Harmonic Drive SHA
Harmonic Drive SHA
Harmonic Drive SHA is a family of hollow-shaft servo actuators combining a motor, reduction gearing and feedback. SG and CG mechanical constructions, selected HP configurations, and Yaskawa-, Mitsubishi- or Panasonic-compatible versions must be selected with the exact size, ratio, winding, encoder and external servo amplifier.
Review Summary
SHA is a candidate for compact rotary machinery where a central passage and an integrated motor-and-gear arrangement reduce mechanical selection work. Its practical value depends on the exact output load, mounting accuracy and amplifier interface. Treat the mechanical series and drive-specific ordering version as separate parts of the selection.
Family architecture Hollow-shaft motor, reduction gear and feedback; external drive required unless an explicitly integrated-drive version is selected SHA-SG mechanical family SHG gearing; current listed sizes 20, 25, 32, 40, 45, 58 and 65 SHA-CG mechanical family CSG gearing; listed sizes 20, 25, 32 and 40 CG ratio choices 50, 80, 100, 120 and 160, subject to exact ordering code Version designations A standard; Y Yaskawa-compatible; M Mitsubishi-compatible; P Panasonic-compatible Mitsubishi version SHA-M manual documents MELSERVO-J4 and SSCNET III/H; match exact amplifier and actuator Panasonic version SHA-P manual documents MINAS A6 family; RTEX for A6N and EtherCAT for A6B Options Brake, winding, encoder, cable exit and connector arrangements depend on ordered model SHA-Y drive compatibility Specified Yaskawa Sigma-7 SERVOPACK combinations; EtherCAT or MECHATROLINK-III selected at amplifier SHA-Y mechanical options SG: ratios 51/81/101/121/161; CG:50/80/100/120/160; selected HP:11; exact frame applies SHA-Y motor feedback 17-bit absolute encoder in cited ordering information; not an independent output encoder SHA-Y amplifier suffix Manufacturer collaboration brochure identifies SHA-compatible SERVOPACK combinations ending F81; exact drive and option code required Applications and Industries
Rotary robot mechanisms, precision positioning and machine axes requiring a hollow center and a configured motor-and-gear assembly.
Robotics; semiconductor equipment; machine tools; precision factory automation
Request a quote for the exact configuration,quantity and delivery schedule.
| Family architecture | Hollow-shaft motor, reduction gear and feedback; external drive required unless an explicitly integrated-drive version is selected |
| SHA-SG mechanical family | SHG gearing; current listed sizes 20, 25, 32, 40, 45, 58 and 65 |
| SHA-CG mechanical family | CSG gearing; listed sizes 20, 25, 32 and 40 |
| CG ratio choices | 50, 80, 100, 120 and 160, subject to exact ordering code |
| Version designations | A standard; Y Yaskawa-compatible; M Mitsubishi-compatible; P Panasonic-compatible |
| Mitsubishi version | SHA-M manual documents MELSERVO-J4 and SSCNET III/H; match exact amplifier and actuator |
| Panasonic version | SHA-P manual documents MINAS A6 family; RTEX for A6N and EtherCAT for A6B |
| Options | Brake, winding, encoder, cable exit and connector arrangements depend on ordered model |
| SHA-Y drive compatibility | Specified Yaskawa Sigma-7 SERVOPACK combinations; EtherCAT or MECHATROLINK-III selected at amplifier |
| SHA-Y mechanical options | SG: ratios 51/81/101/121/161; CG:50/80/100/120/160; selected HP:11; exact frame applies |
| SHA-Y motor feedback | 17-bit absolute encoder in cited ordering information; not an independent output encoder |
| SHA-Y amplifier suffix | Manufacturer collaboration brochure identifies SHA-compatible SERVOPACK combinations ending F81; exact drive and option code required |
