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This catalog contains information as of June 2019.No.1906-2R-SHACG_E

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Harmonic Drive Systems Rm206,1#,No.641,Tianshan Rd,Changning District,Shanghai, 200336, CHINA (Shanghai) Co.,Ltd.:

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http://www.hds.co.jp/ “HarmonicDrive®” is a trademark of Harmonic Drive Systems, Inc.The academic or general nomenclature of our products “HarmonicDrive®” is “strain wave gearing.”

AC Servo ActuatorFlat Shape / Hollow Structure

SHA Series

AC Servo Driver HA-800 Series

High-PrecisionSHA-CG Type(Reducer: HarmonicDrive® CSG Series)

SHA-CG Type SHA-CG TypeSHA Series

AC Servo Actuators SHA SeriesAC Servo Actuators

SHAseriesAC Servo Actuators

Flat Shape/Hollow Structure AC Servo Actuator SHA Series

Compared to direct drive motor, precision and resolution are almost equal

Drastical size and weight reduction is realizedWeight is reduced down to about 1/6 to 1/9 Size is reduced down to about 1/2 (Max. torque ratio) *According to research by HarmonicDrive® as of April, 2014

High-Precision SHA-CG TypeOutput shaft axial runout accuracy is drastically improved by changing combined models of HarmonicDrive®.Fulfills high precision requirements such as table rotation drive or alignment adjustment mechanism that demands mechanical precision.

Features of HA-800 series

Functions of HA-800 series

Features of SHA-CG type● Output shaft axial runout accuracy is drastically improved [surface runout • shaft axial runout (outer spigot) 0.010mm or less] By conducting an overall review of output rotary unit, high precision of surface runout and shaft axial runout is realized. Best suited application for index table and such.● Easy-to-divide output shaft resolution 0.01°, 0.001° or 0.0001° increment division is possible by setting parameters.● Vertical stand for indexing is available as an option.

HA-800B

HA-800C

General-purpose I/O command typeControl Mode [Position, Speed, Torque*3] supportedHA-800A

SHA series dedicated driver

Open Field Network Supported AC Servo Driver HA-800 Series

The actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque. SHA Series

*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.*3: Control mode to control motor current

Features 2・3SHA series CG type Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20-CG type 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25-CG type (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25-CG type (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32-CG type 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40-CG type 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40-CG type 《Combination Driver: HA-800□-24D/E-200》 18・19Operable Range・Mechanical Accuracy 20Uni-directional Positional Accuracy・Repeatability 21Reverse Positional Accuracy・Rotational Direction 22

Surface Treatment・Precautions 23SHA series Options (sold separately) 24・25Features 26HA-800 series Common Specification 26HA-800 series Communication Specification 28External Dimensions: HA-800□-1, 3 28External Dimensions: HA-800□-6 28External Dimensions: HA-800□-24 29HA-800 series Options (sold separately) 30Software to Set Servo Parameters (free delivery) 31

Warranty・Trademark・Overseas standards conformance 32For Safe Use of Servo Systems 33Memo 34As a Specialist in Precision Control Field (Company profile) 35

Cable lead-out EncoderRear lead-out

Side lead-out is available(size: 25, 32, 40)

Reducer modelHarmonicDrive® SHG seriesHarmonic Planetary®

HPF seriesStandard

Standard

Option

Standard

Variation

Standard

Variation

Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markings

AC Servo motor

Environment specification

Supported power voltage speci�cation: AC 200V(SHA25 can be compatible with AC100V spec.)

Supported power voltage speci�cation: AC100V, DC48 to 90V(Inquire at Harmonic drive’s sales of�ce for the supported model.)

Holding brakeWithout brakeWith brake (can be mounted without changing dimensions.)

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

Output shaft bearingCrossed roller bearing

The size can be changed to the high load capacity and high load speci�cation.

OptionNear origin and end limit sensors

With stand

Output shaft 1 revolution absolute speci�cation

Configuration

● Open �eld network supported: MECHATROLINK-ll, CC-Link● In comparison to conventional product • Reduces positional settling time to 1/2. • Auto tuning function is added. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque) can be switched by I/O

input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.

● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.

● Output shaft 1 revolution absolute speci�cation is added as a new function.

Command setting at ouput shaft 1 revolution can easily be set. Compatible with SHA-CD-S type.

● Output shaft partitioning function setting is added. Command setting by angular unit is available such as 3.6 million division

(equivalent to output shaft 0.0001 deg.).

MECHATROLINK-II supported CC-Link supported

CONTENTS

SHA-CG Type SHA-CG TypeSHA Series

AC Servo Actuators SHA SeriesAC Servo Actuators

Flat Shape/Hollow Structure AC Servo Actuator SHA Series

Compared to direct drive motor, precision and resolution are almost equal

Drastical size and weight reduction is realizedWeight is reduced down to about 1/6 to 1/9 Size is reduced down to about 1/2 (Max. torque ratio) *According to research by HarmonicDrive® as of April, 2014

High-Precision SHA-CG TypeOutput shaft axial runout accuracy is drastically improved by changing combined models of HarmonicDrive®.Fulfills high precision requirements such as table rotation drive or alignment adjustment mechanism that demands mechanical precision.

Features of HA-800 series

Functions of HA-800 series

Features of SHA-CG type● Output shaft axial runout accuracy is drastically improved [surface runout • shaft axial runout (outer spigot) 0.010mm or less] By conducting an overall review of output rotary unit, high precision of surface runout and shaft axial runout is realized. Best suited application for index table and such.● Easy-to-divide output shaft resolution 0.01°, 0.001° or 0.0001° increment division is possible by setting parameters.● Vertical stand for indexing is available as an option.

HA-800B

HA-800C

General-purpose I/O command typeControl Mode [Position, Speed, Torque*3] supportedHA-800A

SHA series dedicated driver

Open Field Network Supported AC Servo Driver HA-800 Series

The actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque. SHA Series

*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.*3: Control mode to control motor current

Features 2・3SHA series CG type Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20-CG type 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25-CG type (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25-CG type (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32-CG type 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40-CG type 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40-CG type 《Combination Driver: HA-800□-24D/E-200》 18・19Operable Range・Mechanical Accuracy 20Uni-directional Positional Accuracy・Repeatability 21Reverse Positional Accuracy・Rotational Direction 22

Surface Treatment・Precautions 23SHA series Options (sold separately) 24・25Features 26HA-800 series Common Specification 26HA-800 series Communication Specification 28External Dimensions: HA-800□-1, 3 28External Dimensions: HA-800□-6 28External Dimensions: HA-800□-24 29HA-800 series Options (sold separately) 30Software to Set Servo Parameters (free delivery) 31

Warranty・Trademark・Overseas standards conformance 32For Safe Use of Servo Systems 33Memo 34As a Specialist in Precision Control Field (Company profile) 35

Cable lead-out EncoderRear lead-out

Side lead-out is available(size: 25, 32, 40)

Reducer modelHarmonicDrive® SHG seriesHarmonic Planetary®

HPF seriesStandard

Standard

Option

Standard

Variation

Standard

Variation

Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markings

AC Servo motor

Environment specification

Supported power voltage speci�cation: AC 200V(SHA25 can be compatible with AC100V spec.)

Supported power voltage speci�cation: AC100V, DC48 to 90V(Inquire at Harmonic drive’s sales of�ce for the supported model.)

Holding brakeWithout brakeWith brake (can be mounted without changing dimensions.)

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

Output shaft bearingCrossed roller bearing

The size can be changed to the high load capacity and high load speci�cation.

OptionNear origin and end limit sensors

With stand

Output shaft 1 revolution absolute speci�cation

Configuration

● Open �eld network supported: MECHATROLINK-ll, CC-Link● In comparison to conventional product • Reduces positional settling time to 1/2. • Auto tuning function is added. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque) can be switched by I/O

input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.

● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.

● Output shaft 1 revolution absolute speci�cation is added as a new function.

Command setting at ouput shaft 1 revolution can easily be set. Compatible with SHA-CD-S type.

● Output shaft partitioning function setting is added. Command setting by angular unit is available such as 3.6 million division

(equivalent to output shaft 0.0001 deg.).

MECHATROLINK-II supported CC-Link supported

CONTENTS

SHA-CG Type SHA-CG Type

Model and Symbols

AC servo actuator

The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.

SHA20ACombination Driver SHA25A SHA32A SHA40AActuator Model

Motor cable EWD-MB＊＊-A06-TN3

** In the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.

Encoder cable EWD-S＊＊-A08-3M14

When HA-800A-6D/EEWD-MB＊＊-A06-TN3

When HA-800A-24DEWD-MB＊＊-A06-TMC

HA-800B-3D/E -200

HA-800C-3D/E -200

HA-800A-3D/E -200 HA-800A-6D/E-200

HA-800B-6D/E-200

HA-800C-6D/E-200

HA-800A-6D/E-200or

HA-800A-24D/E-200

HA-800B-6D/E-200or

HA-800B-24D/E-200

HA-800C-6D/E-200or

HA-800C-24D/E-200

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800C-6D/E-100

HA-800C-3D/E-200

SHA series (CG type) Line up

Combination with Driver and Relay Cable

The following shows how to read models and symbols of SHA series actuators.

■Example of standard item modelSHA 32 A 100 CG － B 12 A 200 － 10 S17b A － C

5080100120160

1/501/801/1001/1201/160

CG HarmonicDrive® CSG series

Without brake

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

S17b 17bit absolute encoder, 131072 pulse/revolution

Model 25, 32, 40Model 20

08091215

Model 20Model 25Model 32Model 40

100200

100V200V

(100V is available for model 25.)

Near origin and end limit sensorsSide lead-out of cableWith stand (CG type only)Output shaft 1 revolution absolute specification (CG type only)

(Inquire at Harmonic drive’s sales office for the supported model.)

Standard connector attachedWithout connector

No descriptionSP

Standard Special specification item

100200

AC100VAC200V

No descriptionSP

AC servo driver■Example of standard item model

HA－－

800A －－

200－－

－ (6)

13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification

800A800B800C

I/O command typeMECHATROLINK-Ⅱ supported typeCC-Link supported type

1.5A3A6A24A

CC-Link supported

MECHATROLINK-Ⅱ supported

HarmonicDrive®

Reduction RatioModel Max. Torque［Nm］

Permissible Continuous

Torque ［Nm］Max. RotationalSpeed ［r/min］

Output ResolutionPulses/Resolution

Hollow opening diameter ［mm］ Combined Driver Model

* Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).

25A(Power supply of motor

100V）

200V）

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

I/O command type: 　　　HA-800A-6D/E-100MECHATROLINK-Ⅱ supported：　　　HA-800B-6D/E-100CC-Link supported：　　　HA-800C-6D/E-100

I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

I/O command type: 　　　HA-800A-3D/E-200MECHATROLINK-Ⅱsupported：　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-3D/E-200

4 5SHAseriesAC Servo Actuators

Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current

Versatile I/O command type

(12) Encoder phase angle

Option symbol(14)

Special specification(15)

Attached connector(13)

(6) Motor version symbol

(7) Motor size

(5) Reducer type

Power supply of motor(9)

Supported encoder(4)

Input power supply voltage(5)

With brake

Brake (8)

(10) Encoder format

(11) Encoder type, resolution

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)

(1) Type: AC servo actuator SHA series

Model: 20, 25, 32, 40(2)

Version symbol(3)

Type: AC servo driver HA series

Series name: 800 series

Rated output current

Reduction ratio (represented as R of 1/R)(4)

SHA SeriesAC Servo Actuators SHA Series

AC Servo Actuators

Model and Symbols

AC servo actuator

The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.

Motor cable EWD-MB＊＊-A06-TN3

** In the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.

Encoder cable EWD-S＊＊-A08-3M14

When HA-800A-6D/EEWD-MB＊＊-A06-TN3

When HA-800A-24DEWD-MB＊＊-A06-TMC

HA-800B-3D/E -200

HA-800C-3D/E -200

HA-800A-3D/E -200 HA-800A-6D/E-200

HA-800B-6D/E-200

HA-800C-6D/E-200

HA-800A-6D/E-200or

HA-800A-24D/E-200

HA-800B-6D/E-200or

HA-800B-24D/E-200

HA-800C-6D/E-200or

HA-800C-24D/E-200

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800C-6D/E-100

HA-800C-3D/E-200

SHA series (CG type) Line up

Combination with Driver and Relay Cable

The following shows how to read models and symbols of SHA series actuators.

■Example of standard item modelSHA 32 A 100 CG － B 12 A 200 － 10 S17b A － C

5080100120160

1/501/801/1001/1201/160

CG HarmonicDrive® CSG series

Without brake

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

S17b 17bit absolute encoder, 131072 pulse/revolution

Model 25, 32, 40Model 20

08091215

Model 20Model 25Model 32Model 40

100200

100V200V

(100V is available for model 25.)

Near origin and end limit sensorsSide lead-out of cableWith stand (CG type only)Output shaft 1 revolution absolute specification (CG type only)

(Inquire at Harmonic drive’s sales office for the supported model.)

Standard connector attachedWithout connector

No descriptionSP

100200

AC100VAC200V

No descriptionSP

AC servo driver■Example of standard item model

HA－－

800A －－

200－－

－ (6)

13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification

800A800B800C

I/O command typeMECHATROLINK-Ⅱ supported typeCC-Link supported type

1.5A3A6A24A

CC-Link supported

HarmonicDrive®

Reduction RatioModel Max. Torque［Nm］

Permissible Continuous

Torque ［Nm］Max. RotationalSpeed ［r/min］

Output ResolutionPulses/Resolution

Hollow opening diameter ［mm］ Combined Driver Model

* Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).

100V）

200V）

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200

6,553,600

10,485,760

13,107,200

15,728,640

20,971,520

I/O command type: 　　　HA-800A-3D/E-200MECHATROLINK-Ⅱsupported：　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-3D/E-200

Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current

Versatile I/O command type

(12) Encoder phase angle

Option symbol(14)

Attached connector(13)

(6) Motor version symbol

(7) Motor size

(5) Reducer type

Power supply of motor(9)

Supported encoder(4)

Input power supply voltage(5)

With brake

Brake (8)

(10) Encoder format

(11) Encoder type, resolution

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)

(1) Type: AC servo actuator SHA series

Model: 20, 25, 32, 40(2)

Version symbol(3)

Type: AC servo driver HA series

Series name: 800 series

Rated output current

Reduction ratio (represented as R of 1/R)(4)

AC Servo Actuators

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

System Configuration

To PE of motor relay cable

* See “Technical information” for details of the configuration related to the power supply.

AC servo actuatorSHA series

Communication software (PSF-800)

General-purpose I/O command type

AC servo driverHA-800A

MECHATROLINK-Ⅱ supported System configuration

General-purpose I/O command type System configuration

CC-Link supported System configuration

TB2 connector(→ p. 30)

TB1: motor connector (→ p. 30)【Not necessary if relay cable is used】

Motor relay cable (p. 24)

TB2: Power supply connector (→ p. 30)

AC100V or AC200V power supply[Prepare cables and the power supply.]

AC servo driverHA-800B

CC-Link supportedAC servo driver

HA-800C

CN1: encoder connector (→ p. 24)【Not necessary if relay cable is used】

CN2: I/O signal connactor (→ p. 30)

MECHATROLINK-Ⅱterminating resistance

CC-Link Ver.1.10communication cable

MECHATROLINK-Ⅱcable

EIA-232C dedicated communication cable (→ p. 30)

I/O signal cable

Host controller

MECHATROLINK-Ⅱcontroller

Encoder relay cable（p. 25）

Encoder relay cable(p. 25)

Optionally available

To be supplied by the customer

Host controller

CC-Link master station

I/O signal cable

TB1: motor connector ( → p. 30)【Not necessary if relay cable is used】

CC-Link communication connector (→ p. 30)

Terminating resistance

(→ p. 31)

Power Supply *1

Circuit Breaker *1

Surge absorber *1

Noise filter *1

Control power supply *1

Power supply cable *1

Main power supply *1

Electromagnetic contactor *1

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

Dedicated communication cable(→ p. 30)

Encoder relay cable(→ p. 24)

Motor relay cable(→ p. 24)

I/O signal cable *1

Personal computer *1

CN2 connector(→ p. 30)

Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.

Install

Host controller *1

AC Servo Actuators

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

System Configuration

To PE of motor relay cable

* See “Technical information” for details of the configuration related to the power supply.

Communication software (PSF-800)

General-purpose I/O command type

AC servo driverHA-800A

MECHATROLINK-Ⅱ supported System configuration

General-purpose I/O command type System configuration

CC-Link supported System configuration

TB1: motor connector (→ p. 30)【Not necessary if relay cable is used】

AC servo driverHA-800B

CC-Link supportedAC servo driver

HA-800C

CN2: I/O signal connactor (→ p. 30)

MECHATROLINK-Ⅱterminating resistance

I/O signal cable

Host controller

MECHATROLINK-Ⅱcontroller

Encoder relay cable（p. 25）

Encoder relay cable(p. 25)

Host controller

CC-Link master station

I/O signal cable

TB1: motor connector ( → p. 30)【Not necessary if relay cable is used】

CC-Link communication connector (→ p. 30)

Terminating resistance

(→ p. 31)

Power Supply *1

Circuit Breaker *1

Surge absorber *1

Noise filter *1

Control power supply *1

Power supply cable *1

Main power supply *1

Electromagnetic contactor *1

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

Dedicated communication cable(→ p. 30)

Encoder relay cable(→ p. 24)

Motor relay cable(→ p. 24)

I/O signal cable *1

Personal computer *1

Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.

Install

Host controller *1

AC Servo Actuators

(21) (13)

20°15°

(28)(28)

15 or less

26 1419.5 （63.5）

UL_N.P CE_N.P

（83）

4417.5

R0.4 or less

（3）

Opening diameterC0.5 chamfering

Depth 7φ0.05

2-M5(Pull tap)

φ60 φ107

12-M4×7 6-φ5.5 to 6

0 -0.0

Output rotary unit

125.5±1

123±1

aft in

0 -0.0

AWG 20x4 conductors(Cable outside diameter：φ5.6)

Motor cableAWG 28x3 pairs + shield(Cable outside diameter：φ6)

Encoder cable

+35 0200

Encoder connectorHousing ：1-1903130-4【AMP】Tab contact ：1903111-2 【AMP】

Motor connectorHousing ：350715-1【AMP】Pin contact (motor U・V・W) ：350690-1【AMP】Pin contact (motor PE) ：350669-1【AMP】

φ4 H7 +0.012 0

External Dimensions （Unit: mm）

The aforementioned values are those at the output shaft.* 1: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 2: Temperature rise saturation values when the radiation plate of 320×320×16 [mm] is mounted.* 3: Tripled value of MEF.

(Reducer type: CG type)

Actuator Specification: SHA20-CG Type 《Combination Driver: HA-800□-3D/E-200》

737.4212.1120161.76.12.11.8

0.212.10.232.41:50

6,553,600

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

Nm/radkgf･m/arc min

Pulse/revolutionkgkg

969.8353.675262.75

2.12.9

0.535.40.66.11:80

10,485,760

10710.9434.460333.44.62.13.71.42.50.82

80.949.6

1:10018719.1

25.2×104

Absolute encoder217（131,072）216（65,536）13,107,200

2.62.7

11311.5484.950394

1.2121.314

15,728,640

12012.2484.937.5535.43.41.75.9

2.1222.424

20,971,520

GD2/4J

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.

Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)

Operable Range * See page 20 for how to read the operable range.

0 20 40 8060 140120100

■ SHA20A50CG

Rotational Speed ［r/min］

Radiation plate: 320×320×16（mm）

ue ［

50% duty motion range50% duty motion range

Acceleration/deceleration motion range

Continuousmotion rangeContinuous

motion range

0 20 40 60 80

■ SHA20A80CG

ue ［

motion range

0 20 40 60 80

■ SHA20A100CG

ue ［

motion range

0 20 40 60

■ SHA20A120CG

ue ［

motion range

0 10 20 30 40

■ SHA20A160CG

ue ［

motion range

SHA20A50CGItem SHA20A80CG SHA20A100CG SHA20A120CG SHA20A160CGModel

Permissible Continuous Torque *1,2

Permissible Continuous Current *1,2

Permissible Moment Capacity

Moment Stiffness

Uni-directional Positional Accuracy

Encoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)

Environmental Conditions

Mounting DirectionProtection Structure

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Resistance (at 20oC)

Phase Inductance

Reduction Ratio

Moment of Inertia(With brake)

Moment of Inertia(Without brake)

* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required.

AC Servo Actuators

(21) (13)

20°15°

(28)(28)

15 or less

26 1419.5 （63.5）

UL_N.P CE_N.P

（83）

4417.5

R0.4 or less

（3）

Opening diameterC0.5 chamfering

Depth 7φ0.05

2-M5(Pull tap)

φ60 φ107

12-M4×7 6-φ5.5 to 6

0 -0.0

Output rotary unit

125.5±1

123±1

aft in

0 -0.0

Motor cableAWG 28x3 pairs + shield(Cable outside diameter：φ6)

Encoder cable

+35 0200

Encoder connectorHousing ：1-1903130-4【AMP】Tab contact ：1903111-2 【AMP】

φ4 H7 +0.012 0

737.4212.1120161.76.12.11.8

0.212.10.232.41:50

6,553,600

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

969.8353.675262.75

2.12.9

0.535.40.66.11:80

10,485,760

10710.9434.460333.44.62.13.71.42.50.82

80.949.6

1:10018719.1

25.2×104

Absolute encoder217（131,072）216（65,536）13,107,200

2.62.7

11311.5484.950394

1.2121.314

15,728,640

12012.2484.937.5535.43.41.75.9

2.1222.424

20,971,520

GD2/4J

Operable Range * See page 20 for how to read the operable range.

0 20 40 8060 140120100

■ SHA20A50CG

ue ［

motion range

0 20 40 60 80

■ SHA20A80CG

ue ［

motion range

0 20 40 60 80

■ SHA20A100CG

ue ［

motion range

0 20 40 60

■ SHA20A120CG

ue ［

motion range

0 10 20 30 40

■ SHA20A160CG

ue ［

motion range

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

AC Servo Actuators

15°22.5°15°15°

（13）

(4) 19

（28）

（21）

（28）

28.5 (82)

127.5 ±1

15 or less

(65.5)

200+35 0

4)φ55

0 -0.0

7 0 -0

(Pull tap)

R0.4 or lessR0.4 or less

8-φ6.5 to 7

φ5 H7

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

Motor connector

Housing ：1-1903130-4【AMP】Tab contact ：1903117-2 【AMP】

Encoder connector

Output rotary unit

Encoder cableMotor cableAWG 24x3 pairs + shield(Cable outside diameter：φ7.7)

UL_N.P

CE_N.P

12-M5×8

+0.012 0

Opening diameterC1 chamfering

Depth 8φ0.05

R37.5R37.5

（Unit: mm）

External Dimensions(Reducer type: CG type)

Operable RangeActuator Specification: SHA25-CG Type (AC100V Spec.) 《Combination Driver: HA-800□-6D/E-100》

12713343.596

10.91.115.14.71.2

0.505.10.606.11:50

6,553,600

17818.2575.860

17.71.813.24.72.0

1.3131.516

10,485,760

20420.8727.348222.312.24.72.50.41.02.0202.424

1:10025826.3

39.2×104

11.640

Magnetic type absolute encoder217（131,072）216（65,536）13,107,200

3.954.1

21722.1818.240272.711.04.53.0

2.9293.435

15,728,640

22923.4818.230353.69.03.74.0

5.1526.162

20,971,520

* See page 20 for how to read the operable range.

0 20 40 60 80 100

■ SHA25A50CG

0 20 40 60 80

■ SHA25A80CG

0 10 20 30 40 50

■ SHA25A120CG

0 10 20 30 40

■ SHA25A160CG

ue ［

0 10 20 30 40 50

■ SHA25A100CG

ue ［

motion range

AC Servo Actuators

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

15°22.5°15°15°

（13）

(4) 19

（28）

（21）

（28）

28.5 (82)

127.5 ±1

15 or less

(65.5)

200+35 0

4)φ55

0 -0.0

7 0 -0

(Pull tap)

8-φ6.5 to 7

φ5 H7

Motor connector

Encoder connector

Output rotary unit

UL_N.P

CE_N.P

12-M5×8

+0.012 0

Depth 8φ0.05

R37.5R37.5

（Unit: mm）

External Dimensions(Reducer type: CG type)

Operable RangeActuator Specification: SHA25-CG Type (AC100V Spec.) 《Combination Driver: HA-800□-6D/E-100》

12713343.596

10.91.115.14.71.2

0.505.10.606.11:50

6,553,600

17818.2575.860

17.71.813.24.72.0

1.3131.516

10,485,760

20420.8727.348222.312.24.72.50.41.02.0202.424

1:10025826.3

39.2×104

11.640

3.954.1

21722.1818.240272.711.04.53.0

2.9293.435

15,728,640

22923.4818.230353.69.03.74.0

5.1526.162

20,971,520

0 20 40 60 80 100

■ SHA25A50CG

0 20 40 60 80

■ SHA25A80CG

0 10 20 30 40 50

■ SHA25A120CG

0 10 20 30 40

■ SHA25A160CG

ue ［

0 10 20 30 40 50

■ SHA25A100CG

ue ［

motion range

AC Servo Actuators

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

Actuator Specification: SHA25-CG Type (AC200V Spec.) 《Combination Driver: HA-800□-3D/E-200》

12713404.1112191.98.73.02.1

0.505.10.606.11:50

6,553,600

17818.2666.870313.17.63.03.4

1.3131.516

10,485,760

20420.8818.256383.97.03.04.31.23

2.0202.424

1:10025826.3

39.2×104

11.640

3.954.1

21722.1818.246.7464.76.32.65.2

2.9293.435

15,728,640

22923.4818.235616.35.22.16.9

5.1526.162

20,971,520

0 20 40 60 80 100 120

■ SHA25A50CG

0 20 40 60

■ SHA25A100CG

放熱板：350×350×18（mm）

0 20 40 60 80

■ SHA25A80CG

0 10 20 30 40 50

■ SHA25A120CG

0 10 20 30 40

■ SHA25A160CG

ue ［

motion range

15°22.5°15°15°

（13）

(4) 19

（28）

（21）

（28）

28.5 (82)

127.5 ±1

15 or less

(65.5)

200+35 0

4)φ55

0 -0.0

7 0 -0

(Pull tap)

8-φ6.5 to 7

φ5 H7

Motor connector

Encoder connector

Output rotary unit

UL_N.P

CE_N.P

12-M5×8

+0.012 0

Depth 8φ0.05

R37.5R37.5

AC Servo Actuators

Operable Range

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

Actuator Specification: SHA25-CG Type (AC200V Spec.) 《Combination Driver: HA-800□-3D/E-200》

12713404.1112191.98.73.02.1

0.505.10.606.11:50

6,553,600

17818.2666.870313.17.63.03.4

1.3131.516

10,485,760

20420.8818.256383.97.03.04.31.23

2.0202.424

1:10025826.3

39.2×104

11.640

3.954.1

21722.1818.246.7464.76.32.65.2

2.9293.435

15,728,640

22923.4818.235616.35.22.16.9

5.1526.162

20,971,520

0 20 40 60 80 100 120

■ SHA25A50CG

0 20 40 60

■ SHA25A100CG

放熱板：350×350×18（mm）

0 20 40 60 80

■ SHA25A80CG

0 10 20 30 40 50

■ SHA25A120CG

0 10 20 30 40

■ SHA25A160CG

ue ［

motion range

15°22.5°15°15°

（13）

(4) 19

（28）

（21）

（28）

28.5 (82)

127.5 ±1

15 or less

(65.5)

200+35 0

4)φ55

0 -0.0

7 0 -0

(Pull tap)

8-φ6.5 to 7

φ5 H7

Motor connector

Encoder connector

Output rotary unit

UL_N.P

CE_N.P

12-M5×8

+0.012 0

Depth 8φ0.05

R37.5R37.5

AC Servo Actuators

Operable Range

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

144±1

（90）（5）

（70.5）19.523.52034

2-M6(Pull tap)

12-φ6.5 to 7

AWG 24x3 pairs + shield(Cable outside diameter：φ7.7)

Encoder cableAWG 18x4 conductors(Cable outside diameter：φ7.7)

Motor cable

R50　

15°15°

121）

146）

15 or lessR0.4 or less

R0.4 or lessOutput rotary unit

12-M6×10

Housing ：1-1903130-4 【AMP】Tab contact ：1903117-2 【AMP】

Encoder connector

（21）

（28）（28）

（13） 200 +35 0

）（

+0.012 0φ6 H7 Depth 8

φ0.05

28128.7909.296202.117.76.02.3

1.7172.020

6,553,600

39540.315115.460333.415.46.03.7

4.3445.152

10,485,760

43344.217818.248414.213.75.74.6

0.33 1.46.7687.981

1:10058059.2

100×104

29.630

7.78.0

45946.817818.240495.012.25.05.5

9.79911116

15,728,640

48449.417818.230666.7104.17.4

1717520207

20,971,520

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.Insulation resistance: 100MΩ or more (DC 500V) Dielectric strength: AC 1500V/1minInsulation class: Class AAll directionsTotally enclosed self-cooled type (IP54)

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

■ SHA32A50CG

0 10 20 30 40 50

■ SHA32A100CG

0 10 20 30 40 50 60 70

■ SHA32A80CG

0 10 20 30 40 50

■ SHA32A120CG

0 5 10 15 20 25 30 35

■ SHA32A160CG

ue ［

motion range

AC Servo Actuators

Operable Range

144±1

（90）（5）

（70.5）19.523.52034

2-M6(Pull tap)

12-φ6.5 to 7

Encoder cableAWG 18x4 conductors(Cable outside diameter：φ7.7)

Motor cable

R50　

15°15°

121）

146）

15 or lessR0.4 or less

R0.4 or lessOutput rotary unit

12-M6×10

Housing ：1-1903130-4 【AMP】Tab contact ：1903117-2 【AMP】

Encoder connector

（21）

（28）（28）

（13） 200 +35 0

）（

+0.012 0φ6 H7 Depth 8

φ0.05

28128.7909.296202.117.76.02.3

1.7172.020

6,553,600

39540.315115.460333.415.46.03.7

4.3445.152

10,485,760

43344.217818.248414.213.75.74.6

0.33 1.46.7687.981

1:10058059.2

100×104

29.630

7.78.0

45946.817818.240495.012.25.05.5

9.79911116

15,728,640

48449.417818.230666.7104.17.4

1717520207

20,971,520

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

■ SHA32A50CG

0 10 20 30 40 50

■ SHA32A100CG

0 10 20 30 40 50 60 70

■ SHA32A80CG

0 10 20 30 40 50

■ SHA32A120CG

0 5 10 15 20 25 30 35

■ SHA32A160CG

ue ［

motion range

AC Servo Actuators

Operable Range

22.5°

15° 15°15° (1

5(6) 28.5

(108)22

15 or less

170±1

(21) 200

5 0 -0.0

0 -0.0

5) φ18

0 -0.0

C0.5(Pull tap)

+0.015 0

Encoder connector

Motor cable Encoder cableAWG 16x4 conductors(Cable outside diameter：φ7.8)

12-M8×12

φ8 H7 Depth 10

R0.4 or less

8-φ11 to 11.5

Motor connector

Output rotary unit R0.4 or less

φ0.05

The aforementioned values are those at the output shaft.* 1: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.* 2: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 3: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 4: Tripled value of MEF.

33334.0929.480252.5186.02.8

4.8495.859

6,553,600

54855.915615.950404.1186.04.5

12124151501:80

10,485,760

68670.019620.040505.1186.05.60.191.21919423235

1:10084986.6

179×104

53.230

13.013.8

80281.823524.033.3606.117.66.06.7

2728033338

15,728,640

84185.831532.125808.214.36.09.0

4949759601

20,971,520

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Permissible Continuous Torque *1, 2, 3

Moment Stiffness

Motor Insulation

Maximum Torque *1, 2, 3

Maximum Voltage *2

Maximum Speed *2

Torque Constant * 2

MEF Constant *4

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

■ SHA40A50CG/HA-800-6D/E

motion range

0 10 20 30 40 50

0 20 40 60

motion range

0 10 20 30 40

motion range

0 10 20 30

motion range

ue ［

AC Servo Actuators

Operable Range

22.5°

15° 15°15° (1

5(6) 28.5

(108)22

15 or less

170±1

(21) 200

5 0 -0.0

0 -0.0

5) φ18

0 -0.0

C0.5(Pull tap)

+0.015 0

Encoder connector

12-M8×12

φ8 H7 Depth 10

R0.4 or less

8-φ11 to 11.5

Motor connector

φ0.05

The aforementioned values are those at the output shaft.* 1: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.* 2: Characteristic in combination with a HarmonicDrive® driver (driven at an ideal sine wave).* 3: Temperature rise saturation values when the radiation plate of 500×500×25 [mm] is mounted.* 4: Tripled value of MEF.

33334.0929.480252.5186.02.8

4.8495.859

6,553,600

54855.915615.950404.1186.04.5

12124151501:80

10,485,760

68670.019620.040505.1186.05.60.191.21919423235

1:10084986.6

179×104

53.230

13.013.8

80281.823524.033.3606.117.66.06.7

2728033338

15,728,640

84185.831532.125808.214.36.09.0

4949759601

20,971,520

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Permissible Continuous Torque *1, 2, 3

Moment Stiffness

Motor Insulation

Maximum Torque *1, 2, 3

Maximum Voltage *2

Maximum Speed *2

Torque Constant * 2

MEF Constant *4

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

motion range

0 10 20 30 40 50

0 20 40 60

motion range

0 10 20 30 40

motion range

0 10 20 30

motion range

ue ［

AC Servo Actuators

Operable Range

52353.415716.080252.527.29.02.8

4.8495.859

6,553,600

67568.926026.550404.1229.04.5

12124151501:80

10,485,760

73875.332733.340505.119.69.05.60.191.21919423235

1:10084986.6

179×104

53.230

13.013.8

80281.838239

33.3606.1188.86.7

2728033338

15,728,640

84185.83823925808.214.77.29.0

4949759601

20,971,520

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

0 10 20 30 40 50

■ SHA40A100CG/HA-800-24D/E

0 20 40 60

0 10 20 30 40

■ SHA40A120CG/HA-800-24D/E

0 10 20 30

■ SHA40A160CG/HA-800-24D/E

ue ［

motion range

motion range22.5°

15° 15°15° (1

5(6) 28.5

(108)22

15 or less

170±1

(21) 200

5 0 -0.0

0 -0.0

5) φ18

0 -0.0

C0.5(Pull tap)

+0.015 0

Encoder connector

12-M8×12

φ8 H7 Depth 10

R0.4 or less

8-φ11 to 11.5

Motor connector

φ0.05

AC Servo Actuators

Operable Range

52353.415716.080252.527.29.02.8

4.8495.859

6,553,600

67568.926026.550404.1229.04.5

12124151501:80

10,485,760

73875.332733.340505.119.69.05.60.191.21919423235

1:10084986.6

179×104

53.230

13.013.8

80281.838239

33.3606.1188.86.7

2728033338

15,728,640

84185.83823925808.214.77.29.0

4949759601

20,971,520

Nmkgf･mNm

kgf･mr/minNm/A

kgf･m/AAA

V/(r/min)ΩmH

kg･m2

kgf･cm･s2

kg･m2

kgf･cm･s2

Nmkgf･m

GD2/4J

Moment Stiffness

Motor Insulation

Maximum Torque *1

Maximum Voltage *1

Maximum Speed *1

Torque Constant *1

MEF Constant *3

Phase Inductance

Reduction Ratio

0 20 40 60 80 100

0 10 20 30 40 50

■ SHA40A100CG/HA-800-24D/E

0 20 40 60

0 10 20 30 40

■ SHA40A120CG/HA-800-24D/E

0 10 20 30

■ SHA40A160CG/HA-800-24D/E

ue ［

motion range

motion range22.5°

15° 15°15° (1

5(6) 28.5

(108)22

15 or less

170±1

(21) 200

5 0 -0.0

0 -0.0

5) φ18

0 -0.0

C0.5(Pull tap)

+0.015 0

Encoder connector

12-M8×12

φ8 H7 Depth 10

R0.4 or less

8-φ11 to 11.5

Motor connector

φ0.05

AC Servo Actuators

Operable Range

Mechanical Accuracy

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

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

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

■ 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.

0 10 20 30 40 50 60 70 80 90 100

Rotational Speed [r/min]

Positioning error

Speci�ed stop position

Actual stop position

Datum position

Reduction Ratio Model

Total reduction ratio ±5

SHA20A

SHA25A

SHA32A

SHA40A

（Unit: Sec）

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. (JIS B 6201-1987)

The repeatability is determined by repeating positioning in a given position from the same direction seven times, by measuring four stop positions of the output shaft and by calculating the maximum differences. Measured values are indicated in angles (degrees) and are pre�xed with "±" to 1/2 of the maximum differences. The values in the table are maximum values. （JIS B 6201-1987）

Reduction RatioModel

1:501:80 or more

SHA20A

SHA25A

SHA32A

SHA40A

（Unit: Sec）■ CG Type

XRepeatability: ±X/2

＊P1 to P7: Stop position　X: maximum difference

■ CG TypeAccuracie Item

1. Output shaft surface runout2-1. Output shaft axial runout (outer spigot)2-2. Output shaft axial runout (inner spigot)3. Parallelism between the output shaft and mounted surface4. Parallelism between the output shaft and mounted surface5. Concentricity between the output shaft and fitting part6. Concentricity between the output shaft and fitting part

SHA20A SHA25A SHA32A SHA40A

* The aforementioned values are T.I.R (total indicator reading) values.

（Uint: mm）

■ CG Type

Repeatability

AC Servo Actuators

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.

0.0100.0100.0150.0300.0400.0500.060

0.0100.0100.0150.0350.0450.0550.065

0.0100.0100.0150.0350.0450.0600.070

Operable Range

Mechanical Accuracy

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

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

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

■ 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.

0 10 20 30 40 50 60 70 80 90 100

Rotational Speed [r/min]

Positioning error

Speci�ed stop position

Actual stop position

Datum position

Reduction Ratio Model

Total reduction ratio ±5

SHA20A

SHA25A

SHA32A

SHA40A

（Unit: Sec）

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. (JIS B 6201-1987)

The repeatability is determined by repeating positioning in a given position from the same direction seven times, by measuring four stop positions of the output shaft and by calculating the maximum differences. Measured values are indicated in angles (degrees) and are pre�xed with "±" to 1/2 of the maximum differences. The values in the table are maximum values. （JIS B 6201-1987）

1:501:80 or more

SHA20A

SHA25A

SHA32A

SHA40A

XRepeatability: ±X/2

＊P1 to P7: Stop position　X: maximum difference

■ CG TypeAccuracie Item

1. Output shaft surface runout2-1. Output shaft axial runout (outer spigot)2-2. Output shaft axial runout (inner spigot)3. Parallelism between the output shaft and mounted surface4. Parallelism between the output shaft and mounted surface5. Concentricity between the output shaft and fitting part6. Concentricity between the output shaft and fitting part

SHA20A SHA25A SHA32A SHA40A

* The aforementioned values are T.I.R (total indicator reading) values.

（Uint: mm）

■ CG Type

Repeatability

AC Servo Actuators

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.

0.0100.0100.0150.0300.0400.0500.060

0.0100.0100.0150.0350.0450.0550.065

0.0100.0100.0150.0350.0450.0600.070

Reverse Positional Accuracy

Rotational Direction

The reverse positional accuracy is determined by rotating in positive (or negative) direction to determine the stopping position as a benchmark. Rotate to the same direction by giving an arbitrary command then give the same command in negative (or positive) direction from the stopping position. Measure the differences between the stopping position and the benchmark. Repeat the steps seven times to determine the average value to calculate the maximum value at four positions of the output shaft. (JIS B 6201-1987)

The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.

■ “SP50: Command polarity” setting

Set value

Clockwise directionCounter-clockwise direction

FWD command pulse

Counter-clockwise directionClockwise direction

REV command pulse

Factory setting

Setting

● Operating the SHA series (CG type) at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern.

● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.

The following surface treatment is provided for standard SHA series actuators.

The surface treatment of SHA series actuator does not completely protect rust.

■ CG Type

Main bodyOutput shaft roller bearing fixed partOutput shaft rotorHollow shaft (Sleeve)Bolt

No treatment (Bare aluminum)Low temperature black chrome platingLow temperature black chrome platingNickel platingTrivalent chrome plating or nickel plating

Part Surface treatment

1:501:80 or more

SHA20A

SHA25A

SHA32A

SHA40A

＊ P1 to P7 : Stop position from positive direction P1’to P7’ : Stop position from negative direction X1 to X7 : Difference between stop position of positive and negative direction

Reverse positional accuracy:

一X1 + X2 + ・・・ + X7 一/7

*Arrow indicates counter-clockwise direction.

Precautions

Surface Treatment

AC Servo Actuators

Reverse Positional Accuracy

Rotational Direction

The reverse positional accuracy is determined by rotating in positive (or negative) direction to determine the stopping position as a benchmark. Rotate to the same direction by giving an arbitrary command then give the same command in negative (or positive) direction from the stopping position. Measure the differences between the stopping position and the benchmark. Repeat the steps seven times to determine the average value to calculate the maximum value at four positions of the output shaft. (JIS B 6201-1987)

The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.

■ “SP50: Command polarity” setting

Set value

Clockwise directionCounter-clockwise direction

FWD command pulse

Counter-clockwise directionClockwise direction

REV command pulse

Factory setting

Setting

● Operating the SHA series (CG type) at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern.

● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.

The following surface treatment is provided for standard SHA series actuators.

The surface treatment of SHA series actuator does not completely protect rust.

■ CG Type

Main bodyOutput shaft roller bearing fixed partOutput shaft rotorHollow shaft (Sleeve)Bolt

No treatment (Bare aluminum)Low temperature black chrome platingLow temperature black chrome platingNickel platingTrivalent chrome plating or nickel plating

Part Surface treatment

1:501:80 or more

SHA20A

SHA25A

SHA32A

SHA40A

＊ P1 to P7 : Stop position from positive direction P1’to P7’ : Stop position from negative direction X1 to X7 : Difference between stop position of positive and negative direction

Reverse positional accuracy:

一X1 + X2 + ・・・ + X7 一/7

*Arrow indicates counter-clockwise direction.

Precautions

Surface Treatment

AC Servo Actuators

SHA series Options (sold separately)

For standard encoders, as long as uni-directional rotation continues, positional information will not be managable accurately since absolute encoder is to surpass detectable multi-rotational detection count.As for output shaft 1 revolution absolute specifications, clear the multi-accumilation counter to 0 (zero) as outputshaft turns 1 revolution (one turn) to maintain positional information accuracy as long as uni-directional rotation continues. See the “technical information for AC servo driver HA-800 series” to use this function since driver setting is necessary for the drive. This specification is onyly for CG type only.

Output shaft 1 revolution absolute specification （option symbol: S）

Stand is available for use of CG type as table drive.For details, contact one of our branch offices.

With stand （CG type, option symbol: V）

This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.

Relay Cable

Actuator model number: 20, ２５, ３２, ４０ (Model No. 40 is used when combining with HA-800-6D/E.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴＮ３

Cable length (03＝3ｍ, 05＝5ｍ, 10＝10m)

● For motors

(Unit: mm)

（30）

【Driver side】(HA-800-3・6)

【Actuator side】(SHA25・32A・40A)

（60）

（28max）（19max）

Soldering process Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: BlackWiring display seal

V: WhiteU: Red

Cable length

Outside diameter φ7.8

100 +100

【Actuator side】【Driver side】

(Unit: mm)

Actuator model number: 20, ２５, ３２, ４０　　ＥＷＤ－Ｓ＊＊－Ａ０８－３Ｍ１４

● For encoders

Cable length

（12.6）

（11.3）Outside diameter φ8.4

（39）（12.7）

Actuator model number: ４０ (combining with HA-800-24D/E.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴMC

Cable length (03＝3ｍ, 05＝5ｍ, 10＝10m) (Unit: mm)

【Driver side】(HA-800-24) Cable length

（80）

（60）

Brake: BlueSoldering process

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

【Actuator side】(SHA40A)

Note:1. For actuators, please refer to the illustrated specifications or technical information accompanying the delivered product for detailed dimensions and spcifications.2. Stand is only for SHA-CG type, side lead-out of cable.

*1: The aforementioned values are T.I.R (total indicator reading) values.*2: The values in parentheses are for equipment with a brake.*3: When installing the products, use plain washer.

・ For actuators, please refer to the illustrated specifications accompanying the delivered product for detailed dimensions and spcifications.・ Material of stand is cast aluminum. No surface treatment is applied.・ Stand is sold only as an option.・ Near origin and end limit sensors (option) can not be combined.・ Actuator is equipped with side lead-out of cable.

Item Unit SHA20 SHA25 SHA32 SHA40abcdefgh

o ＊1

p ＊1

Mass ＊2

Bolt used for i part ＊3

Recommended tightening torque for i part

mmmmmmmmmmmmmmmm

mmmmmmmm°mm

φ69 h7 0/-0.030φ135φ143

φ177 h7 0/-0.040133±0.3

1187.511

6-φ6.6Boring φ13 depth 1

φ16112-M4×7

φ60170

0.050φ0.080

60φ107

2-M6 Depth 114.4（4.5）

φ84 h7 0/-0.035φ160φ168

φ210 h7 0/-0.046135.5±0.3

120813

6-φ9Boring φ17 Depth 1

φ19012-M5×8

φ72160

0.055φ0.080

22.5φ131

2-M8 Depth 136.1（6.2）

φ110 h7 0/-0.035φ198φ208

φ260 h7 0/-0.052152±0.3

133813

φ23412-M6×10

φ96150

0.060φ0.090

45φ162

2-M8 Depth 1511.6（11.9）

φ132 h7 0/-0.040φ248φ258

φ316 h7 0/-0.057180±0.3

1631020

φ28812-M8×12

φ116130

0.070φ0.100

90φ203

2-M12 Depth 2320（21）6-M12

■Outline drawing

■ Measurement table

AC Servo Actuators

Name plate

SHA series Options (sold separately)

For standard encoders, as long as uni-directional rotation continues, positional information will not be managable accurately since absolute encoder is to surpass detectable multi-rotational detection count.As for output shaft 1 revolution absolute specifications, clear the multi-accumilation counter to 0 (zero) as outputshaft turns 1 revolution (one turn) to maintain positional information accuracy as long as uni-directional rotation continues. See the “technical information for AC servo driver HA-800 series” to use this function since driver setting is necessary for the drive. This specification is onyly for CG type only.

Output shaft 1 revolution absolute specification （option symbol: S）

Stand is available for use of CG type as table drive.For details, contact one of our branch offices.

With stand （CG type, option symbol: V）

This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.

Relay Cable

Actuator model number: 20, ２５, ３２, ４０ (Model No. 40 is used when combining with HA-800-6D/E.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴＮ３

● For motors

(Unit: mm)

（30）

【Driver side】(HA-800-3・6)

【Actuator side】(SHA25・32A・40A)

（60）

Soldering process Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: BlackWiring display seal

V: WhiteU: Red

Cable length

100 +100

【Actuator side】【Driver side】

(Unit: mm)

Actuator model number: 20, ２５, ３２, ４０　　ＥＷＤ－Ｓ＊＊－Ａ０８－３Ｍ１４

● For encoders

Cable length

（12.6）

（11.3）Outside diameter φ8.4

（39）（12.7）

Actuator model number: ４０ (combining with HA-800-24D/E.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴMC

Cable length (03＝3ｍ, 05＝5ｍ, 10＝10m) (Unit: mm)

【Driver side】(HA-800-24) Cable length

（80）

（60）

Brake: BlueSoldering process

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

【Actuator side】(SHA40A)

Note:1. For actuators, please refer to the illustrated specifications or technical information accompanying the delivered product for detailed dimensions and spcifications.2. Stand is only for SHA-CG type, side lead-out of cable.

*1: The aforementioned values are T.I.R (total indicator reading) values.*2: The values in parentheses are for equipment with a brake.*3: When installing the products, use plain washer.

・ For actuators, please refer to the illustrated specifications accompanying the delivered product for detailed dimensions and spcifications.・ Material of stand is cast aluminum. No surface treatment is applied.・ Stand is sold only as an option.・ Near origin and end limit sensors (option) can not be combined.・ Actuator is equipped with side lead-out of cable.

Item Unit SHA20 SHA25 SHA32 SHA40abcdefgh

o ＊1

p ＊1

Mass ＊2

Bolt used for i part ＊3

Recommended tightening torque for i part

mmmmmmmmmmmmmmmm

mmmmmmmm°mm

φ69 h7 0/-0.030φ135φ143

φ177 h7 0/-0.040133±0.3

1187.511

6-φ6.6Boring φ13 depth 1

φ16112-M4×7

φ60170

0.050φ0.080

60φ107

2-M6 Depth 114.4（4.5）

φ84 h7 0/-0.035φ160φ168

φ210 h7 0/-0.046135.5±0.3

120813

φ19012-M5×8

φ72160

0.055φ0.080

22.5φ131

2-M8 Depth 136.1（6.2）

φ110 h7 0/-0.035φ198φ208

φ260 h7 0/-0.052152±0.3

133813

φ23412-M6×10

φ96150

0.060φ0.090

45φ162

2-M8 Depth 1511.6（11.9）

φ132 h7 0/-0.040φ248φ258

φ316 h7 0/-0.057180±0.3

1631020

φ28812-M8×12

φ116130

0.070φ0.100

90φ203

2-M12 Depth 2320（21）6-M12

■Outline drawing

■ Measurement table

AC Servo Actuators

Name plate

Open Field Network SupportedAC Servo Driver HA-800 seriesFeatures

■ Open field network supportedMECHATROLINK-ll and CC-Link (Ver1.10) supported

■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems)

Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.

■ Auto tuning function is availableAuto tuning function is available, which can estimate the load to set optimal servo gain.

■ Control mode can be switched by I/O inputControl mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.*Control mode to control motor currentmode to control motor current

■ Regenerative absorbing circuit and dynamic brake are embedded

HA-800 series Communication Specification

HA-800 series Common Specification

* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.

* 3: HA-800B/HA-800C are only RS-232C specification.

*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).

For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.

*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.

HA-800□-1 HA-800□-3 HA-800□-6 HA-800□-24ItemDriver model

■ MECHATROLINK Communication Specification

MECHATROLINK version

Transmission rate

Maximum transmission distance

Minimum inter-station distance

Transmission medium

Number of mobile units connected

Topology

Communication cycle

Communication method

Coding

Data length

Number of connections *1

MECHATROLINK-Ⅱ10Mbps

Twisted pair cable with balanced type shield

Maximum 30 mobile units

1, 1.5, 2, 3, 4, 5ms

Master/slave full synchronous method

Manchester encoding

17 bytes/32 bytes selectable

Maximum 30

Item Specification

■ CC-Link Communication SpecificationItem Specification

Self-cooled type Forced air-cooling type

■ Output shaft 1 revolution absolute specification

■ Output shaft partitioning function setting

26 27AC Servo Driver

HA-800 seriesAC Servo Driver

HA-800 series

HA-800 SeriesAC Servo DriverHA-800 Series

AC Servo Driver

AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) ＋10 to −15%

AC100 to 115V (single phase) or AC200 to 230V (single phase) ＋10 to −15%

50/60Hz

Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error

Driver’s Rated Current*1

Driver’s Maximum Current*1

Power Supply Voltage

Power Supply Frequency

Structure

Mounting Method

Control Mode

Multi Revolution Limit (Motor Shaft)

Ambient Condition

Position Command Pulse*2

Speed Command Voltage*2

Torque Command Voltage*2

Speed Control Range

Input Singal*2

Output Signal*2

Monitor Terminal

Communication Connector *3

Operation Panel

Protection function

Regenerative Processing

Regenerative Resistance Absorbed Power

Embedded Functions

Inrush Current Prevention Function

Operation Mode

AC200 to 230V (3 phases)＋10 to −15%

AC200 to 230V (single phase) ＋10 to −15%

− 3W Max

8W Max 90W Max

1.2kg 5.8kg

−4096 to 4095 (FHA-C series),−32768 to 32767 (SHA series, FHA-C mini series)

Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: No metal powder, dust, corrosive gas, flammable gas and oil mist

RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder data

External Regenerative ResistanceWith installation terminal

Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery

Embedded (CPU control by main circuit voltage monitoring)

Status display (normal operation) mode, test mode, adjustment mode, system parameter mode

Regenerative Resistance InstalledWith External Regenerative Resistance installation terminal

Base mount (mounted on a wall)

Position control, speed control, torque control (switchable from I/O*2)

Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverse selection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2, torque limit, electronic gear select, control mode, INHIBIT

Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state, low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning

Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting

DC±10V／Max. rotation speed, input impedance approx. 68kΩ

DC±10V ／ Max torque, input impedance approx. 68kΩ

1:1000

3 channels, motor rpm, current command, general-purpose output (parameter selection)

Display (7-segment LEDs) 5 digits (red), 4 push button switches

Rotational speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and others

System parameter 1, 2, 3 or 4, adjustment parameter 1 or 2

Line driver type : Maximum response frequency 1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type : Maximum response frequency 200kHz

Main circuit*1

Control circuit*1

Configuration

Status Display Function

Parameter Adjustment Function*3

Alarm*2

Warning*2

Applicable CC-Link version

Station type

Transmission rate

Synchronous method

Encoding method

Transmission channel type

Error control method

Connecting cable

Transmission format

Remote station number

Number of exclusive stations

Cable length *4

Number of connections

Ver 1.10

Remote device station

10M/5M/2.5M/625K/156Kbps

Broadcast polling method

Frame synchronous method

Bus type (Compliant to EIA RS-485)

CRC（X16+X12+X5+1）CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)

Compliant to HDLC

1 to 64

1 station, 2 station

Communication speed

Maximum cable extension

Cable length between stations

Maximum 42 units only for a remote station Can be shared with other devices

156kbps

625kbps

10Mbps

2.5Mbps

0.2m or more

Open Field Network SupportedAC Servo Driver HA-800 seriesFeatures

■ Open field network supportedMECHATROLINK-ll and CC-Link (Ver1.10) supported

■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems)

Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.

■ Auto tuning function is availableAuto tuning function is available, which can estimate the load to set optimal servo gain.

■ Control mode can be switched by I/O inputControl mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.*Control mode to control motor currentmode to control motor current

■ Regenerative absorbing circuit and dynamic brake are embedded

HA-800 series Communication Specification

HA-800 series Common Specification

* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.

* 3: HA-800B/HA-800C are only RS-232C specification.

*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).

For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.

*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.

HA-800□-1 HA-800□-3 HA-800□-6 HA-800□-24ItemDriver model

■ MECHATROLINK Communication Specification

MECHATROLINK version

Transmission rate

Maximum transmission distance

Minimum inter-station distance

Transmission medium

Number of mobile units connected

Topology

Communication cycle

Coding

Data length

Number of connections *1

MECHATROLINK-Ⅱ10Mbps

Twisted pair cable with balanced type shield

Maximum 30 mobile units

1, 1.5, 2, 3, 4, 5ms

Master/slave full synchronous method

Manchester encoding

17 bytes/32 bytes selectable

Maximum 30

Item Specification

■ CC-Link Communication SpecificationItem Specification

Self-cooled type Forced air-cooling type

■ Output shaft 1 revolution absolute specification

■ Output shaft partitioning function setting

HA-800 series

AC Servo Driver

AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) ＋10 to −15%

AC100 to 115V (single phase) or AC200 to 230V (single phase) ＋10 to −15%

50/60Hz

Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error

Driver’s Rated Current*1

Driver’s Maximum Current*1

Power Supply Voltage

Power Supply Frequency

Structure

Mounting Method

Control Mode

Multi Revolution Limit (Motor Shaft)

Ambient Condition

Position Command Pulse*2

Speed Command Voltage*2

Torque Command Voltage*2

Speed Control Range

Input Singal*2

Output Signal*2

Monitor Terminal

Communication Connector *3

Operation Panel

Protection function

Regenerative Processing

Regenerative Resistance Absorbed Power

Embedded Functions

Inrush Current Prevention Function

Operation Mode

AC200 to 230V (3 phases)＋10 to −15%

AC200 to 230V (single phase) ＋10 to −15%

− 3W Max

8W Max 90W Max

1.2kg 5.8kg

−4096 to 4095 (FHA-C series),−32768 to 32767 (SHA series, FHA-C mini series)

Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: No metal powder, dust, corrosive gas, flammable gas and oil mist

RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder data

External Regenerative ResistanceWith installation terminal

Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery

Embedded (CPU control by main circuit voltage monitoring)

Status display (normal operation) mode, test mode, adjustment mode, system parameter mode

Regenerative Resistance InstalledWith External Regenerative Resistance installation terminal

Base mount (mounted on a wall)

Position control, speed control, torque control (switchable from I/O*2)

Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverse selection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2, torque limit, electronic gear select, control mode, INHIBIT

Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state, low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning

Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting

DC±10V／Max. rotation speed, input impedance approx. 68kΩ

DC±10V ／ Max torque, input impedance approx. 68kΩ

1:1000

3 channels, motor rpm, current command, general-purpose output (parameter selection)

Display (7-segment LEDs) 5 digits (red), 4 push button switches

Rotational speed (r/min), torque command (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and others

System parameter 1, 2, 3 or 4, adjustment parameter 1 or 2

Line driver type : Maximum response frequency 1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type : Maximum response frequency 200kHz

Main circuit*1

Control circuit*1

Configuration

Status Display Function

Parameter Adjustment Function*3

Alarm*2

Warning*2

Applicable CC-Link version

Station type

Transmission rate

Synchronous method

Encoding method

Transmission channel type

Error control method

Connecting cable

Transmission format

Remote station number

Number of exclusive stations

Cable length *4

Number of connections

Ver 1.10

Remote device station

10M/5M/2.5M/625K/156Kbps

Broadcast polling method

Frame synchronous method

Bus type (Compliant to EIA RS-485)

CRC（X16+X12+X5+1）CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)

Compliant to HDLC

1 to 64

1 station, 2 station

Communication speed

Maximum cable extension

Cable length between stations

Maximum 42 units only for a remote station Can be shared with other devices

156kbps

625kbps

10Mbps

2.5Mbps

0.2m or more

（160.6）

（45）（38）

（160.6）

（60）（38）（153） 5.5

3 2-R2.5

（153） 5.5

2-R2.5

* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

External Dimensions: HA-800□-1, 3 External Dimensions: HA-800□-24

Regenerative resistor

* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.

（Unit: mm） * MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

（Unit: mm）

（125）（19）（235）

（235）

（205）

50 φ6

External Dimensions: HA-800□-6

HA-800 series

AC Servo Driver

（160.6）

（45）（38）

（160.6）

（60）（38）（153） 5.5

3 2-R2.5

（153） 5.5

2-R2.5

External Dimensions: HA-800□-1, 3 External Dimensions: HA-800□-24

Regenerative resistor

（Unit: mm） * MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

（Unit: mm）

（125）（19）（235）

（235）

（205）

50 φ6

External Dimensions: HA-800□-6

HA-800 series

AC Servo Driver

ConnectorConnectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.

Software to Set Servo Parameters PSF-800 (Free)

■ General-purpose I/O command type 《HA-800A》 CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types

■ MECHATROLINK-Ⅱ supported 《HA-800B》 CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types

■ CC-Link supported 《HA-800C》 CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 types CNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/CC-Link branch connector ・・・ 4 types

Connector model

Connector: 10114-3000PE Cover: 10314-52F0-008

Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A

Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C

FKIC2, 5/6-ST-5.08

FKC2, 5/5-ST-5.08

35505-6000-B0M GF

35715-L010-B00 AK

For CN1 Sumitomo 3M Ltd.

For motor cable connection Phoenix Contact Inc.

For power supply connection Phoenix Contact Inc.

CC-Link connector Sumitomo 3M Ltd.

CC-Link branch connector Sumitomo 3M Ltd.

Maker Model

Replacement Backup Battery This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.

Lithium battery ER17/33 （3.6V 1600mAh）

Maker modelHitachi Maxell

MakerBattery type

■ Model: HAB-ER17/33-2

■ Duration of Data Retention

Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.

One year continuous use Ambient temperature: Total backup time at 25ºC

ConditionDuration of retention

Monitor CableThis is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.

EWA-MON01-JST4

PSF-800/PSF-680CLSetting software

InstallEWA-RS03

PSF-800 Dedicated communication cable (EWA-RS03)Windows® XP, Windows Vista®＊1, Windows® 7＊1

Preparation articleSupported OSModel

Software to Create the Operation Table Data PSF-680CL (Free)

PSF-680CL Dedicated communication cable (EWA-RS03)Preparation article

Windows® XP, Windows Vista®＊1, Windows® 7＊1

Supported OSModel

www.hds.co.jp

Dedicated Communication CableUse the dedicated communication cable to connect between HA-800 driver and personal computer.

EWA-RS03 1.6m

LengthModel

HA-800 series

HA-800 series Option (sold separately) Software to Set Servo Parameters (Free)

The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).

*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation

of the United States. * Official name for Windows is Microsoft Windows Operating System.

The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)

AC Servo Driver

ConnectorConnectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.

Software to Set Servo Parameters PSF-800 (Free)

■ General-purpose I/O command type 《HA-800A》 CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types

■ MECHATROLINK-Ⅱ supported 《HA-800B》 CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 types CNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types

■ CC-Link supported 《HA-800C》 CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 types CNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/CC-Link branch connector ・・・ 4 types

Connector model

Connector: 10114-3000PE Cover: 10314-52F0-008

Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A

Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C

FKIC2, 5/6-ST-5.08

FKC2, 5/5-ST-5.08

35505-6000-B0M GF

35715-L010-B00 AK

For motor cable connection Phoenix Contact Inc.

For power supply connection Phoenix Contact Inc.

CC-Link connector Sumitomo 3M Ltd.

CC-Link branch connector Sumitomo 3M Ltd.

Maker Model

Replacement Backup Battery This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.

Lithium battery ER17/33 （3.6V 1600mAh）

Maker modelHitachi Maxell

MakerBattery type

■ Model: HAB-ER17/33-2

■ Duration of Data Retention

Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.

One year continuous use Ambient temperature: Total backup time at 25ºC

ConditionDuration of retention

Monitor CableThis is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.

EWA-MON01-JST4

PSF-800/PSF-680CLSetting software

InstallEWA-RS03

PSF-800 Dedicated communication cable (EWA-RS03)Windows® XP, Windows Vista®＊1, Windows® 7＊1

Preparation articleSupported OSModel

Software to Create the Operation Table Data PSF-680CL (Free)

PSF-680CL Dedicated communication cable (EWA-RS03)Preparation article

Windows® XP, Windows Vista®＊1, Windows® 7＊1

Supported OSModel

www.hds.co.jp

Dedicated Communication CableUse the dedicated communication cable to connect between HA-800 driver and personal computer.

EWA-RS03 1.6m

LengthModel

HA-800 series

HA-800 series Option (sold separately) Software to Set Servo Parameters (Free)

The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).

The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)

● Warranty Period

● Warranty Scope

Harmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope.

All the 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:

(1) User's misapplication, improper installation, inadequate maintenance, or misuse.(2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.(3) Imperfection caused by the other than the products.(4) 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.

Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the 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.

Safety standards MarkingProduct name

HA-800A/B/C

UL standard

CSA standard

EN standard

UL standard

CSA standard

EN standard

UL1004-1 (File No. 243316)

C22.2 No. 100

EN60034-1:2010, EN60034-5

UL508C (File No. 229163)

C22.2 No.14

EN61800-5-1, EN61800-3

* Above is the list of standards at Harmonic Drive Systems.

Overseas Standards Conformance

Trademark

Warranty

The academic and general nomenclature for “HarmonicDrive®” is “wave motion gearing” and “HarmonicDrive®” is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems.

Servo Driver Safety Precautions

Actuator Safety Precautions

Install the actuator at the specified accuracy.● Correctly align the centers of the actuator shaft and

mating machine in accordance with the technical information.

● Any misalignment could cause vibration and fracture of the output shaft.

Use only in a specified environment.● Actuators are designed and manufactured for indoor

use. Please ensure the following environmental conditions are complied with:• Ambient temperature 0 to 40°C • Vibration 24.5m/s2 or less• Ambient humidity 20 to 80% RH (Do not expose to condensation) • No splashing of water or oil • Do not expose to corrosive or explosive gas

Design Precaution: Be certain to read the technical information when designing the equipment.

Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.

Take adequate precautionary measures to damp noise and ground● Noise on signal wire may cause vibration and

malfunction. Observe the following conditions:• Separate strong and weak wires.• Minimize wiring distances and lengths.• Ground the actuator and servo driver to one point and in class 3 in grounding.• Do not use a power input filter in the motor circuit.

Use only in a specified environment.● The driver generates heat. Exercise reasonable care

concerning heat radiation and operate under the following conditions. • Install vertically and ensure sufficient space nearby• 0 to 50°C and 95% RH (Do not expose to condensation)• Avoid vibration or shocks• Do not expose to dust or corrosive or explosive gas• No splashing of water or oil

Use an earth leakage breaker for the inverter.● Use an earth leakage breaker for the inverter. A

time-delay breaker cannot be used.

Exercise reasonable care when rotating from load side● The servo driver may break if the actuator is run while

being rotated from the load side.● Consult Harmonic Drive Systems when the servo driver

is operated in this mode.

Do not touch the terminals for 5 min after turning it off.● Residual electricity remains after turning the power off.

Make checks more than 5 minutes after turning the power off to prevent any electric shock

● When installing a servo driver, design the structure so that the electric parts inside cannot be touched easily.

Do not change the wiring while the current is active.● Always turn the power off when removing any wire or

connecting or disconnecting a connector, otherwise an electric shock or runway may result.

Do not operate the servo driver by turning it on and off.● Frequent turning on and off of the power causes the

internal circuit devices to deteriorate.● Start and stop the actuator by issuing a command

signal.

Do not conduct a withstand voltage test.● Do not conduct a megger or withstand voltage test,

otherwise the control circuit of the servo driver may be damaged.

● Rust-proofing was applied before shipping. However, please note that rusting occurs earlier depending on the customers' storage environment.

● Although black oxide finish is applied to some of our products, it dose not guarantee the antirust effect.

Operational Precaution Be certain to read the catalog and technical informationbefore operating the equipment. Discarding When Discarding Actuator and Servo Driver

CautionCaution

WarningCaution

WarningWarning

CautionCaution

WarningWarning

CautionCaution

Caution Caution

Caution on Oil Leakage● The output shaft contains an oil seal of high reliability. However, it is not guaranteed to be completely free of oil leakage. Customers are kindly requested to protect against grease or oil leakage depending on their application.Caution

For Safe Use of Servo Systems

Warning

Caution

: Means that improper use or handling could result in a risk of death or serious injury.

: Means that improper use or handling could result in personal injury or damage to property.

Limited ApplicationsThis product cannot be used for the following applications: * Space equipment * Aircraft equipment * Nuclear power equipment * Equipment and apparatus used in domestic homes * Vacuum equipment * Automotive equipment * Game equipment * Equipment that directly works on human bodies * Equipment for transport of humans * Equipment for use in a special environment

Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications.Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to breakdown when using it in equipment that affects human lives and that may trigger serious damage.

Do not plug directly into a socket.● The actuator cannot be operated unless connected to

a dedicated control unit.● Never connect directly to the AC power supply. The actuator may fracture and a fire may break out.

Do not exceed the permissible torque.● Do not apply a torque larger than the maximum value.● If an arm or other part is connected directly to the

output shaft, this latter may become uncontrollable if the arm or other part is collided.

Do not pull the cables.● Pulling a cable may damage the connecting part and

cause the actuator to run out of control.

Do not pat the actuator.● An encoder is coupled to the actuator. Do not pat the

actuator.● A fractured encoder may cause the actuator to run

out of control.

Please discard as industrial waste.● Please discard as industrial waste when discarding.