SHA-CG Rotary Actuator
SHA-CG high precision actuators are a great alternative for direct drive motors. SHA-CG actuators offer direct drive motor performance in a compact, significantly lighter package. Ideal for high precision rotary applications such as indexing turn tables, the SHA-CG offers improved rotary positioning accuracy with surface runout less than 10 microns. Harmonic Drive® strain wave gear, motor and encoder are performance matched. The SHA Series is designed to operate with industry servo drives, as well as REL Series and HA-800 drives from Harmonic Drive.
Key Features:
- Alternative to Direct Drive Motors
- High Accuracy Output Bearing
- Available with optional Mounting Base
- High Torque
- Hollow Shaft Design
- Compact
- Available in 4 sizes
- Low voltage options for size 20, 25, 32
- Connects directly with Mitsubishi Electric’s MELSERVO-J4 SSCNETⅢ/H, (link to manual)
- Connects directly with Σ-7 servo drives from Yaskawa, (link to manual)
- Also available to order as a motor only
- Safety Standard: EN60034-1:2010, EN60034-5
(click to enlarge)
Manual
DXF CAD Files
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Don't see what you need or not sure where to start? Our team can help you find the right actuator for your application!
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Optional Mounting Stand Available
Ordering Code
| SHA | 32 | A | 100 | - | CG | B | 12 | A | 200 | - | 10 | S17b | A | - | C | L | - | SP |
| 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 |
| 1. | Type |
SHA Series |
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| 2. | Size |
20, 25, 32, 40
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| 3. | Design Version |
A - Standard
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| 4. | Gear Ratio |
50, 80, 100, 120, 160
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| 5. | Gearhead |
CG - CSG Series
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| 6. | Motor Version |
B - Size 25, 32, 40
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| 7. | Motor Size |
08 - SHA 20
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| 8. | Brake |
A - No Brake |
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| 9. | Voltage Rating |
200 - 200V |
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| 10. | Encoder Format |
10 - A-Format (2.5Mbps, 1 to 1 connection) |
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| 11. | Encoder Resolution |
S17b - 17bit Absolute encoder; (Nikon-A format) |
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| 12. | Encoder Offset Angle |
The phase difference of the Motor U phase and the Absolute encoder origin |
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| 13. | Connector Specification |
C - With standard Connectors (This is for extension cable) |
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| 14. | Option symbol |
L - Origin & End Limit Sensor |
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| 15. | Special specification | Blank - Standard product SP____ - Special specification code |
Rating Table
(100V & 200V)
| Size (Voltage) | Ratio | Maximum Torque [Nm] |
Maximum Current [Arms] |
Continuous Torque [Nm] |
Allowable Continuous Current [Arms] |
Maximum Speed [rpm] |
One-way Positioning Accuracy [arc-sec] |
Servo Drive | Mass (w/brake) [kg] |
Engineering Spec |
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| 20A (200VAC) | 50 | 73 | 6.1 | 21 | 2.1 | 120 | 60 | REL-230-18 |
HA-800□-3D/E-200 |
2.6 (2.7) |
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| 80 | 96 | 5.0 | 35 | 2.1 | 75 | 50 | |||||||
| 100 | 107 | 4.6 | 43 | 2.1 | 60 | 50 | |||||||
| 120 | 113 | 4.1 | 48 | 2.0 | 50 | 50 | |||||||
| 160 | 120 | 3.4 | 48 | 1.7 | 37.5 | 50 | |||||||
| 25A (100VAC) | 50 | 127 | 15.1 | 34 | 4.7 | 96 | 50 | REL-230-36 |
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3.95 (4.1) |
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| 80 | 178 | 13.2 | 57 | 4.7 | 60 | 40 | |||||||
| 100 | 204 | 12.2 | 72 | 4.7 | 48 | 40 | |||||||
| 120 | 217 | 11.0 | 81 | 4.5 | 40 | 40 | |||||||
| 160 | 229 | 9.0 | 81 | 3.7 | 30 | 40 | REL-230-18 | ||||||
| 25A (200VAC) | 50 | 127 | 8.7 | 40 | 3.0 | 112 | 50 |
REL-230-18
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HA-800□-3D/E-200 |
3.95 (4.1) |
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| 80 | 178 | 7.6 | 66 | 3.0 | 70 | 40 | |||||||
| 100 | 204 | 7.0 | 81 | 3.0 | 56 | 40 | |||||||
| 120 | 217 | 6.3 | 81 | 2.6 | 46.7 | 40 | |||||||
| 160 | 229 | 5.2 | 81 | 2.1 | 35 | 40 | |||||||
| 32A (200VAC) | 50 | 281 | 17.7 | 90 | 6.0 | 96 | 40 |
REL-230-36
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HA-800□-6D/E-200 | 7.7 (8.0) | |||
| 80 | 395 | 15.4 | 151 | 6.0 | 60 | 30 | |||||||
| 100 | 433 | 13.7 | 178 | 5.7 | 48 | 30 | |||||||
| 120 | 459 | 12.2 | 178 | 5.0 | 40 | 30 | |||||||
| 160 | 484 | 10.0 | 178 | 4.1 | 30 | 30 | REL-230-18 | ||||||
| 40A (200VAC) | 50 | 333 | 18.0 | 92 | 6.0 | 80 | 40 |
REL-230-36
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HA-800□-6D/E-200 | 13 (13.80) | |||
| 80 | 548 | 18.0 | 156 | 6.0 | 50 | 30 | |||||||
| 100 | 686 | 18.0 | 196 | 6.0 | 40 | 30 | |||||||
| 120 | 802 | 17.6 | 235 | 6.0 | 33.3 | 30 | |||||||
| 160 | 841 | 14.3 | 315 | 6.0 | 25 | 30 | REL-230-36 | ||||||
| 40A (200VAC) |
50 | 523 | 27.2 | 157 | 9.0 | 80 | 40 |
REL-230-40
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HA-800□-24D/E-200 |
13 (13.80) |
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| 80 | 675 | 22.0 | 260 | 9.0 | 50 | 30 | |||||||
| 100 | 738 | 19.6 | 327 | 9.0 | 40 | 30 | |||||||
| 120 | 802 | 18.0 | 382 | 8.8 | 33.3 | 30 | |||||||
| 160 | 841 | 14.7 | 382 | 7.2 | 25 | 30 | REL-230-36 | ||||||
Low Voltage, 48VDC (20 to 90VDC)
| Size (Voltage) | Ratio | Maximum Torque [Nm] |
Maximum Current [Arms] |
Continuous Torque [Nm] |
Allowable Continuous Current [Arms] |
Maximum Speed [rpm] |
One-way Positioning Accuracy [arc-sec] |
Servo Drive |
Mass (w/brake) [kg] |
Engineering Spec |
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20A (20-90VDC) |
50 | 67 | 14.9 | 15.6 | 4.7 | 64 | 60 |
BEL or BPL-090-30 |
2.6 (2.7) | PDF |
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| 80 | 96 | 13.3 | 26.3 | 4.7 | 40 | 50 | |||||
| 100 | 107 | 12.1 | 33.0 | 4.7 | 32 | 50 |
BEL or BPL-090-14 |
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| 120 | 113 | 10.9 | 39.8 | 4.7 | 27 | 50 | |||||
| 160 | 120 | 9.1 | 48.0 | 4.4 | 20 | 50 | |||||
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25A (20-90VDC) |
50 | 98 | 25.5 | 27 | 8.5 | 77 | 50 |
BEL or BPL-090-30 |
4.1 (4.3) | ||
| 80 | 161 | 25.5 | 45 | 8.5 | 48 | 40 | |||||
| 100 | 201 | 25.5 | 57 | 8.5 | 38 | 40 | |||||
| 120 | 217 | 23.2 | 68 | 8.5 | 32 | 40 | |||||
| 160 | 229 | 19.0 | 81 | 7.9 | 24 | 40 | |||||
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32A (20-90VDC) |
50 | 143 | 25.5 | 35 | 8.5 | 51 | 40 | 7.7 (8.0) | |||
| 80 | 235 | 25.5 | 60 | 8.5 | 32 | 30 | |||||
| 100 | 295 | 25.5 | 76 | 8.5 | 25 | 30 | |||||
| 120 | 354 | 25.5 | 92 | 8.5 | 21 | 30 | |||||
| 160 | 473 | 25.5 | 124 | 8.5 | 16 | 30 | |||||
