SHA Rotary Actuator with Integrated Servo Drive
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SHA Rotary Actuator with Integrated Servo Drive The Servo Drive is Inside!

SHA-IDT Series SHA Actuator with Integrated Servo Drive Full Size Servo Drive SHA Actuator WITH Servo Drive The SHA-IDT Series is a family of compact actuators that deliver high torque with exceptional accuracy and repeatability. These hollow shaft servo actuators feature Harmonic Drive® precision strain wave gears combined with a brushless servomotor, a brake, two magnetic absolute encoders and an integrated Servo Drive with CANopen® Communication. This revolutionary product eliminates the need for an external servo drive and greatly simplifies cabling yet delivers highpositional accuracy...

SHA-IDT Series ■ SHA with Integrated Servo Drive Features Connector(s): Panel Mount Exit Options: PM1, PM4 Mounting Flange: Fixed Cross Roller Bearing: High Moment Loading Capacity Integrated Servo Drive: CANopen® 48VDC (24-60VDC) Gearhead: Harmonic Drive® SHA Dual Absolute Encoders: Motor Input Encoder (17bit), Gear Output Encoder (16bit) Hollow Shaft: Standard Brake: with or without Brake Motor: DC Brushless ■ Ordering Code (with Integrated Drive) Design Version Gear Ratio Harmonic Drive SG Series Motor Version Motor Size A: Without brake B: With brake Voltage Rating IDT17b16b -...

SHA-IDT Series Our engineering team incorporated more features and capabilities without greatly impacting the size and mass of the actuator. Decrease cable and cabinet requirements with a slight increase in weight from the standard. Simplify connections while maintaining the same overall length, with the exception of connector mounting features, reducing overall system needs, including: cables, volume and mass. Size 25 Only 4.6 mm feature added for connectors plus 0.2 kg Only 25.8 mm maximum radial protrusion plus 0.2 kg Same overall length as standard versions Size 32 Only 6 mm feature...

SHA-IDT Series ■ Panel Mount Connectors SHA actuators with an integrated servo drive include standard Lemo® connectors with two exit orientation options. Along with providing the equipment builder the flexibility to choose optimum cables for their specific application, panel mount connectors permit easy replacement of cables. In the event of cable damage, the cables can be replaced without disassembling or replacing the entire actuator. Exit Options Key • M1 Panel mount connector(s), P rear exit (opposite output) • M4 Panel mount connector(s), P top exit (of output side) Input/Output (for...

SHA-IDT Series ■ Specifications SHA with Integrated Servo Drive Size Maximum torque Maximum speed Maximum current Continuous current Torque constant Moment of inertia with brake Moment of inertia without brake Allowable moment load Output bearing basic dynamic rated load Moment Stiffness Encoder type Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Motor encoder resolution Gear encoder resolution Operating voltage Communication protocol Ambient operating temp Operating humidity No dust, no metal powder, no corrosive gas, no flammable gas, no oil mist, Indoor use only,...

SHA-IDT Series ■ Outline Dimensions (SHA with Integrated Servo Drive)

SHA-IDT Series ■ One-Way Positional Accuracy Commanded stop position The one-way positioning accuracy is defined as the maximum positional difference between the commanded position and the actual stop position when a series of positioning moves are performed in the same rotation direction. (Refer to JIS B-6201-1987). Positioning error Actual stop position The SHA series incorporates a HarmonicDrive® speed reducer or an HPF hollow shaft planetary gear which inherently has high rotational position accuracy. Because of the gearing’s high ratio, any rotational error at the input (i.e. motor...

SHA-IDT Series Coming Soon! ■ Operating Range The following graphs show the operating range for an SHA series actuator with an integrated drive. (1) Continuous Motion Range The range allows continuous operation of the actuator. (2) 50% Duty Motion Range This range indicates the torque/speed where 50% duty cycle operation is permitted (the ratio of operating time and delay time is 50:50). (3) Motion Range During Acceleration and Deceleration This range indicates the torque/speed which the actuator can be operated momentarily. The range allows instantaneous operation like acceleration and...

SHA-IDT Series

SHA-IDT Series ■ HDL-IDE 3.0 Software: HDL-IDE 3.0 software provides the ability to setup or commission the SHA Integrated actuators without connecting to a CANopen master controller. A single actuator can connect to a personal computer or laptop with a CAN communication converter and a power supply. All 256 parameters, including the tuning parameters and 256 general user variables can be set and stored to be recognized by the CANopen master controller operating the specific application. The following are some of the features included in HDL-IDE 3.0 software: Features • orque Mode and Graph...

Harmonic Drive LLC Boston US Headquarters 42 Dunham Ridge Beverly, MA 01915 978.532.1800 www.HarmonicDrive.net New York Sales Office 100 Motor Parkway, Suite 116 Hauppauge, NY 11788 California Sales Office 333 W. San Carlos Street, Suite 1070 San Jose, CA 95110 Group Companies Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan Harmonic Drive SE Hoenbergstrasse, 14, D-65555 Limburg/Lahn Germany Harmonic Drive is a registered trademark of Harmonic Drive LLC. CANopen is a registered trademark of CAN in Automation. LEMO is a registered trademark of INTERLEMO...