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 Integrated Series is a family of compact actuators that deliver high torque with exceptional accuracy and repeatability. These servo actuators feature high precision Harmonic Drive® gearing combined with a brushless servo motor, a brake option, magnetic dual absolute encoders and an Integrated Servo Drive with CANopen® or EtherCAT® communication options. This revolutionary product eliminates the need for an external drive and greatly simplifies cabling yet delivers highpositional accuracy...

HarmonicDrive*® SHA-IDT Series Gearhead: Harmonic Drive® SHA ■ Ordering Code (with Integrated Drive)

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 20 Only 3.5 mm feature added for connectors plus 0.2 kg Only 19.25 mm maximum radial protrusion plus 0.2 kg Size 25 Only 4.6 mm feature added for connectors plus 0.2 kg Only 25.8...

HarmonicDrive*® SHA-IDT Series 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. Power/Connection Input/Output (for use with ‘S’ option only)

HarmonicDrive® SHA-IDT Series no corrosive gas, no flammable gas, no oil mist, Indoor use only, refer to standard SHA manual for more No dust, no metal powder, information Motor insulation Mounting direction Recommended heatsink size [mm]1 Insulation resistance: 100MQ or more (by DC500V insulation tester), Dielectric strength: AC1500v/1 min Insulation class: A Value after temperature rise and saturation when the recommended aluminum heatsink is installed. Value of phase induced voltage constant multiplied by 3. For details. refer to [3-3 Location and installation] (P3-6) of SHA manual. For testing...

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

HarmonicDrive*® SHA-IDT Series ■ One-Way Positional Accuracy 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). The SHA series incorporates a Harmonic Drive® gear which inherently has high-rotational position accuracy. Because of the gearing’s high ratio, any rotational error at the input (i.e. motor shaft position error or motor feedback error) is reduced by a factor of the ratio (1/ratio) and typically...

HarmonicDrive® SHA-IDT Series 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 deceleration. The continuous...

HarmonicDrive*® SHA-IDT Series

HDL-IDE 3.0 software provides the ability to setup or commission the SHA Integrated actuators without connecting to a CANopen or EtherCAT 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 master controller operating the specific application. The following are some of the features included in HDL-IDE 3.0 software: Features • Torque Mode and Graph • Velocity Mode and Graph • Position...