SHA-CG Series
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Harmonic Drive LLCBoston US Headquarters247 Lynnfield StreetPeabody, MA 01960
New York Sales Office100 Motor ParkwaySuite 116Hauppauge, NY 11788
Group CompaniesHarmonic Drive Systems, Inc.6-25-3 Minami-Ohi, Shinagawa-kuTokyo 141-0013, Japan
Harmonic Drive AGHoenbergstrasse, 14, D-6555Limburg/Lahn Germany
San Jose Sales Office333 W. San Carlos Street Suite 1070San Jose, CA 95110
Chicago Sales Office137 N. Oak Park Avenue Suite 410Oak Park, IL 6030
T: 800.921.3332T: 978.532.1800F: 978.532.9406www.HarmonicDrive.net
Rev_07_14
Driver and Extension Cables
REL-230-18 REL-230-18REL-230-36
REL-230-18REL-230-36
REL-230-36REL-230-40
HA-800B-3D/E-200 HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800B-6D/E-100HA-800B-3D/E-200
HA-800B-6D/E-200(HA-800B-24D/E-200)
HA-800C-6D/E-200(HA-800C-24D/E-200)
HA-800C-6D/E-100HA-800C-3D/E-200HA-800C-3D/E-200
CC-Link Commands
General Purpose I/O CommandsControl Modes (Position / Velocity / Current) Size 20 Size 25 Size 32 Size 40
MECHATROLINK-ⅡCommands
New Product News Vol. 17
Compact, Hollow Shaft Design
The SHA-CG Series actuators is compact, delivers high torque and features a hollow shaft that allows design versatility indemanding applications.
Model OptionsGearhead Cable Orientation Encoder
Brake
Servomotor
Environmental
Option
Harmonic Drive® Gear - CSG Series 50:1 ~ 160:1
Magnetic Absolute Encoder (17 bit)Multi-Turn (16 bit)(Nikon -A Format)
Standard
Option
Standard
Option Side exit
Origin & End Limit Sensor
Mounting Stand IP 65
No Brake
Absolute Encoder: Panasonic format,Mitsubishi format, Riss-C formatIncremental Encoder
200V AC100V AC (size 25)
100V AC72V DC, 48V DC
IP 54Temperature Range 0°C - 40°CUL, CE marking, RoHS
Motor Brake (Integrated without dimension change)
Cross Roller Bearing
Larger size bearing for higher load capacities
Rear exitStandard
Option
Standard
Option
Standard
Option
Standard
Option
StandardOutput Bearing
High Precision SHA-CG Actuators
Direct Drive Motor Performance ~ 80-90% less weight ~ 50% more compact High torque for fast acceleration and positioning
Measurement, Analytical and Test Systems Optical Equipment Machine ToolsApplication Examples
Theta Axis Wafer Dicing Precision Machining (Indexing Device)
The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal for high precision rotary applications such as indexing tables.
SHA25A-CG
SHA32A-CG
SHA40A-CGSHA20A-CG
AWG20-4C+AWG24-2CCable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903111-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG28-3P+ShieldCable dia. Ø6
X 7C0.5
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
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
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
50:1
80:1
100:1
120:1
160:1
73
96
107
113
120
15.1
13.2
12.2
11.0
9.0
8.7
7.6
7.0
6.3
5.2
17.7
15.4
13.7
12.2
10.0
27.2
22.0
19.6
18.0
14.7
6.1
5.0
4.6
4.1
3.4
21
35
43
48
48
4.7
4.7
4.7
4.5
3.7
3.0
3.0
3.0
2.6
2.1
6.0
6.0
5.7
5.0
4.1
9.0
9.0
9.0
8.8
7.2
2.1
2.1
2.1
2.0
1.7
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
50
40
40
40
40
50
40
40
40
40
40
30
30
30
30
40
30
30
30
30
60
50
50
50
50
200V
100V
200V
200V
200V
2.6 (2.7)
3.95(4.1)
3.95(4.1)
7.7(8.0)
13(13.80)
● Improved output shaft runout accuracy (radial runout & axial runout: less than 0.010mm) Improved structure for high precision surface and shaft runout.● Output shaft resolution is evenly divisible Indexing at 0.01 ° / 0.001 ° / 0.0001 ° ● Optional mounting stand available
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 MAX
26 1419.5 (63.5)
UL_N.P CE_N.P
(83)
4417.5
R0.4 MAX
C0.5
R0.4 MAX
C0.5
(3)
15°
30°
Ø0.05
12-M4x7
Ø60 Ø107
12-M4×7 6-Ø5.5~6
Ø117
Ø90
Ø95
h7 0 -0
.035
Ø69
h7 0 -0
.030
Ø43
H7+0
.025
0
125.5±1
123±1
(Ø9
4)
(Ø7
6) N.P
Ø17
Ø33
+0.5 -0.2
Ø95
h7 0 -0
.035
R30
+35 0200
Ø4 H7
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
+0.012 0
AWG16-4C+AWG24-2CCable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG24-3P+ShieldCable dia. Ø7.7
X 10C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
Ø45±
0.5
(80)
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
Ø90
H7+0
.035
0
Ø132
h7
Ø170
Ø180
h7
Ø225
0 -0.0
40
0 -0.0
40
(Ø17
5)
Ø180
h7
0 -0.0
40
(Ø14
3)
Ø116
Ø203
C0.5
+0.015 0
2-M10
12-M8×12
Ø8 H7
R0.4 MAX
C0.5
8-Ø11~ 11.5
+35 0
R0.4 MAX
Ø0.05
(Removal Tap)
AWG18-4C+AWG24-2CCable dia. Ø7.7
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350547-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG24-3P+ShieldCable dia. Ø7.7
X 8C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
144±1
(90)(5)
55
(70.5)19.523.52034
2-M645°
12-Ø6.5~7
R50
15°15°
Ø35
±0.5
Ø148
h7
0 −0.040
(Ø1
21)
(Ø1
46)
R0.4 MAXR0.4 MAX
C0.5
C0.5
3.5
Ø75
H7+
0.03
0
0
Ø148
h7
0 −0.040
Ø110
h7
0 −0.035
Ø142Ø175
Ø96
15°
Ø162
12-M6×10
(21)
(28)(28)
(13) 200 +35 0
1A1B
(14)(
12)
+0.012 0Ø6 H7
Ø0.05
AWG20-4C+AWG24-2CCable dia. Ø5.6(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG24-3P+ShieldCable dia. Ø7.7
X 8C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
15°22.5°15°15°
(12)
(13)
(4) 19
4
3.5
Ø27±
0.5
(14)
(28)
(21)
(28)
17
4
28.5 (82)127.5 ±1
16.5 (65.5)
1A
1B
(Ø93
)
200 +35 0
(Ø11
4)Ø55
H7+0
.030
0
Ø144 Ø110
Ø115
h7
0 -0.0
35
Ø84
h7 0 -0
.035
Ø115
h7
0 -0.0
35
Ø131
Ø72
C0.5
C0.5
R0.4 MAXR0.4 MAX
8-Ø6.5~ 7
Ø5 H7
UL_N.P
N.PCE_N.P
12-M5×8
2-M6
+0.012 0Ø0.05
R37.5R37.5
Product Features
Size
20A
25A
25A
32A
40A
Gear Ratio
Maximum Torque [Nm]
Maximum Current
Continuous Torque [Nm]
Allowable Continuous
CurrentMaximum
Speed [rpm]Output Resolution
Pulse / RevOne-way
Positioning Accuracy (arc-sec)
Hollow Shaft Dia.
Motor Voltage
Mass*kg
Outline Dimensions
* Value in parenthesis is with brake. Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown. (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
SHA25A-CG
SHA32A-CG
SHA40A-CGSHA20A-CG
AWG20-4C+AWG24-2CCable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903111-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG28-3P+ShieldCable dia. Ø6
X 7C0.5
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
333
548
686
802
841
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
92
156
196
235
315
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
80
50
40
33.3
25
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
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
45
45
45
45
45
50:1
80:1
100:1
120:1
160:1
73
96
107
113
120
15.1
13.2
12.2
11.0
9.0
8.7
7.6
7.0
6.3
5.2
17.7
15.4
13.7
12.2
10.0
18.0
18.0
18.0
17.6
14.3
27.2
22.0
19.6
18.0
14.7
6.1
5.0
4.6
4.1
3.4
21
35
43
48
48
4.7
4.7
4.7
4.5
3.7
3.0
3.0
3.0
2.6
2.1
6.0
6.0
5.7
5.0
4.1
6.0
6.0
6.0
6.0
6.0
9.0
9.0
9.0
8.8
7.2
2.1
2.1
2.1
2.0
1.7
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
50
40
40
40
40
50
40
40
40
40
40
30
30
30
30
40
30
30
30
30
40
30
30
30
30
60
50
50
50
50
2.6 (2.7)
3.95(4.1)
3.95(4.1)
7.7(8.0)
13(13.80)
13(13.80)
● Improved output shaft runout accuracy (side runout / shaft runout: less than 0.010mm) Improved structure for high precision surface and shaft runout. Ideal for index table application.● Easily split output shaft resolution Indexing at 0.01 ° / 0.001 ° / 0.0001 ° is possible.● Vertical stand for index application is also available
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 MAX
26 1419.5 (63.5)
UL_N.P CE_N.P
(83)
4417.5
R0.4 MAX
C0.5
R0.4 MAX
C0.5
(3)
15°
30°
Ø0.05
12-M4x7
Ø60 Ø107
12-M4×7 6-Ø5.5~6
Ø117
Ø90
Ø95
h7 0 -0
.035
Ø69
h7 0 -0
.030
Ø43
H7+0
.025
0
125.5±1
123±1
(Ø9
4)
(Ø7
6) N.P
Ø17
Ø33
+0.5 -0.2
Ø95
h7 0 -0
.035
R30
+35 0200
Ø4 H7
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
+0.012 0
AWG16-4C+AWG24-2CCable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG24-3P+ShieldCable dia. Ø7.7
X 10C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
22.5°
15° 15°15° (1
4)
(28)
(12)
(13)
5(6) 28.5
(108)22
Ø45±
0.5
(80)
3.5
28
5.4
170±1
40
(21) 200
(28)
1A1B
Ø90
H7+0
.035
0
Ø132
h7
Ø170
Ø180
h7
Ø225
0 -0.0
40
0 -0.0
40
(Ø17
5)
Ø180
h7
0 -0.0
40
(Ø14
3)
Ø116
Ø203
C0.5
+0.015 0
2-M10
12-M8×12
Ø8 H7
R0.4 MAX
C0.5
8-Ø11~ 11.5
+35 0
R0.4 MAX
Ø0.05
(Removal Tap)
AWG18-4C+AWG24-2CCable dia. Ø7.7
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350547-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational PartHo
llow
Shaft
Diam
eter
AWG24-3P+ShieldCable dia. Ø7.7
X 8C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
144±1
(90)(5)
55
(70.5)19.523.52034
2-M645°
12-Ø6.5~7
R50
15°15°Ø3
5±0
.5
Ø148
h7
0 −0.040
(Ø1
21)
(Ø1
46)
R0.4 MAXR0.4 MAX
C0.5
C0.5
3.5
Ø75
H7+
0.03
0
0
Ø148
h7
0 −0.040
Ø110
h7
0 −0.035
Ø142Ø175
Ø96
15°
Ø162
12-M6×10
(21)
(28)(28)
(13) 200 +35 0
1A1B
(14)(
12)
+0.012 0Ø6 H7
Ø0.05
AWG20-4C+AWG24-2CCable dia. Ø5.6(Removal Tap)
Housing :350715-1 [AMP]Pin Contact (Motor U • V • W) :350690-1 [AMP]Pin Contact (Brake) :350690-1 [AMP]Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]Tab Contact :1903117-2 [AMP]
Output Rotational Part
Hollo
w Sh
aft D
iamete
r
AWG24-3P+ShieldCable dia. Ø7.7
X 8C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
15°22.5°15°15°
(12)
(13)
(4) 19
4
3.5
Ø27±
0.5
(14)
(28)
(21)
(28)
17
4
28.5 (82)127.5 ±1
16.5 (65.5)
1A
1B
(Ø93
)
200 +35 0
(Ø11
4)Ø55
H7+0
.030
0
Ø144 Ø110
Ø115
h7
0 -0.0
35
Ø84
h7 0 -0
.035
Ø115
h7
0 -0.0
35
Ø131
Ø72
C0.5
C0.5
R0.4 MAXR0.4 MAX
8-Ø6.5~ 7
Ø5 H7
UL_N.P
N.PCE_N.P
12-M5×8
2-M6
+0.012 0Ø0.05
R37.5R37.5
Product Features
Size
20A Motor Voltage Rating: 200V
25A Motor Voltage Rating: 100V
25A Motor Voltage Rating: 200V
32A Motor Voltage Rating: 200V
40A(HA-800�-4D/E-200)
Motor Voltage Rating: 200V)
40A(HA-800�-24D/E-200)
Motor Voltage Rating: 200V)
Gear Ratio
Maximum Torque [Nm]
Maximum Current
Continuous Torque [Nm]
Allowable Continuous
CurrentMaximum
Speed [rpm]Output Resolution
Pulse / RevOne-way
Positioning Accuracy (arc-sec)
Hollow Shaft Dia.
Mass*kg
Outline Dimensions * Value in parenthesis is with brake. Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown. (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
SHA-CG Series
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Harmonic Drive LLCBoston US Headquarters247 Lynnfield StreetPeabody, MA 01960
New York Sales Office100 Motor ParkwaySuite 116Hauppauge, NY 11788
Group CompaniesHarmonic Drive Systems, Inc.6-25-3 Minami-Ohi, Shinagawa-kuTokyo 141-0013, Japan
Harmonic Drive AGHoenbergstrasse, 14, D-6555Limburg/Lahn Germany
San Jose Sales Office333 W. San Carlos Street Suite 1070San Jose, CA 95110
Chicago Sales Office137 N. Oak Park Avenue Suite 410Oak Park, IL 6030
T: 800.921.3332T: 978.532.1800F: 978.532.9406www.HarmonicDrive.net
Rev_07_14_A
Recommended Drivers
REL-230-18 REL-230-18REL-230-36
REL-230-18REL-230-36
REL-230-36REL-230-40
HA-800B-3D/E-200 HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800B-6D/E-100HA-800B-3D/E-200
HA-800B-6D/E-200(HA-800B-24D/E-200)
HA-800C-6D/E-200(HA-800C-24D/E-200)
HA-800C-6D/E-100HA-800C-3D/E-200HA-800C-3D/E-200
CC-Link Commands
General Purpose I/O Commands
Control Modes (Position/Velocity/Current)
Size 20 Size 25 Size 32 Size 40
MECHATROLINK-ⅡCommands
New Product News Vol. 17
Compact, Hollow Shaft Design
The SHA-CG Series actuators is compact, delivers high torque and features a hollow shaft that allows design versatility indemanding applications.
Model OptionsGearhead Cable Orientation Encoder
Brake
Servomotor
Environmental
Option
Harmonic Drive® Gear - CSG Series 50:1 ~ 160:1
Magnetic Absolute Encoder (17 bit)Multi-Turn (16 bit)(Nikon -A Format)
Standard
Option
Standard
Option Side exit
Origin & End Limit Sensor
Mounting Stand IP 65
No Brake
Absolute Encoder: Panasonic format,Mitsubishi format, BiSS C formatIncremental Encoder
200V AC
100V AC72V DC, 48V DC
IP 54Temperature Range 0°C - 40°CUL, CE marking, RoHS
Motor Brake (Integrated without dimension change)
Cross Roller Bearing
Larger size bearing for higher load capacities
Rear exitStandard
Option
Standard
Option
Standard
Option
Standard
Option
StandardOutput Bearing
High Precision SHA-CG Actuators
Direct Drive Motor Performance ~ 80-90% less weight ~ 50% more compact High torque for fast acceleration and positioning
Measurement, Analytical and Test Systems Optical Equipment Machine ToolsApplication Examples
Theta Axis Wafer Dicing Precision Machining (Indexing Device)
The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal for high precision rotary applications such as indexing tables.