertia Calculating moment of inertia Formula of mass and moment of inertia (1) Both centerlines of rotation and gravity are the same: The following table includes formulas to calculate mass and inertia moment. m : mass (kg), Ix, Iy, Iz: inertia moments which rotates around x-, y-, z-axes respectively (kg･m G : distance from end face of gravity center (m) ρ...
  • Page 96 Calculating moment of inertia Object form Mass, inertia, gravity center Object form Mass, inertia, gravity center Rhombus pillar Hexagonal pillar ρ ρ B√3 Ix =             Isosceles triangle Right triangle pillar ABCρ...
  • Page 97 Calculating moment of inertia Inertia moment of cylinder The inertia moment of a cylinder Inertia moment (kgm Length (mm) may be obtained from the graphs to 1000 Inertia moment (specific gravity: 2.7) the right. 1000 Radius Length Apply the top graph to aluminum materials (specific gravity: 2.7) and bottom graph to steel materials 0.01...
  • Page 98 Calculating moment of inertia 付...
  • Page 100 Index Moment stiffness ..........1-31 Ａ Motor cable specifications ......... 1-47 Motor shaft holding brake ........1-12 Absolute encoder ..........1-29 Acceleration time ..........2-12 Ｎ Allowable load inertia moment ......2-1 Average rotation speed ........2-13 Notices on handling ..........3-2 Ｃ...
  • Page 102 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 2,000 hours of operation time.
  • Page 103 Harmonic Drive LLC Shinagawa-ku, Tokyo, Japan〒140-0013 247 Lynnfield Street Harmonic Drive AG／Hoenbergstraβe 14, 65555 Limburg, Germany Peabody, MA 01960 HarmonicDrive.net Harmonic Drive LLC／247 Lynnfield Street, Peabody, MA, 01960, U.S.A. 800-921-3332 ® HarmonicDrive is a registered trademark of Harmonic Drive Systems, Inc.

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