1410-15r-mt e indd€¦ · 16 sha series the sha series comprises ac servo actuators that integrate...

16

SHA SeriesThe SHA series comprises AC servo actuators that integrate a thin speed reducer HarmonicDrive® for precision control and a super flat AC servo motor.The SHA series features an unmatched compact hollow body. Entire machine and equipment structures can be simplified by passing wires, pipes and laser beams through a hole in the center of the actuator. Additionally, output shaft bearing, speed reducer, motor winding and others can be selected. The SHA series features wider variation that can meet various needs. Combination with the compact and multi-functional dedicated driver HA-800 controls the motions of the SHA series with high levels of accuracy and precision.

Features

● Hollow structure (maximum hollow opening diameter φ65mm), flat structure (maximum outside diameter φ284mm, total length 222mm) * Both in SHA65

● Torque cubic volume ratio more than 5 times of direct drive motor is achieved. * According to the technical infromation of HarmonicDrive®.

● Torque from 26Nm to 3419Nm is set as series.● Shaft bearing, speed reducer, and motor winding specifications can be selected to “meet various needs”● 17bit magnetic type absolute encoder is mounted as standard (conforming to Nicon A format)● By combining with hollow planetary reducer for precision control of “Harmonic Planetary®” HPF series, high-speed revolution is available.

(Model No. 25 and 32)

● By using dedicated drivers, control with MECHATROLINK-ll or CC-Link becomes available.● Motor itself can be sold as well.

■ Environment specification

Can be compatible with IP65 of protection code.

Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markingsCompliance with RoHS directive

■ AC Servo motorSupported power voltage specification: AC 200V(SHA25 is AC100V spec and 200V spec.)Supported power voltage specification: AC100V, DC48V to 90V(Inquire at Harmonic drive’s sales office for the supported model.)

■ Holding brake

Without brake

With brake (can be mounted without changing dimensions.)

■ Encoder

Magnetic type absolute encoder (17bit)Multi revolution backup (16bit)(conforming to Nicon A format)

Incremental encoder can be mounted.

■ Cable lead-out

Rear lead-out (Connecter used in models 58 and 65)

Side lead-out is available.(Models 25, 32, and 40)

■ Reducer model

High torque Harmonic Drive®SHG seriesHigh-speed Harmonic Planetary®HPF series (Model No. 25 and 32)

Changeable reducer modelFlat Harmonic Drive® (SHD series)Planetary gear reducer (HPG series)Reduction ratio: selectable between 1/11 and 1/161

■ Output shaft bearingHarmonicDrive® unit typeCrossed roller bearing in common with SHG series

The size can be changed to the high load capacity and high load specification.

■ Option

Near origin and end limit sensors

Sta

ndar

dVa

riatio

n

Stan

dard

Varia

tion Sta

ndar

dVa

riatio

nSt

anda

rdVa

riatio

n

Stan

dard

Varia

tion

Stan

dard

Varia

tion

Sta

ndar

dVa

riatio

n

Structure

17

To PE of motor relay cable

Notes:Starred ( * ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.

* If a brake is attached, the power supply for the brake is required separately.

AC servo actuatorSHA series

Dedicated communication cable

Communication software (PSF-800)

Versatile I/O command typeAC servo driverHA-800A

Versatile I/O command type System configuration

CN2 connector

TB1 connector

CN1 connector

Example of System Configuration

AC servo actuator

Basic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.

Host controller *

Circuit Breaker *1

Surge absorber *1

Noise filter *1

Power Supply *1

I/O signal cable *1

Encoder relay cable

Motor relay cable

CN2 connector

TB1 connector

CN1 connector

TB2 connectorControl power supply *1

Power supply cable *1

Main power supply *1

Electromagnetic contactor *1

Personal computer *1

Install

Nm

kgfm

r/min

Nm/A

kgfm/A

A

Nm

kgfm

Nm/rad

kgfm/arc-min

Pulse/revolution

V

kg

kg

GD2/4

J

GD2/4

J

kgm2

kgfcms2

kgm2

kgfcms2

11

51

81

101

121

161

1/11

1/51

1/81

1/101

1/121

1/161

SGHP

ABC

Model Nos. 58, 65Model Nos. 25, 32, 40

Model Nos. 20

(1)

SHA

(2)

32

(3)

A

(4)

101

(5)

SG

(6)

B

(7)

12

(8)

A

(9)

200

(10)

10

(11)

S17b

(12)

A

(13)

C

(14) (15)

161

229

23.4

34.8（29.8）

62（36）

6.3（3.6）

5.2（9.0）

5.6

57

6.6

67

21,102,592

121

217

22.1

46.3（39.7）

46（27）

4.7（2.7）

6.3（10.9）

3.2

32

3.7

38

15,859,712

101

204

20.8

55.4（47.5）

39（22）

4.0（2.3）

7.0（12.1）

2.2

22

2.6

26

258

26.3

39.2×104

11.6

13,238,272

AC100またはAC200

2.95

3.1

81

178

18.2

69.1（59.3）

31（17.9）

3.2（1.8）

7.5（13.0）

1.42

14.4

1.66

17

10,616,832

51

127

13

109.8（94.1）

19（11.1）

2.0（1.1）

8.6（14.9）

0.56

5.7

0.66

6.7

6,684,672

11

26

2.7

509.1

4.2

0.43

8.9

0.029

0.296

0.034

0.347

410

41.8

37.9×104

11.3

1,441,792

AC200

5

5.1

161

120

12.2

37.3

53

5.4

3.4

2.3

24

2.6

26

21,102,592

121

113

11.5

49.6

40

4.1

4.0

1.3

13

1.4

15

15,859,712

101

107

10.9

59.4

33

3.4

4.5

0.91

9.3

1.0

10

187

19.1

25.2×104

7.5

13,238,272

AC200

2.0

2.1

HA-800□-3

81

96

9.8

74.1

27

2.7

4.9

0.58

6.0

0.65

6.6

10,616,832

51

73

7.4

117.6

16.5

1.7

6.0

0.23

2.4

0.26

2.6

6,684,672

SHA25ASHA20A

217（131,072）

216（65,536）

HA-800□-3HA-800□-6

18

Example of standard item model

(1) Type: AC servo actuator SHA series

Model Nos.: 20, 25, 32, 40, 58, 65(2)

Version symbol(3)

AC servo actuator

Models and Symbols

* Reduction ratio 1/11 is set by combination with hollow planetary reducer HPF series. The Applicable Model Nos. for the ratio are 25 and 32, and the ratio is available in case of AC200V only.

SHG seriesHPF series

(6) Motor version

(5) Reducer typeReduction ratio (represented as R of 1/R)(4)

Specification

Item

Maximum Torque *2

Max. Rotational Speed

Torque Constant

Maximum Current *2

Moment of Inertia (without brake)

Moment of Inertia (with brake)

Mass (without brake)

Mass (with brake)

Encoder method

Encoder resolution per motor revolution

Permissible Moment Load

Moment Stiffness

Multi revolution detection

Output shaft resolution

Input power voltage

Protection Structure

Environmental Conditions

Mounting Direction

Safety Standard Compliance

Combined Driver

Model

Totally enclosed self-cooled type (IP54 or equivalent: See the technical information for the details of protection code.)

All directions

CE Marking, Certifications for UL and TUV

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No

exposure to direct sunshine. Altitude 1000m or less.

* 1: The aforementioned values are those at the output shaft. * 2: Values in combination with an HA-800 servo driver.* 3: The value in parentheses ( ) of SHA25 is the value when the input power voltage is AC100V.* 4: The value in parentheses ( ) of SHA40 is the value when combined with HA-800□-24 (rated output current 24A).* 5: Please check the actuator rotation direction in our technical data sheet.

Magnetic type 17bit absolute encoder

SHA Series

AB

A 0°

LY

CND

10

S17b

0809121521

Model Nos. 20Model Nos. 25Model Nos. 32Model Nos. 40

Model Nos. 58, 65

11

62

6.3

436.4

4.5

0.46

19

0.092

0.939

0.107

1.087

932

95

86.1×104

25.7

1,441,792

9.4

9.7

51

281

28.7

94.1

21

2.1

17.3

2.0

21

2.3

24

6,684,672

81

395

40.3

59.3

33

3.4

15.2

5.1

52

5.9

60

10,616,832

101

433

44.2

47.5

42

4.2

13.5

8.0

81

9.2

94

580

59.1

100×104

29.6

13,238,272

5.9

6.2

121

459

46.8

39.7

50

5.1

12.2

11

117

13

135

15,859,712

161

484

49.4

29.8

66

6.8

9.9

20

207

23

238

21,102,592

51

340（523）

34.7（53.4）

78.4

25

2.6

18（26.7）

5.0

51

6.1

62

6,684,672

81

560（675）

57.1（68.9）

49.4

41

4.1

18（21.8）

13

130

15

157

10,616,832

101

686（738）

70（75.3）

39.6

51

5.2

18（19.4）

20

202

24

244

849

86.6

179×104

53.2

13,238,272

AC200

9.9

10.7

121

802

81.8

33.1

61

6.2

17.9

28

290

34

350

15,859,712

161

841

85.8

24.8

81

8.2

14.6

50

513

61

619

21,102,592

81

1924

196

37.0

54

5.5

45

96

980

106

1090

10,616,832

101

2067

211

29.7

68

6.9

39

149

1520

165

1690

13,238,272

121

2236

228

24.8

81

8.3

36

214

2180

237

2420

15,859,712

161

2392

244

18.6

108

11.0

30

379

3870

420

4290

21,102,592

81

2400

245

34.6

54

5.5

55

110

1120

120

1230

10,616,832

101

2990

305

27.7

68

6.9

55

171

1740

187

1910

13,238,272

121

3263

333

23.1

81

8.3

51

245

2500

268

2740

15,859,712

161

3419

349

17.4

108

11.0

41

433

4420

475

4850

21,102,592

SHA32A SHA40A SHA58A SHA65A

2180

222

531×104

158

29.5

32

HA-800□-24

2740

280

741×104

220

37.5

40

HA-800□-24

217（131,072）

216（65,536）

HA-800□-6HA-800□-24HA-800□-6

200100

AC200VAC100V

19

(7) Motor size

Power supply of motor(9)

Without brakeWith brake

Brake (8)

(10)

A format, transmission speed: 2.5Mbps, one-to-one connection

Encoder format

(11) Encoder type, resolution

17bit absolute encoder, 131072 pulse/revolution

(12) Encoder phase angle

(100V is available only with our model No. 25.)

Near origin and end limit sensorsSide lead-out of cable

Option symbol(14)

StandardSpecial specification item

No description

Special specification(15)

Without connectorWith special connector(special specification)

Connector attached as standard

Attached connector(13)

AC servo actuator

Totally enclosed self-cooled type (IP54 or equivalent: See the technical information for the details of protection code.)

All directions

CE Marking, Certifications for UL and TUV

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only.

No exposure to direct sunshine. Altitude 1000m or less.

Magnetic type 17bit absolute encoder

■ SHA25A

■ SHA25A

17-

0.2

+0.

5

7633

77h7

-0.

030

0

54h7

-0.

030

0

70

90h7

-0.

035

0

94

3.512

5.563

12.5 27 ±0.4 63.5

103 ±1

108.5 ±1

200 0+ 35

C0.5

15° 20°

R30

84

15°

Depth 3

12 - 3.4

0.04

33.75°

62

16 -M3x 6

0.04 ( 13 )

(12

)

1A

1B

( 28 )

(14

)1 2 34 5 6

■ SHA20A

20

Unit: mm(Reducer type: SG type)

Unit: mm

(Reducer type: SG type)

Unit: mm


SHA Series

External Dimensions

Motor connector

Encoder connector

Motor connector

Encoder connector

Motor cable Encoder cable

Motor cable

Encoder cable

or less

Output rotary unit

Output rotary unit

Motor connector

Encoder connector

Pin hole positioning


15 or less


（Cable outside diameter 7.7）


AWG24X3 pairs + shield

（Cable outside diameter 7.7）（Cable outside diameter 5.6）

AWG24X3 pairs + shield

Motor cableEncoder cable

Hol

low

sha

ft

insi

de

dia

met

er

Hol

low

sha

ft in

sid

e d

iam

eter

Hollo

w s

haft

insid

e di

amet

er

3 0+ 0.010

Depth 5.5

3.4X6Opening diameter

AWG20X4 conductors AWG28X3 pairs (編組 + shield）（Cable outside diameter 6）

Housing :350715-1(AMP)Pin contact (Motor U・V・W) :350690-1(AMP)Pin contact (Motor PE) :350669-1(AMP)

Housing :1-1903130-4(AMP)Pin contact :1903111-2(AMP)


3 ±0.005

R0.4 or less（Opening diameter　 3.4X11.5）

* The differential range may differ depending on the method for manufacturing parts (molded articles, machining articles). Contact us for the differential range of the size that is not described.

(Opening diameter 4.5X6)

Opening diameter 4.5X5.5

(Opening diameter 4.5X13.5)


R0.4 or less

(From upper part of cable clamp)

AWG20X4 conductors

Tolerance range)

15 or less

15 or less

■ SHA32A

■ SHA32A

■ SHA40A

21

AC servo actuator

Motor connector

Encoder connector

Motor connector

Encoder connector



Pin hole positioningPin hole positioning

Output rotary unit

Output rotary unit










(Reducer type: HP type)

From upper part of cable clamp

(From upper part of cable clamp)

or less

Motor connector

Encoder connector

Tolerance range)

R0.4 or less15

or less

R0.4

or l

ess

15or less

Unit: mm

Unit: mm

Unit: mm

Hol

low

sha

ft

insi

de

dia

met

er

Hollo

w s

haft

insid

e di

amet

er

Hol

low

sha

ft

insi

de

dia

met

er

(Cable outside diameter:pairs + shield

Encoder cable

AWG18x4 conductorsMotor cable


Encoder cable

(Cable outside diameter:

(Cable outside diameter 7.7)AWF18x4 conductors

Motor cable


Encoder cable

(Cable outside diameter 7.8)AWG16x4 conductors

Motor cable

■ SHA65

■ SHA58A

22

SHA Series

External Dimensions

Unit: mm

(Reducer type: SG type) Motor connector

Encoder connector

Motor relay cable connector Encoder relay cable connector

or lessPin hole positioning

Output rotary unit

(Opening diameter

(Opening diameter


or more

(Opening diameter ø11x35)

Hol

low

sha

ft in

sid

e d

iam

eter

Unit: mm


(Opening diameter

(Opening diameter

(Opening diameter

Output rotary unit

Motor connector

Encoder connector

or more

or less

Hol

low

sha

ft in

sid

e d

iam

eter



Motor relay cable connector Encoder relay cable connector


SHA25A

120

50

40

SHA20A

—

60

50

SHA32A

120

50

40

SHA40A

—

50

40

SHA58A

—

—

40

SHA65A

—

—

40

1:11

1：51

1：81 or more

SHA20A

0.030

0.030

0.030

0.055

0.030

0.045

SHA25A

0.035

0.035（0.020）

0.035

0.050

0.035

0.060

SHA32A

0.040

0.040（0.020）

0.040

0.055

0.040

0.065

SHA40A

0.045

0.045

0.045

0.060

0.045

0.070

SHA58A

0.050

0.050

0.050

0.070

0.050

0.080

SHA65A

0.050

0.050

0.050

0.070

0.050

0.080

23

AC servo actuator

ModelReduction ratio

The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.

* See the technical information for the measuring method.* The aforementioned values are T.I.R (total indicator reading) values.* The values in parentheses ( ) is the value when combining reducer type and HP type (hollow planetary reducer).

1.Output shaft surface runout

2.Output shaft axial runout

3.Parallelism between the output shaft and mounted surface

4.Parallelism between the output shaft and mounted surface

5.Concentricity between the output shaft and fitting part

6.Concentricity between the output shaft and fitting part

(Unit: mm)

Uni-directional Positional accuracy

The “uni-directional positional accuracy” represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (Source: JIS [Japanese Industrial Standards] B 6201-1987). The SHA series contains a speed reducer HarmonicDrive® for precision control or a hollow planetary speed reducer for precision control HPF series. Therefore, positioning errors of the motor shaft are compressed according to reduction ratio. The "uni-directional positional accuracy" of the individual models are shown below.

Theoretical stop position

Positioning error

Actual stop position

Datum position

Mechanical Accuracy

Item

0 10

10

5

020

15

20

30

25

30

40

35

40

45

50 60 70 80 90 100

■ SHA20A51SG

20

40

60

80

00 20 40 60 80 100 120 140

■ SHA20A81SG

20

40

60

80

120

100

00 20 40 60 80

■ SHA20A101SG

120

0

40

20

80

60

100

0 20 40 60 80

■ SHA20A121SG

20

60

40

100

80

120

00 20 40 60

■ SHA20A161SG

20

40

60

80

140

120

100

00 10 20 30 40

24

SHA Series

The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).

■ 50% duty motion rangeRange of torque-rotational speed operable at 50% duty (ratio between operational and standby hours is 50:50)

■ Motion range during acceleration and decelerationRange of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration.

■ Continuous motion rangeRange of continuously operable torque-rotational speed.

Note 1: Motion ranges for continuous motion and that at 50% duty are the values when the radiation plate mentioned in the graphs is mounted.

Note 2: See the technical information for selection of a model No.

Radiation plate: 300×300×15（mm）

Rotational Speed [r/min]

Torq

ue [N

m]


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］

Torq

ue ［

Nm］


Operable Range

Acceleration/deceleration motion rangeAcceleration/

deceleration motion rangeAcceleration/deceleration motion range

Acceleration/deceleration motion range Acceleration/deceleration

motion range

Continuous motion range





50% duty motion range

50% duty motion range50% duty motion range


Input voltage: 200Ｖ

Radiation plate: 320×320×16 （mm）









■ SHA25A51SG

25

50

75

100

125

150

00 20 40 60 80 100

■ SHA25A81SG

25

50

75

100

150

125

175

200

00 20 40 60 80

■ SHA25A101SG

250

0

50

100

150

200

0 10 20 30 40 50

■ SHA25A121SG

50

100

150

200

250

00 10 20 30 40 50

■ SHA25A161SG

50

100

150

200

250

00 10 20 30 40

■ SHA25A11HP

5

10

15

20

25

30

00 100 200 300 400 600500

■ SHA25A51SG

25

50

75

100

150

125

00 20 40 80 10060 120

■ SHA25A81SG

200

0

50

25

100

75

150

125

175

0 20 40 60 80

■ SHA25A101SG

50

100

150

200

250

00 10 20 30 40 6050

■ SHA25A121SG

50

100

150

250

200

00 10 20 4030 50

■ SHA25A161SG

250

0

50

150

100

200

0 10 20 30 40

25

AC servo actuator

Acceleration/deceleration motion range


































Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Torq

ue ［

Nm］


Radiation plate: 350×350×18（mm）





















■ SHA32A11HP


20

10

40

30

50

60

70

00 100 200 300 400 500

Torq

ue ［

Nm］



■ SHA32A51SG


50

100

150

200

300

250

00 20 40 60 10080

Torq

ue ［

Nm］



■ SHA32A81SG


450

0

150

50

100

300

250

200

350

400

0 2010 4030 6050 70

Torq

ue ［

Nm］



Acceleration/deceleration motion rangeAcceleration/deceleration motion range


Continuous motion range Continuous motion range







■ SHA32A101SG


150

50

100

250

300

200

350

400

450

500

00 10 20 30 40 50

Torq

ue ［

Nm］



■ SHA32A121SG


0 10 20 30 40

Torq

ue ［

Nm］



■ SHA32A161SG


600

0

100

400

300

200

500

0 105 2015 3025 35

Torq

ue ［

Nm］












150

50

100

250

300

200

350

400

450

500

0

■ SHA40A51SG*1


100

300

200

400

500

600

00 20 40 60 80

Torq

ue ［

Nm］



■ SHA40A81SG*1


0 2010 30 40 50 60

Torq

ue ［

Nm］



■ SHA40A101SG*1


800

700

600

0

100

400

300

200

500

0 10 20 30 40

Torq

ue ［

Nm］











Continuous motion range Continuous motion range 100

300

400

200

500

600

700

800

0

■ SHA40A121SG*1


100

300

200

400

500

900

800

700

600

00 10 20 30 40

Torq

ue ［

Nm］



■ SHA40A161SG*1


0 105 15 20 25 30

Torq

ue ［

Nm］








Continuous motion range Continuous motion range 100

300

400

200

500

600

700

900

800

0

26

SHA Series

Operable Range

*1: When combined with HA-800□-6

■ SHA40A51SG*2


100

200

300

400

500

600

00 20 40 60 80

Torq

ue ［

Nm］



■ SHA40A81SG*2


100

200

300

400

500

800

600

700

00 10 20 30 40 50 60

Torq

ue ［

Nm］



■ SHA40A101SG*2


800

0

300

200

100

600

500

400

700

0 10 20 30 40

Torq

ue ［

Nm］












■ SHA58A81SG


250

1000

750

500

1250

1500

1750

2000

00 10 20 30 40

Torq

ue ［

Nm］



■ SHA58A101SG


500

1000

2500

1500

2000

00 5 10 15 20 25 30

Torq

ue ［

Nm］



■ SHA58A121SG


2500

0

1500

1000

500

2000

0 105 15 20 25 30

Torq

ue ［

Nm］












■ SHA58A161SG


1000

500

1500

2000

2500

00 5 10 15 20

Torq

ue ［

Nm］






■ SHA40A121SG*2


100

200

300

400

500

600

700

800

900

00 10 20 30 40

Torq

ue ［

Nm］



■ SHA40A161SG*2


100

200

300

400

500

900

800

600

700

00 5 10 15 20 25 30

Torq

ue ［

Nm］









27

AC servo actuator

*2: When combined with HA-800□-24

1500

1000

500

2000

2500

3000

00 10 20 30 40

500

1000

1500

2000

2500

3500

3000

00 5 10 15 302520

3500

0

500

2000

1500

1000

2500

3000

0 5 1510 20 25

1500

1000

500

2000

2500

3500

3000

00 5 10 15 20

28

SHA Series

Operable Range

■ SHA65A81SG


Torq

ue ［

Nm］



■ SHA65A101SG


Torq

ue ［

Nm］




Torq

ue ［

Nm］









■ SHA65A161SG


Torq

ue ［

Nm］






■ SHA65A121SG




29

AC servo actuator

Options

The cable for connecting SHA series to HA-800 driver.There are two types of relay cable; for motor (including brake wire) and for absolute encoder. The relay cable is required for connecting SHA series to HA-800 driver.Standard cable lengths are 3, 5 and 10m.

Actuator model Nos.: 20, 25, 32, 40 (Model No. 40 is applicable when combined with HA-800-6D.)Order Code Example: EWD-MB * * -A06-TN3

Actuator model No. 40 (when combined with HA-800-24D)Order Code Example: EWD-MB * * -A06-TMC

Relay Cable (for motors) Relay Cable (for motors)

Standard cable lengths are 3, 5 and 10m.

Actuator model No. 58, 65Order Code Example: EWD-MB * * -D09-TMCStandard cable lengths are 3, 5 and 10m.

Actuator model No. 20, 25, 32, 40Order Code Example: EWD-S * * -A08-3M14Standard cable lengths are 3, 5 and 10m.

Relay Cable (for motors) Relay Cable (for absolute encoders)

Actuator model No. 58, 65Order Code Example: EWD-S * * -D10-3M14Standard cable lengths are 3, 5 and 10m.

Relay Cable (for absolute encoders)

Driver side

Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: Black

Wiring indication label

Water proof cable clamp

Angle plug

V: White

U: Red

W: Black

V: White

U: Red

Brake: Yellow

Brake: Blue

PE: Green/Yellow

Weldering

Weldering

Actuator side

Driver side Actuator side

Driver sideActuator side



W: Black

V: White

U: Red

Brake: Yellow

Brake: Blue

PE: Green/Yellow

1410-15r-mt e indd€¦ · 16 sha series the sha series comprises ac servo actuators that integrate...

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