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AC Servo ActuatorAdvanced Hollow Shaft and Flat Structure

SHA SeriesAC Servo Driver

HA-800 Series

ISO14001Hotaka Plant

ISO9001

Information desk for urgent repair and inquiry [Information desk for urgent repair request and technical consultation]

TEL: CS division +81-(0)263-83-6812Business hours: Monday to Friday 9:00 to 12:00 13:00 to 17:00 (Except Saturdays, Sundays, national holidays and our speci�ed days off)

Certifications for ISO 14001 (Hotaka Plant) and ISO 9001 obtained (TUV SUD Management Service GmbH)

This catalog is printed with environmentally friendly vegetable oil ink.

Specifications, dimensions, etc. in this catalog are subject to change without notice. “HarmonicDrive®” is a trademark of Harmonic Drive Systems, Inc.The academic or general nomenclature of our products “HarmonicDrive®” is “strain wave gearing.”This catalog contains information as of February 2015.No.1502-4R-SHA&HA800

Registered Trademark in Japan

Head Office: Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL 03 (5471) 7800 FAX 03 (5471) 7811Tokyo Office: Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan 140-0013 TEL 03 (5471) 7830 FAX 03 (5471) 7836Kita-Kanto Office: Y.S.T. Building 3F, 4-263 Sakuragi-cho, Ohmiya-ku, Saitama-shi, Saitama, Japan 330-0854 TEL 048 (647) 8891 FAX: 048 (647) 8893Koshin Office: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL 0263 (83) 6910 FAX: 0263 (83) 6911Chu-bu Office: Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi, Japan 465-0024 TEL 052 (773) 7451 FAX 052 (773) 7462Kansai Office: Shin-Osaka Ueno To-yo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi, Osaka, Japan 532-0011 TEL 06 (6885) 5720 FAX 06 (6885) 5725Kyushu Office: NOF Hakata station-front Building 7F, 1-15-20 Hakata station-front, Hakata-ku, Fukuoka-shi, Fukuoka, Japan 812-0011 TEL 092 (451) 7208 FAX 092 (481) 2493Overseas Division: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL 0263 (83) 6935 FAX: 0263 (83) 6901Hotaka Plant: 1856-1 Hotakamaki Azumino-shi Nagano, Japan 399-8305 TEL 0263 (83) 6800 FAX: 0263 (83) 6901Harmonic Drive AG: Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn Germany TEL +49-6431-5008-0 FAX +49-6431-5008-18Harmonic Drive 247 Lynnfield Street, Peabody, MA, 01960, U.S.A.L.L.C: TEL +1-978-532-1800 FAX +1-978-532-9406

SHA series dedicated driverThe actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque.

MECHATROLINK-II supportedHA-800B

CC-Link supportedHA-800C

Control Mode [Position, Speed, Torque] supported

HA-800A

*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.

SHA series /AC Servo Actuators

HA-800 seriesAC Servo Driver

Features 2・3SHA series Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25 (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25 (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40 《Combination Driver: HA-800□-24D/E-200》 18・19 SHA58 《Combination Driver: HA-800□-24D/E-200》 20・21 SHA65 《Combination Driver: HA-800□-24D/E-200》 22・23Operable Range・Mechanical Accuracy 24Uni-directional Positional Accuracy・Rotational Direction・Surface Treatment 25Precautions 25SHA series Options (sold separately) 26・27

Features 28Combination Actuators 28HA-800 series Common Specification 29HA-800 series Communication Specification 30Names and Functions of the Operation Part・Description of I/O Signals 31External Dimensions: HA-800□-1, 3・HA-800□-6 32External Dimensions: HA-800□-24 33Example of Connection with the Host Equipment《verstile I/O command type HA-800A》 34Operation Mode and Types of Parameters 35・36HA-800 series Options (sold separately) 37・38・39Software to Set Servo Parameters 40

Warranty・Trademark 41Overseas standards conformance 41For Safe Use of Servo Systems 42As a Specialist in Precision Control Field (Company profile) 43

CONTENTS

HA-800 series

SHA series

HA-800 series

SHA series

HA-800 series

SHA series

Cable lead-out Encoder

Rear lead-out (Connecter used in models 58 and 65)

Side lead-out is available.(Models 25, 32, and 40)

Reducer model

HarmonicDrive® SHG seriesHarmonic Planetary®

HPF series (Model No. 25 and 32)

Changeable reducer modelFlat HarmonicDrive® (SHD series)Planetary gear reducer (HPG series)Reduction ratio: selectable between 1/11 and 1/161

riatio

Can be compatible with IP65 of protection code.

Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markingsCompliance with RoHS directive

AC Servo motor

Environment specification

Supported power voltage specification: AC 200V(SHA25 is AC100V spec and 200V spec.)

Supported power voltage specification: AC400V, AC100V, DC72V, DC48V(Inquire at Harmonic drive’s sales office for the supported model.)

Holding brake

Without brake

With brake (can be mounted without changing dimensions.)

Magnetic type absolute encoder (17bit)Multi revolution backup (16bit)(conforming to Nicon A format)

Incremental encoder can be mounted.

riatio

Output shaft bearingHarmonicDrive® unit typeCrossed roller bearing in common with SHG series

The size can be changed to the high load capacity and high load specification.

OptionNear origin and end limit sensors

Features of SHA series

Maximum rotational speed [r/min]

● Hollow structure (maximum hollow opening diameter φ65mm) Flat structure (maximum outside diameter φ284mm, total length 222mm)

* Both in SHA65

● Torque cubic volume ratio more than 5 times of direct drive motor is achieved. * According to the technical infromation of HarmonicDrive®.

● Torque from 26Nm to 3400Nm is set as series.● Shaft bearing, speed reducer, and motor winding specifications can be selected to “meet various needs”● 17bit magnetic type absolute encoder is mounted as standard (conforming to Nicon A format)● By combination with hollow planetary reducer for precision control HPF series of Harmonic Planetary®, high-speed revolution is available.

(Model No. 25 and 32)● By using dedicated drivers, control with MECHATROLINK-ll, CC-Link, and other open network become available.● Motor itself can be sold as well.

● Open field network supported● MECHATROLINK-ll supported • Unique control theory reduces positional settling time to 1/2. • Auto tuning function is available. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque*3) can be switched by I/O input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.

General-purpose I/O command type

Functions of HA-800 seriesSelection from each variation

Maximum Torque Map

Features of HA-800 series

Open Field Network Supported AC Servo Driver

SHA series dedicated driverThe actuator upgraded to the highest level by Harmonic Drive Systems provides wider variation such as hollow, flat, and high torque.

MECHATROLINK-II supportedHA-800B

CC-Link supportedHA-800C

Control Mode [Position, Speed, Torque] supported

HA-800A

*1: MECHATROLINK is a registered trademark of MECHATROLINK association.*2: CC-Link is a registered trademark of CC-Link association.

Features 2・3SHA series Line up 4Combination with Driver and Relay Cable 4Model and Symbols 5System Configuration 6・7Actuator Specification: SHA20 《Combination Driver: HA-800□-3D/E-200》 8・9 SHA25 (100V)《Combination Driver: HA-800□-6D/E-100》 10・11 SHA25 (200V) 《Combination Driver: HA-800□-3D/E-200》 12・13 SHA32 《Combination Driver: HA-800□-6D/E-200》 14・15 SHA40 《Combination Driver: HA-800□-6D/E-200》 16・17 SHA40 《Combination Driver: HA-800□-24D/E-200》 18・19 SHA58 《Combination Driver: HA-800□-24D/E-200》 20・21 SHA65 《Combination Driver: HA-800□-24D/E-200》 22・23Operable Range・Mechanical Accuracy 24Uni-directional Positional Accuracy・Rotational Direction・Surface Treatment 25Precautions 25SHA series Options (sold separately) 26・27

Features 28Combination Actuators 28HA-800 series Common Specification 29HA-800 series Communication Specification 30Names and Functions of the Operation Part・Description of I/O Signals 31External Dimensions: HA-800□-1, 3・HA-800□-6 32External Dimensions: HA-800□-24 33Example of Connection with the Host Equipment《verstile I/O command type HA-800A》 34Operation Mode and Types of Parameters 35・36HA-800 series Options (sold separately) 37・38・39Software to Set Servo Parameters 40

Warranty・Trademark 41Overseas standards conformance 41For Safe Use of Servo Systems 42As a Specialist in Precision Control Field (Company profile) 43

CONTENTS

HA-800 series

SHA series

HA-800 series

SHA series

HA-800 series

SHA series

Cable lead-out Encoder

Rear lead-out (Connecter used in models 58 and 65)

Side lead-out is available.(Models 25, 32, and 40)

Reducer model

HarmonicDrive® SHG seriesHarmonic Planetary®

HPF series (Model No. 25 and 32)

Changeable reducer modelFlat HarmonicDrive® (SHD series)Planetary gear reducer (HPG series)Reduction ratio: selectable between 1/11 and 1/161

riatio

Can be compatible with IP65 of protection code.

Protection code: IP54Operating temperature: 0°C to +40°CUL and CE markingsCompliance with RoHS directive

AC Servo motor

Environment specification

Supported power voltage specification: AC 200V(SHA25 is AC100V spec and 200V spec.)

Supported power voltage specification: AC400V, AC100V, DC72V, DC48V(Inquire at Harmonic drive’s sales office for the supported model.)

Holding brake

Without brake

With brake (can be mounted without changing dimensions.)

Magnetic type absolute encoder (17bit)Multi revolution backup (16bit)(conforming to Nicon A format)

Incremental encoder can be mounted.

riatio

Output shaft bearingHarmonicDrive® unit typeCrossed roller bearing in common with SHG series

The size can be changed to the high load capacity and high load specification.

OptionNear origin and end limit sensors

Features of SHA series

Maximum rotational speed [r/min]

● Hollow structure (maximum hollow opening diameter φ65mm) Flat structure (maximum outside diameter φ284mm, total length 222mm)

* Both in SHA65

● Torque cubic volume ratio more than 5 times of direct drive motor is achieved. * According to the technical infromation of HarmonicDrive®.

● Torque from 26Nm to 3400Nm is set as series.● Shaft bearing, speed reducer, and motor winding specifications can be selected to “meet various needs”● 17bit magnetic type absolute encoder is mounted as standard (conforming to Nicon A format)● By combination with hollow planetary reducer for precision control HPF series of Harmonic Planetary®, high-speed revolution is available.

(Model No. 25 and 32)● By using dedicated drivers, control with MECHATROLINK-ll, CC-Link, and other open network become available.● Motor itself can be sold as well.

● Open field network supported● MECHATROLINK-ll supported • Unique control theory reduces positional settling time to 1/2. • Auto tuning function is available. • Cubic volume is reduced about by 30%.● Control mode (position, speed, torque*3) can be switched by I/O input in operation.● Regenerative absorbing circuit and dynamic brake are embedded.● Compatible with wider variation of actuators manufactured by Harmonic Drive Systems.

General-purpose I/O command type

Functions of HA-800 seriesSelection from each variation

Maximum Torque Map

Features of HA-800 series

Open Field Network Supported AC Servo Driver

800A800B800C

100 AC100V200 AC200V

3 3A1 1.5A

6 6A24 24A

200 AC200V100 AC100V

＊＊ in the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)

1：11

340（523）

560（675）

686（738）

41(35)

67(58)

81(73)

81(81)

94（160）

158（263）

198（330）

237（382）

317（382）

109.8(94.1)

69.1(59.3)

55.4(47.5)

46.3(39.7)

34.8(29.8)

1,441,792

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

1,441,792

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

10,616,832

13,238,272

15,859,712

21,102,592

10,616,832

13,238,272

15,859,712

21,102,592

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

HA-800seriesAC Servo Driver SHA25A SHA32A SHA40A SHA58A SHA65A

EWD-MB＊＊-A06-TN3

EWD-S＊＊-A08-3M14

EWD-MB＊＊-D09-TMC

EWD-S＊＊-D10-3M14

SHA25A SHA32A SHA40A SHA58A SHA65A

HA-800A-6D/E-100HA-800A-3D/E-200

HA-800B-6D/E-100HA-800B-3D/E-200

HA-800C-6D/E-100HA-800C-3D/E-200

HA-800A-6D/E-200

HA-800B-6D/E-200

HA-800C-6D/E-200

SHA20A

HA-800A-3D/E-200

HA-800B-3D/E-200

HA-800C-3D/E-200

HA-800A-24D/E-200

HA-800B-24D/E-200

HA-800C-24D/E-200

HA-800A-24D/E-200

HA-800B-24D/E-200

HA-800C-24D/E-200

SHG11 1/11

121521

51 1/5181 1/81101 1/101121 1/121161 1/161

SHA series

HA-800 series

SHA series

HA-800 series

HarmonicDriveReduction Ratio

Max. Torque［Nm］

Permissible Continuous

Torque ［Nm］Max. RotationalSpeed ［r/min］

Output ResolutionPulses/Resolution

Hollow opening diameter ［mm］ Combined Driver ModelModel No.

* 1: The value in parentheses ( ) of model number 25 is the value when the input power voltage is AC100V.* 2: Reduction ratio 1:11 of model number 25 and 32 is when combined with the hollow planetary speed reducer HPF series and AC200V specification.* 3: The value in parentheses ( ) of model number 40 is the value when combined with HA-800□-24 driver.* 4: Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).

Combination with Driver and Relay Cable

SHA series Line up Model and Symbols

Relay CableActuator Model

Encoder cable

Motor cable

Combination DriverActuator Model

The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.

HA-800A-6D/E-200or

HA-800A-24D/E-200

HA-800B-6D/E-200or

HA-800B-24D/E-200

HA-800C-6D/E-200or

HA-800C-24D/E-200

MECHATROLINK-II supported

CC-Link supported

Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current

AC servo driver

AC servo actuator

SHA 32 A 101 SG – B 12 A 200 – 10 S17b A – C Example of standard item model

HA 800A 3 A 200Example of standard item model

(1) Type: AC servo actuator SHA series

Model Nos.: 20, 25, 32, 40, 58, 65(2)

Version symbol(3)

Reduction ratio (represented as R of 1/R)(4)

(12) Encoder phase angle

Near origin and end limit sensorsSide lead-out of cable

Option symbol(14)

StandardSpecial specification item

No description

Special specification(15)

Without connectorWith special connector (special specification)

Connector attached as standard

Attached connector(13)

(6) Motor version symbol

Model Nos. 58, 65Model Nos. 25, 32, 40

(7) Motor size

Model Nos. 25

Model Nos. 20

Model Nos. 32Model Nos. 40Model Nos. 58, 65

(5) Reducer type

HarmonicDrive® SHG seriesHarmonicPlanetary® HPF series

Power supply of motor(9)

Without brakeWith brake

Brake (8)

A format, transmission speed: 2.5Mbps, one-to-one connection

Encoder format

(1) Type: AC servo driver HA series

Series name: 800 series(2)

Rated output current(3)

Supported encoder(4)

(5) Input power supply voltage

(6) Special specification

(11) Encoder type, resolution

17bit absolute encoder, 131072 pulse/revolution

* Reduction ratio 1/11 is set by combination with hollow planetary reducer HPF series. The Applicable Model Nos. for the ratio are 25 and 32, and the ratio is available in case of AC200V only.

(1) (2) (3) (4) (5) (6)

I/O command typeMECHATROLINK-Ⅱ supportedCC-Link supported

13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification

I/O command type: 　　　HA-800A-6D/E-100　　　HA-800A-3D/E-200MECHATROLINK-Ⅱ supported：　　　HA-800B-6D/E-100　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-6D/E-100　　　HA-800C-3D/E-200

I/O command type: 　　　HA-800A-6D/E-200MECHATROLINK-Ⅱ supported：　　　HA-800B-6D/E-200CC-Link supported：　　　HA-800C-6D/E-200

I/O command type: HA-800A-6D/E-200（HA-800A-24D/E-200）MECHATROLINK-Ⅱ supported：HA-800B-6D/E-200（HA-800B-24D/E-200）CC-Link supported：HA-800C-6D/E-200（HA-800C-24D/E-200）

I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200

I/O command type: 　　　HA-800A-3D/E-200MECHATROLINK-Ⅱsupported：　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-3D/E-200

Versatile I/O command type

When HA-800A-6D/E:EWD-MB＊＊-A06-TN3

When HA-800A-24D/E:EWD-MB＊＊-A06-TMC

800A800B800C

100 AC100V200 AC200V

3 3A1 1.5A

6 6A24 24A

200 AC200V100 AC100V

＊＊ in the relay cable model indicates cable length. Select from 3 types of length: 03=3m, 05=5m, and 10=10m.

(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)

1：11

340（523）

560（675）

686（738）

41(35)

67(58)

81(73)

81(81)

94（160）

158（263）

198（330）

237（382）

317（382）

109.8(94.1)

69.1(59.3)

55.4(47.5)

46.3(39.7)

34.8(29.8)

1,441,792

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

1,441,792

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

10,616,832

13,238,272

15,859,712

21,102,592

10,616,832

13,238,272

15,859,712

21,102,592

6,684,672

10,616,832

13,238,272

15,859,712

21,102,592

HA-800seriesAC Servo Driver SHA25A SHA32A SHA40A SHA58A SHA65A

EWD-MB＊＊-A06-TN3

EWD-S＊＊-A08-3M14

EWD-MB＊＊-D09-TMC

EWD-S＊＊-D10-3M14

SHA25A SHA32A SHA40A SHA58A SHA65A

HA-800A-6D/E-100HA-800A-3D/E-200

HA-800B-6D/E-100HA-800B-3D/E-200

HA-800C-6D/E-100HA-800C-3D/E-200

HA-800A-6D/E-200

HA-800B-6D/E-200

HA-800C-6D/E-200

SHA20A

HA-800A-3D/E-200

HA-800B-3D/E-200

HA-800C-3D/E-200

HA-800A-24D/E-200

HA-800B-24D/E-200

HA-800C-24D/E-200

HA-800A-24D/E-200

HA-800B-24D/E-200

HA-800C-24D/E-200

SHG11 1/11

121521

51 1/5181 1/81101 1/101121 1/121161 1/161

SHA series

HA-800 series

SHA series

HA-800 series

HarmonicDriveReduction Ratio

Max. Torque［Nm］

Permissible Continuous

Torque ［Nm］Max. RotationalSpeed ［r/min］

Output ResolutionPulses/Resolution

Hollow opening diameter ［mm］ Combined Driver ModelModel No.

* 1: The value in parentheses ( ) of model number 25 is the value when the input power voltage is AC100V.* 2: Reduction ratio 1:11 of model number 25 and 32 is when combined with the hollow planetary speed reducer HPF series and AC200V specification.* 3: The value in parentheses ( ) of model number 40 is the value when combined with HA-800□-24 driver.* 4: Output shaft resolution is a value of (encoder resolution) x (Reduction ratio).

Combination with Driver and Relay Cable

SHA series Line up Model and Symbols

Relay CableActuator Model

Encoder cable

Motor cable

Combination DriverActuator Model

The following table shows configuration of SHA actuator, HA-800 driver, and relay cable.

HA-800A-6D/E-200or

HA-800A-24D/E-200

HA-800B-6D/E-200or

HA-800B-24D/E-200

HA-800C-6D/E-200or

HA-800C-24D/E-200

MECHATROLINK-II supported

CC-Link supported

Control Mode [Position, Speed, Torque *] supported* Control mode that controls motor current

AC servo driver

AC servo actuator

SHA 32 A 101 SG – B 12 A 200 – 10 S17b A – C Example of standard item model

HA 800A 3 A 200Example of standard item model

(1) Type: AC servo actuator SHA series

Model Nos.: 20, 25, 32, 40, 58, 65(2)

Version symbol(3)

Reduction ratio (represented as R of 1/R)(4)

(12) Encoder phase angle

Near origin and end limit sensorsSide lead-out of cable

Option symbol(14)

No description

Special specification(15)

Without connectorWith special connector (special specification)

Connector attached as standard

Attached connector(13)

(6) Motor version symbol

Model Nos. 58, 65Model Nos. 25, 32, 40

(7) Motor size

Model Nos. 25

Model Nos. 20

Model Nos. 32Model Nos. 40Model Nos. 58, 65

(5) Reducer type

HarmonicDrive® SHG seriesHarmonicPlanetary® HPF series

Power supply of motor(9)

Without brakeWith brake

Brake (8)

A format, transmission speed: 2.5Mbps, one-to-one connection

Encoder format

(1) Type: AC servo driver HA series

Series name: 800 series(2)

Rated output current(3)

Supported encoder(4)

(5) Input power supply voltage

(6) Special specification

(11) Encoder type, resolution

17bit absolute encoder, 131072 pulse/revolution

* Reduction ratio 1/11 is set by combination with hollow planetary reducer HPF series. The Applicable Model Nos. for the ratio are 25 and 32, and the ratio is available in case of AC200V only.

(1) (2) (3) (4) (5) (6)

I/O command typeMECHATROLINK-Ⅱ supportedCC-Link supported

13bit absolute encoder 14-wire incremental encoder4-wire reduction incremental encoder17bit absolute encoder17bit encoder incremental specification

I/O command type: 　　　HA-800A-6D/E-100　　　HA-800A-3D/E-200MECHATROLINK-Ⅱ supported：　　　HA-800B-6D/E-100　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-6D/E-100　　　HA-800C-3D/E-200

I/O command type: 　　　HA-800A-6D/E-200MECHATROLINK-Ⅱ supported：　　　HA-800B-6D/E-200CC-Link supported：　　　HA-800C-6D/E-200

I/O command type: HA-800A-6D/E-200（HA-800A-24D/E-200）MECHATROLINK-Ⅱ supported：HA-800B-6D/E-200（HA-800B-24D/E-200）CC-Link supported：HA-800C-6D/E-200（HA-800C-24D/E-200）

I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200I/O command type: HA-800A-24D/E-200MECHATROLINK-Ⅱ supported： HA-800B-24D/E-200CC-Link supported： HA-800C-24D/E-200

I/O command type: 　　　HA-800A-3D/E-200MECHATROLINK-Ⅱsupported：　　　HA-800B-3D/E-200CC-Link supported：　　　HA-800C-3D/E-200

Versatile I/O command type

When HA-800A-6D/E:EWD-MB＊＊-A06-TN3

When HA-800A-24D/E:EWD-MB＊＊-A06-TMC

(→ p. 40)

Versatile I/O command typeAC servo driver

HA-800A

Power Supply *1

Circuit Breaker *1

Surge absorber *1

Noise filter *1

SHA series

HA-800 series

SHA series

HA-800 series

System ConfigurationBasic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.

General-purpose I/O command type System configuration

TB2 connector(→ p. 38)

Control power supply *1

Power supply cable *1

Main power supply *1

Electromagnetic contactor *1

To PE of motor relay cable

* If a brake is attached, the power supply for the brake is required separately.

Dedicated communication cable(→ p. 37)

Encoder relay cable(→ p. 27)

Motor relay cable(→ p. 26 and 27)

I/O signal cable *1

Personal computer *1

CN2 connector(→ p. 36)

Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.

AC servo actuatorSHA series

Communication software (PSF-800)

Install

Host controller *1

MECHATROLINK-Ⅱ supported System configuration

TB1: motor connector (→ p. 38)【Not necessary if relay cable is used】

CN1: encoder connector (→ p. 38)【Not necessary if relay cable is used】

AC100V or AC200V power supply[Prepare cables and the power supply.]

Motor relay cable (p. 26 and 27)

Optionally available

CN2: I/O signal connactor (→ p. 38)

Host controller

I/O signal cable

TB2: Power supply connector (→ p. 38)

MECHATROLINK-Ⅱ supported

AC servo driverHA-800B

To be supplied by the customer

* See “Technical information” for details of the configuration related to the power supply.

MECHATROLINK-Ⅱterminating resistance

MECHATROLINK-Ⅱcable

MECHATROLINK-Ⅱcontroller

EIA-232C dedicated communication cable

(→ p. 37)Encoder relay cable（p. 27）

AC servo actuatorSHA-C series

CC-Link supported System configuration

CC-Link Ver.1.10communication cable

Host controller

I/O signal cable

CC-Link master station

Terminating resistance

CC-Link supportedAC servo driver

HA-800C

(→ p. 37)

CN1: encoder connector (→ p. 38)【Not necessary if relay cable is used】Motor relay cable (p. 26 and 27)

Encoder relay cable（p. 27）

CC-Link communication connector

(→ p. 38)

(→ p. 40)

Versatile I/O command typeAC servo driver

HA-800A

Power Supply *1

Circuit Breaker *1

Surge absorber *1

Noise filter *1

SHA series

HA-800 series

SHA series

HA-800 series

System ConfigurationBasic configuration of SHA actuator, HA-800 driver, and relay cable are illustrated.

General-purpose I/O command type System configuration

Control power supply *1

Power supply cable *1

Main power supply *1

Electromagnetic contactor *1

To PE of motor relay cable

* If a brake is attached, the power supply for the brake is required separately.

Dedicated communication cable(→ p. 37)

Encoder relay cable(→ p. 27)

Motor relay cable(→ p. 26 and 27)

I/O signal cable *1

Personal computer *1

Notes:Starred ( *1 ) items are to be supplied by the customer.* See the technical information for the details of configuration related to power supply.

AC servo actuatorSHA series

Communication software (PSF-800)

Install

Host controller *1

MECHATROLINK-Ⅱ supported System configuration

CN1: encoder connector (→ p. 38)【Not necessary if relay cable is used】

Motor relay cable (p. 26 and 27)

Host controller

I/O signal cable

MECHATROLINK-Ⅱ supported

AC servo driverHA-800B

MECHATROLINK-Ⅱterminating resistance

MECHATROLINK-Ⅱcable

MECHATROLINK-Ⅱcontroller

(→ p. 37)Encoder relay cable（p. 27）

CC-Link supported System configuration

CC-Link Ver.1.10communication cable

Host controller

I/O signal cable

CC-Link master station

Terminating resistance

CC-Link supportedAC servo driver

HA-800C

(→ p. 37)

CN1: encoder connector (→ p. 38)【Not necessary if relay cable is used】Motor relay cable (p. 26 and 27)

Encoder relay cable（p. 27）

CC-Link communication connector

(→ p. 38)

■SHA20A51 ■SHA20A81

■SHA20A101 ■SHA20A121

■SHA25A161SG

SHA20A51SG SHA20A81SG SHA20A101SG SHA20A121SG SHA20A161SG737.4212.1

117.616.51.76.02.11.9

0.232.40.262.61:51

6,684,672

969.8353.674.1272.74.92.03.0

0.586.00.656.61:81

10,616,832

10710.9434.459.4333.44.52.03.71.42.50.919.31.010

1:10118719.1

25.2×104

217（131,072）216（65,536）13,238,272

2.02.1

11311.54814.949.6404.14.01.94.5

1.3131.415

15,859,712

12012.2484.937.3535.43.41.65.9

2.3242.626

21,102,592

SHA seriesAC Servo Actuators

00 20 40 60 80 120100 140 0 4020 60 80

00 20 40 60 80

00 20 40 60

0 10 20 30 40

12.5 27 ±0.4 63.5

103 ±1

108.5 ±1

200 0+35

: 350715-1(AMP): 350690-1(AMP): 350669-1(AMP)

Housing: 1-1903130-4(AMP)Pin contact: 1903111-2(AMP)

15° 20°

3 ±0.005 Depth 3

12 - 3.4

AWG28X3

3.4X6.5 0.04

33.75°

3 0+0.010

16 -M3x 6 　　

3.4X11.5)

0.04 ( 13 )

( 28 )

)1 2 3

AWG20X4

Continuousmotion range

Radiation plate: 320×320×16（mm）

Rotational Speed ［r/min］

ue ［

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

Nm/radkgf・m/arc　min

Pulse/revolutionkgkg

kgf・m

* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 4: Indicates the value of output shaft as an actuator.

Actuator Specification: SHA20 《Combination Driver: HA-800□-3D/E-200》

Permissible Continuous Torque *2

Permissible Continuous Current *2

Permissible Moment Capacity

Moment Stiffness

Uni-directional Positional AccuracyEncoder MethodEncoder Resolution per Motor RevolutionMulti Revolution DetectionOutput Shaft ResolutionMass (without brake)Mass (with brake)Environmental Conditions

Mounting DirectionProtection Structure

Brake Holding Torque *4

Brake Excitation Voltage *3

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Maximum SpeedTorque Constant

MEF ConstantPhase Resistance (at 20oC)Phase Inductance

Reduction Ratio

Moment of Inertia(With brake)

Moment of Inertia(Without brake)

Acceleration/deceleration motion range

50% duty motion range

GD2/4J

17bit absolute encoder

Dry non-excitation operation type (without power saving control)DC24V±10% (non polarity)

Insulation resistance: 100MΩ or more (DC 500V), Dielectric strength: AC 1500V/1min, Insulation class: Class AAll directionsTotally enclosed self-cooled type (IP54 : See the technical information for the details of protection code.)

* The allowance varies depending on the part manufacturing method (cast or machined products). Contact us if the allowance is not described in the dimensions and is required. Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.

Operable Range * See page 24 for how to read the operable range.

External Dimensions(Reducer type: SG type)

（Unit: mm）

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.

Encoder connector

Motor connector

Motor cable Encoder cable

(Cable outside diameter: 5.6)

(Cable outside diameter:

Cable outside diameter:

(Cable outside diameter: 6)pairs (braided with shield)

HousingPin contact (motor U・V・W)Pin contact (motor PE)

or less

Pin hole positioning

Output rotary unit

Depth 5.5

■SHA20A51 ■SHA20A81

■SHA20A101 ■SHA20A121

■SHA25A161SG

SHA20A51SG SHA20A81SG SHA20A101SG SHA20A121SG SHA20A161SG737.4212.1

117.616.51.76.02.11.9

0.232.40.262.61:51

6,684,672

969.8353.674.1272.74.92.03.0

0.586.00.656.61:81

10,616,832

10710.9434.459.4333.44.52.03.71.42.50.919.31.010

1:10118719.1

25.2×104

217（131,072）216（65,536）13,238,272

2.02.1

11311.54814.949.6404.14.01.94.5

1.3131.415

15,859,712

12012.2484.937.3535.43.41.65.9

2.3242.626

21,102,592

00 20 40 60 80 120100 140 0 4020 60 80

00 20 40 60 80

00 20 40 60

0 10 20 30 40

12.5 27 ±0.4 63.5

103 ±1

108.5 ±1

200 0+35

: 350715-1(AMP): 350690-1(AMP): 350669-1(AMP)

Housing: 1-1903130-4(AMP)Pin contact: 1903111-2(AMP)

15° 20°

3 ±0.005 Depth 3

12 - 3.4

AWG28X3

3.4X6.5 0.04

33.75°

3 0+0.010

16 -M3x 6 　　

3.4X11.5)

0.04 ( 13 )

( 28 )

)1 2 3

AWG20X4

ue ［

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Insulation resistance: 100MΩ or more (DC 500V), Dielectric strength: AC 1500V/1min, Insulation class: Class AAll directionsTotally enclosed self-cooled type (IP54 : See the technical information for the details of protection code.)

（Unit: mm）

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.

Encoder connector

Motor connector

(Cable outside diameter: 5.6)

Cable outside diameter:

(Cable outside diameter: 6)pairs (braided with shield)

HousingPin contact (motor U・V・W)Pin contact (motor PE)

or less

Output rotary unit

Depth 5.5

ue ［

80 100

ue ［

020 30 40

ue ［

020 30 40

ue ［

020 30

ue ［

040 60

■SHA25A51SG ■SHA25A81SG

■SHA25A161SG

SHA25A51SG SHA25A81SG SHA25A101SG SHA25A121SG SHA25A161SG12713353.694.111.11.114.94.71.3

0.565.70.666.71:51

6,684,672

17818.2585.959.317.91.813.04.72.0

1.4214.41.6617

10,616,832

21722.1818.239.7272.710.94.53.0

3.2323.738

15,859,712

12112.3

22923.4818.229.8363.69.03.74.0

5.6576.667

21,102,592

16116.4

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 4: Indicates the value of output shaft as an actuator.

Actuator Specification: SHA25 (AC100V Spec.) 《Combination Driver: HA-800□-6D/E-100》

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

Continuous motion range

GD2/4J

Magnetic type 17bit absolute encoder

20420.8737.447.5222.312.14.72.50.41.02.2222.626

1:10125826.3

39.2×104

11.640

217（131,072）216（65,536）13,238,272

2.953.1

Dry non-excitation operation type (with power saving control)DC24V±10% (non polarity)

10110.3

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V), Dielectric strength: AC 1500V/1min, Insulation class: Class AAll directionsTotally enclosed self-cooled type (IP45 : See the technical information for the details of protection code.)

External Dimensions(Reducer type: SG type) Encoder connector

Motor connector

Motor cableEncoder cable

(Opening diameter

(Cable outside diameter:(Cable outside diameter:

(Cable outside diameter:pairs + shield

pairsor less

or less

Pin hole positioningPin hole positioning

Output rotary unit

（Unit: mm）

ue ［

80 100

ue ［

020 30 40

ue ［

020 30 40

ue ［

020 30

ue ［

040 60

■SHA25A161SG

SHA25A51SG SHA25A81SG SHA25A101SG SHA25A121SG SHA25A161SG12713353.694.111.11.114.94.71.3

0.565.70.666.71:51

6,684,672

17818.2585.959.317.91.813.04.72.0

1.4214.41.6617

10,616,832

21722.1818.239.7272.710.94.53.0

3.2323.738

15,859,712

12112.3

22923.4818.229.8363.69.03.74.0

5.6576.667

21,102,592

16116.4

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 4: Indicates the value of output shaft as an actuator.

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

20420.8737.447.5222.312.14.72.50.41.02.2222.626

1:10125826.3

39.2×104

11.640

217（131,072）216（65,536）13,238,272

2.953.1

10110.3

External Dimensions(Reducer type: SG type) Encoder connector

Motor connector

(Opening diameter

pairsor less

or less

Output rotary unit

（Unit: mm）

12713414.2

109.8192.08.63.02.2

0.565.70.666.71:51

6,684,672

17818.2676.869.1313.27.53.03.5

1.4214.41.6617

10,616,832

20420.8818.255.4394.07.02.94.31.23

2.2222.626

13,238,272

10110.3

21722.1818.246.3464.76.32.65.2

3.2323.738

15,859,712

12112.3

22923.4818.234.8626.35.22.16.9

5.6576.667

21,102,592

16116.4

* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: In the combination with the hollow planetary reducer HPF series, reduction ratio is 1:11.* 4: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 5: Indicates the value of output shaft as an actuator.

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

SHA25A51SG262.79.00.92509.14.20.438.93.00.47

0.0290.2960.0340.3471:1141041.8

37.9×104

11.3120

1,441,7925

SHA25A11HP SHA25A81SG SHA25A101SG SHA25A121SG SHA25A161SG

25826.3

39.2×104

217（131,072）216（65,536）

2.953.1

00 10 20 30 40 6050

■SHA25A101

00 10 20 30 40 50

■SHA25A121

00 10 20 30 40

■SHA25A161

00 100 200 300 400 500 600

■SHA25A11HP

00 20 40 60 80 100 120

■SHA25A51

00 20 40 60 80

■SHA25A81

Item Model

Moment Stiffness

Brake holding torque *5

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

Encoder connector

Motor connector

(Opening diameter

pairsor less

or less

Output rotary unit

External Dimensions(Reducer type: SG type) （Unit: mm）

External Dimensions(Reducer type: HP type)

（Unit: mm）

Encoder connector

Motor connector

Motor cable

Encoder cable(Cable outside diameter:

(From upper part of cable clamp)

or less

Tolerance range)

Radiation plate: 350×350×18 （mm） Radiation plate: 350×350×18 （mm） Radiation plate: 350×350×18 （mm）

ue ［

GD2/4J

12713414.2

109.8192.08.63.02.2

0.565.70.666.71:51

6,684,672

17818.2676.869.1313.27.53.03.5

1.4214.41.6617

10,616,832

20420.8818.255.4394.07.02.94.31.23

2.2222.626

13,238,272

10110.3

21722.1818.246.3464.76.32.65.2

3.2323.738

15,859,712

12112.3

22923.4818.234.8626.35.22.16.9

5.6576.667

21,102,592

16116.4

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

SHA25A51SG262.79.00.92509.14.20.438.93.00.47

0.0290.2960.0340.3471:1141041.8

37.9×104

11.3120

1,441,7925

25826.3

39.2×104

217（131,072）216（65,536）

2.953.1

00 10 20 30 40 6050

■SHA25A101

00 10 20 30 40 50

■SHA25A121

00 10 20 30 40

■SHA25A161

00 100 200 300 400 500 600

■SHA25A11HP

00 20 40 60 80 100 120

■SHA25A51

00 20 40 60 80

■SHA25A81

Item Model

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

Encoder connector

Motor connector

(Opening diameter

pairsor less

or less

Output rotary unit

External Dimensions(Reducer type: SG type) （Unit: mm）

（Unit: mm）

Encoder connector

Motor connector

Motor cable

Encoder cable(Cable outside diameter:

or less

Tolerance range)

ue ［

GD2/4J

28128.7929.494.1212.117.36.02.3

2.0212.324

6,684,672

10210.4

39540.315315.659.3333.415.26.03.7

5.1525.960

10,616,832

16216.5

43344.217818.247.5424.213.55.74.70.331.48.0819.294

13,238,272

45946.817818.239.7505.112.25.05.6

1111713135

15,859,712

48449.417818.229.8666.89.94.17.4

2020723238

21,102,592

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

Pulse/revolurionkgkg

kgf・m

SHA32A51SG626.320.52.1

436.44.50.46196.00.510.331.4

0.0920.9390.1071.0871:1193295

86.1×104

25.7120

1,441,7929.49.7

58059.1

100×104

217（131,072）216（65,536）

5.96.2

200150

500450

200150

500450

00 10 20 30 40 50

■SHA32A101SG

0 10 20 30 40

■SHA32A121SG

00 105 15 2520 30 35

■SHA32A161SG

00 100 200 300 400 500

■SHA32A11HP

00 20 40 60 80 100

■SHA32A51SG

00 20 3010 40 50 60 70

■SHA32A81SG

Encoder connector

Motor connector

(Opening diameter

(Cable outside diameter: (Cable outside diameter:pairs + shieldpairs

or less

Output rotary unit

（Unit: mm）(From upper part of cable clamp)

（Unit: mm）

Encoder connector

Motor connector

or less

Tolerance range)

ue ［

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V), Dielectric strength: AC 1500V/1min, Insulation class: Class AAll directionsTotally enclosed self-cooled type (IP45: See the technical information for the details of protection code.)

28128.7929.494.1212.117.36.02.3

2.0212.324

6,684,672

10210.4

39540.315315.659.3333.415.26.03.7

5.1525.960

10,616,832

16216.5

43344.217818.247.5424.213.55.74.70.331.48.0819.294

13,238,272

45946.817818.239.7505.112.25.05.6

1111713135

15,859,712

48449.417818.229.8666.89.94.17.4

2020723238

21,102,592

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

Pulse/revolurionkgkg

kgf・m

SHA32A51SG626.320.52.1

436.44.50.46196.00.510.331.4

0.0920.9390.1071.0871:1193295

86.1×104

25.7120

1,441,7929.49.7

58059.1

100×104

217（131,072）216（65,536）

5.96.2

200150

500450

200150

500450

00 10 20 30 40 50

■SHA32A101SG

0 10 20 30 40

■SHA32A121SG

00 105 15 2520 30 35

■SHA32A161SG

00 100 200 300 400 500

■SHA32A11HP

00 20 40 60 80 100

■SHA32A51SG

00 20 3010 40 50 60 70

■SHA32A81SG

Encoder connector

Motor connector

(Opening diameter

or less

Output rotary unit

（Unit: mm）(From upper part of cable clamp)

（Unit: mm）

Encoder connector

Motor connector

or less

Tolerance range)

ue ［

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Operating temperature 0 to 40°C, storage temperature -20 to 60°C, Operating humidity / storage humidity 20 to 80% RH (Do not expose to condensation), No dust, no metal powder, no corrosive gas, no inflammable gas and no oil mist, Indoor use only. No exposure to direct sunshine. Altitude 1000m or less.Insulation resistance: 100MΩ or more (DC 500V), Dielectric strength: AC 1500V/1min, Insulation class: Class AAll directionsTotally enclosed self-cooled type (IP45: See the technical information for the details of protection code.)

■SHA40A51

0 10 20 30 40 50

■SHA40A81

020 30

■SHA40A101

0 5 10 15 20 25

■SHA40A161

ue［N

0 10 20 30 40

■SHA40A121

SHA40A51SG SHA40A81SG SHA40A101SG SHA40A121SG SHA40A161SGNm

kgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

6867019820.239.6515.2186.05.70.191.22020224244

1:10184986.6

179×104

53.240

217（131,072）216（65,536）13,238,272

9.910.7

34034.7949.678.4252.6186.02.9

5.0516.162

6,684,672

56057.115816.149.4414.1186.04.6

13130151571:81

10,616,832

80281.823724.233.1616.217.96.06.8

2829034350

15,859,712

84185.831732.324.8818.214.66.09.1

5051361619

21,102,592

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *5

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

(Opening diameter

or less

Output rotary unit

External Dimensions （Unit: mm）

50% duty motion range50% duty motion range

Continuous motion rangeContinuous

motion range

Rotational Speed［r/min］

ue［N

* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 4: Indicates the value of output shaft as an actuator.* 5: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.

■SHA40A51

0 10 20 30 40 50

■SHA40A81

020 30

■SHA40A101

0 5 10 15 20 25

■SHA40A161

ue［N

0 10 20 30 40

■SHA40A121

SHA40A51SG SHA40A81SG SHA40A101SG SHA40A121SG SHA40A161SGNm

kgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

6867019820.239.6515.2186.05.70.191.22020224244

1:10184986.6

179×104

53.240

217（131,072）216（65,536）13,238,272

9.910.7

34034.7949.678.4252.6186.02.9

5.0516.162

6,684,672

56057.115816.149.4414.1186.04.6

13130151571:81

10,616,832

80281.823724.233.1616.217.96.06.8

2829034350

15,859,712

84185.831732.324.8818.214.66.09.1

5051361619

21,102,592

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *5

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

(Opening diameter

or less

Output rotary unit

motion range

ue［N

* 1: The aforementioned values are those at the output shaft.* 2: Values in combination with an HA-800 servo driver.* 3: Power supply for brake is to be supplied by customer. Use the power supply that can generate low power supply voltage and output current consumption at brake suction.* 4: Indicates the value of output shaft as an actuator.* 5: In the combination between HA-800□-6D and SHA40A, “Maximum Torque” and “Permissible Continuous Torque” are limited.

52353.416016.378.4252.626.79.02.9

5.0516.162

6,684,672

67568.926326.849.4414.121.89.04.6

13130151571:81

10,616,832

80281.838239

33.1616.217.98.86.8

2829034350

15,859,712

84185.838239

24.8818.214.67.29.1

5051361619

21,102,592

ue ［

■SHA40A51Radiation plate: 500×500×25（mm）

ue ［

0 10 20 30 40 50

■SHA40A81

ue ［

020 30

■SHA40A101

ue ［

0 5 10 15 20 25

■SHA40A161

ue ［

0 10 20 30 40

■SHA40A121

SHA40A51SG SHA40A81SG SHA40A101SG SHA40A121SG SHA40A161SGOperable Range * See page 24 for how to read the operable range.738

75.333033.739.6515.219.49.05.70.191.22020224244

1:10184986.6

179×104

53.240

217（131,072）216（65,536）13,238,272

9.910.7

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

(Opening diameter

15 or less

or less

Output rotary unit

motion range

52353.416016.378.4252.626.79.02.9

5.0516.162

6,684,672

67568.926326.849.4414.121.89.04.6

13130151571:81

10,616,832

80281.838239

33.1616.217.98.86.8

2829034350

15,859,712

84185.838239

24.8818.214.67.29.1

5051361619

21,102,592

ue ［

■SHA40A51Radiation plate: 500×500×25（mm）

ue ［

0 10 20 30 40 50

■SHA40A81

ue ［

020 30

■SHA40A101

ue ［

0 5 10 15 20 25

■SHA40A161

ue ［

0 10 20 30 40

■SHA40A121

SHA40A51SG SHA40A81SG SHA40A101SG SHA40A121SG SHA40A161SGOperable Range * See page 24 for how to read the operable range.738

75.333033.739.6515.219.49.05.70.191.22020224244

1:10184986.6

179×104

53.240

217（131,072）216（65,536）13,238,272

9.910.7

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

(Opening diameter

15 or less

or less

Output rotary unit

motion range

020 30

■SHA58A81

015 2010 25

■SHA58A121

ue ［

015 2010 25

■SHA58A101

010 15

■SHA58A161

SHA58A81SG SHA58A101SG SHA58A121SG SHA58A161SG

0.0280.29

2180222

531×104

217（131,072）216（65,536）

29.532

192419671473

37.0545.545

17.76.1

9698010610901:81

10,616,832

1220124

206721190592

29.7686.939

17.87.6

149152016516901:101

13,238,272

1520155

223622896999

24.8818.336

16.49.1

214218023724201:121

15,859,712

1820185

239224496999

18.610811.030

13.412.1

379387042042901:161

21,102,592

2420246

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

Motor relay cable connector Encoder relay cable connector

(Opening diameter

or more

or less

Output rotary unit

ue ［

020 30

■SHA58A81

015 2010 25

■SHA58A121

ue ［

015 2010 25

■SHA58A101

010 15

■SHA58A161

0.0280.29

2180222

531×104

217（131,072）216（65,536）

29.532

192419671473

37.0545.545

17.76.1

9698010610901:81

10,616,832

1220124

206721190592

29.7686.939

17.87.6

149152016516901:101

13,238,272

1520155

223622896999

24.8818.336

16.49.1

214218023724201:121

15,859,712

1820185

239224496999

18.610811.030

13.412.1

379387042042901:161

21,102,592

2420246

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

(Opening diameter

or more

or less

Output rotary unit

ue ［

240024592194

34.6545.555

22.06.1

110112012012301:81

10,616,832

1220124

2990305114911727.7686.955

21.97.6

171174018719101:101

13,238,272

1520155

3263333123612623.1818.351

20.19.1

245250026827401:121

15,859,712

1820185

3419349123612617.410811.041

16.312.1

433442047548501:161

21,102,592

2420246

0.0280.29

2740280

741×104

217（131,072）216（65,536）

37.540

020 30

■SHA65A81

015 2010 25

■SHA65A101

0 5 10 15 20

■SHA65A121

0 5 10 15

■SHA65A161

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

Acceleration/deceleration motion rangeAcceleration/deceleration

motion range

(Opening diameter

or more

or less

Output rotary unit

ue ［

240024592194

34.6545.555

22.06.1

110112012012301:81

10,616,832

1220124

2990305114911727.7686.955

21.97.6

171174018719101:101

13,238,272

1520155

3263333123612623.1818.351

20.19.1

245250026827401:121

15,859,712

1820185

3419349123612617.410811.041

16.312.1

433442047548501:161

21,102,592

2420246

0.0280.29

2740280

741×104

217（131,072）216（65,536）

37.540

020 30

■SHA65A81

015 2010 25

■SHA65A101

0 5 10 15 20

■SHA65A121

0 5 10 15

■SHA65A161

Nmkgf・mNm

kgf・mr/minNm/A

kgf・m/AAA

V/（r/min）ΩmH

kg・m2

kgf・cm・s2

kg・m2

kgf・cm・s2

Nmkgf・m

kgf・m

Moment Stiffness

Brake Method

Motor Insulation

Maximum Torque *2

Maximum Voltage *2

Reduction Ratio

GD2/4J

Item Model

Encoder connector

Motor connector

Acceleration/deceleration motion rangeAcceleration/deceleration

motion range

(Opening diameter

or more

or less

Output rotary unit

ue ［

50 60 70 80 90 100

SHA20A SHA25A SHA32A SHA40A SHA58A0.030

0.035（0.020）0.035

0.040（0.020）0.040

SHA65A0.050

SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A—

Surface Treatment

Precautions

Uni-directional Positional Accuracy

Mechanical Accuracy

Operable Range

The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).

■ 50% duty motion rangeRange of torque-rotational speed operable at 50% duty (ratio between operational and standby hours is 50:50)

■ Motion range during acceleration and decelerationRange of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration.

■ Continuous motion rangeRange of continuously operable torque-rotational speed.

Note 1: Motion ranges for continuous motion and that at 50% duty are the values when the radiation plate mentioned in the graphs is mounted.

Note 2: See the technical information for selection of a model No.

Rotational Speed [r/min]

The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.

Item1. Output shaft surface runout

2. Output shaft axial runout

3. Parallelism between the output shaft and mounted surface

5. Concentricity between the output shaft and fitting part

* The aforementioned values are T.I.R (total indicator reading) values.

* See the technical information for the measuring method.

Note) The value in parentheses ( ) is the value in combination between

reducer type and HP type (hollow planetary reducer).

The “uni-directional positional accuracy” represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (Source: JIS [Japanese Industrial Standards] B 6201-1987).The SHA series contains a speed reducer HarmonicDrive® for precision control, meaning positioning errors of the motor shaft are therefore compressed by speed reduction. The “uni-directional positional accuracy” for each model is shown below.

Positioning error

Actual stop position

Theoretical stop position

Datum position

Rotational Direction

The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.

Set value FWD command pulse REV command pulse Setting

Counter-clockwise direction

Clockwise direction

Factory setting

“SP50: Command polarity” setting

Main body

Output shaft roller bearing

Reduction gear rotor

Output flange

Hollow shaft (Sleeve)

Surface treatment

The following surface treatment is provided for standard SHA series actuators.

No treatment (Bare aluminum)

Raydent treatment

Chrome plating

Nickel plating or Raydent treatment

Nickel plating

Chrome plating

（Unit: Sec）

1：51

1：81 or more

ModelReduction Ratio

The surface treatment of SHA series does not completely protect rust.

● Operating the SHA series at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern, except the hollow planetary speed reducer HPF series (1/11) combination.

● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.

（Uint: mm）

50 60 70 80 90 100

SHA20A SHA25A SHA32A SHA40A SHA58A0.030

0.035（0.020）0.035

0.040（0.020）0.040

SHA65A0.050

SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A—

Surface Treatment

Precautions

Uni-directional Positional Accuracy

Mechanical Accuracy

Operable Range

The following diagrams show the operable range of the SHA series (combined with driver HA-800 servo driver).

■ 50% duty motion rangeRange of torque-rotational speed operable at 50% duty (ratio between operational and standby hours is 50:50)

■ Motion range during acceleration and decelerationRange of torque-rotational speed that is operable momentarily. Normally, this range is used during acceleration and deceleration.

■ Continuous motion rangeRange of continuously operable torque-rotational speed.

Note 1: Motion ranges for continuous motion and that at 50% duty are the values when the radiation plate mentioned in the graphs is mounted.

Note 2: See the technical information for selection of a model No.

Rotational Speed [r/min]

The mechanical accuracies of the output shaft and mounting flange of the actuators in the SHA series are as follows.

Item1. Output shaft surface runout

2. Output shaft axial runout

* The aforementioned values are T.I.R (total indicator reading) values.

* See the technical information for the measuring method.

Note) The value in parentheses ( ) is the value in combination between

reducer type and HP type (hollow planetary reducer).

The “uni-directional positional accuracy” represents the maximum difference in one revolution among differences between an angle actually rotated from the datum position and an angle that is supposed to turn in each position by repeating positioning sequentially in a preset rotational direction. (Source: JIS [Japanese Industrial Standards] B 6201-1987).The SHA series contains a speed reducer HarmonicDrive® for precision control, meaning positioning errors of the motor shaft are therefore compressed by speed reduction. The “uni-directional positional accuracy” for each model is shown below.

Positioning error

Actual stop position

Theoretical stop position

Datum position

Rotational Direction

The rotation direction of SHA series is counter-clockwise (CCW) as the factory default viewed from the output shaft side when the FWD command pulse is given by the HA-800 driver. You can change this rotation direction by selecting “System parameter mode 3” and “SP50: Command polarity setting” of the HA-800 driver.

Set value FWD command pulse REV command pulse Setting

Clockwise direction

Factory setting

“SP50: Command polarity” setting

Main body

Output shaft roller bearing

Reduction gear rotor

Output flange

Hollow shaft (Sleeve)

Surface treatment

The following surface treatment is provided for standard SHA series actuators.

No treatment (Bare aluminum)

Raydent treatment

Chrome plating

Nickel plating or Raydent treatment

Nickel plating

Chrome plating

（Unit: Sec）

1：51

1：81 or more

ModelReduction Ratio

The surface treatment of SHA series does not completely protect rust.

● Operating the SHA series at a constant speed (motor shaft 1000r/min or less) in one direction may generate abnormal sound due to poor lubrication of the built-in reduction gear and cause reduced service life due to wear. In this case, take preventive measures by setting a speed change such as periodic breaks in the operation pattern, except the hollow planetary speed reducer HPF series (1/11) combination.

● The SHA series has a sealed structure using a seal. The oil seal used for the rotating and sliding parts does not completely protect against lubricant leakage. Take measures to prevent oil leakage when you use the product in a clean room.

（Uint: mm）

Near Origin and End Limit Sensor (option symbol: L)

Side lead-out of Cable (option symbol: L)

Relay Cable

SHA series Options (sold separately)

Actuator model number: ２５, ３２, ４０ (Model No. 40 is used when combining with HA-800-6D.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴＮ３

Actuator model number: ４０ (Used when combining with HA-800-6D.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴMC

Cable length (03＝3ｍ, 05＝5ｍ, 10＝10m)

● For motors

(Unit: mm)

Actuator model number: ２５, ３２, ４０　　ＥＷＤ－Ｓ＊＊－Ａ０８－３Ｍ１４

Actuator model number: ５８, ６５　　ＥＷＤ－Ｓ＊＊－Ｄ１０－３Ｍ１４

● For absolute encoders

(Unit: mm)

Actuator model number: ５８, ６５　　ＥＷＤ－ＭＢ＊＊－Ｄ０９－ＴＭＣ

Cable length (03＝3ｍ、05＝5ｍ、10＝10m)

(Unit: mm)

Revolution sensor is directly coupled to the output shaft and mounted to the non-output side.Use this option when origin of machine operation is required (when virtual origin of absolute encoder is not good) and when fixation of operation range is required to take safety measures.Inquire at Harmonic Drive’s sales office for detail of the near origin and end limit sensor.

The cable (motor cable or encoder cable) can be led out from the side of actuator. Use this option if there is no room in the back direction of housing when embedding an actuator in the device.However, it is not compatible with SHA58 and SHA65.Inquire at Harmonic Drive’s sales office for detail of the side lead-out of cable.

This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.

Cable length

[Driver side] [Actuator side]

[Driver side][Actuator side]

[Driver side]

Soldering process

Wiring display seal

Waterproof cable clamp

Angle plug

Brake: Blue

Brake: Yellow

PE: Green/Yellow

Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

W: Black

V: White

U: Red

[Actuator side]

Cable length

Outside diameter φ7.8

Near Origin and End Limit Sensor (option symbol: L)

Side lead-out of Cable (option symbol: L)

Relay Cable

SHA series Options (sold separately)

Actuator model number: ２５, ３２, ４０ (Model No. 40 is used when combining with HA-800-6D.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴＮ３

Actuator model number: ４０ (Used when combining with HA-800-6D.)　　ＥＷＤ－ＭＢ＊＊－Ａ０６－ＴMC

● For motors

(Unit: mm)

Actuator model number: ２５, ３２, ４０　　ＥＷＤ－Ｓ＊＊－Ａ０８－３Ｍ１４

Actuator model number: ５８, ６５　　ＥＷＤ－Ｓ＊＊－Ｄ１０－３Ｍ１４

● For absolute encoders

(Unit: mm)

Actuator model number: ５８, ６５　　ＥＷＤ－ＭＢ＊＊－Ｄ０９－ＴＭＣ

Cable length (03＝3ｍ、05＝5ｍ、10＝10m)

(Unit: mm)

Revolution sensor is directly coupled to the output shaft and mounted to the non-output side.Use this option when origin of machine operation is required (when virtual origin of absolute encoder is not good) and when fixation of operation range is required to take safety measures.Inquire at Harmonic Drive’s sales office for detail of the near origin and end limit sensor.

The cable (motor cable or encoder cable) can be led out from the side of actuator. Use this option if there is no room in the back direction of housing when embedding an actuator in the device.However, it is not compatible with SHA58 and SHA65.Inquire at Harmonic Drive’s sales office for detail of the side lead-out of cable.

This cable can connect between SHA series and HA-800 driver.There are two types of relay cable: cable for motor (including brake cable) and that for absolute encoder.When connecting between SHA series and HA-800 driver, this relay cable is required.

Cable length

[Driver side] [Actuator side]

[Driver side][Actuator side]

[Driver side]

Soldering process

Wiring display seal

Waterproof cable clamp

Angle plug

Brake: Blue

Brake: Yellow

PE: Green/Yellow

Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

Brake: Blue

Brake: Yellow

PE: Green/Yellow

W: Black

V: White

U: Red

W: Black

V: White

U: Red

[Actuator side]

Cable length

HA-800A-3D/E-200

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800A-6D/E-200

HA-800A-24D/E-200

HA-800A-1C-200

HA-800A-1C-100

HA-800A-1Ｄ/E-200

HA-800A-1Ｄ/E-100

HA-800A-3C-200

HA-800A-6C-200

HA-800A-3A-200

HA-800A-6A-200

HA-800A-3C-100

HA-800A-6C-100

HA-800A-3A-100

HA-800A-6A-100

HA-800A-3B-200

HA-800A-6B-200

HA-800B-3D/E-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800B-6D/E-200

HA-800B-24D/E-200

HA-800B-1C-200

HA-800B-1C-100

HA-800B-1Ｄ/E-200

HA-800B-1Ｄ/E-100

HA-800B-3C-200

HA-800B-6C-200

HA-800B-3A-200

HA-800B-6A-200

HA-800B-3C-100

HA-800B-6C-100

HA-800B-3A-100

HA-800B-6A-100

HA-800B-3B-200

HA-800B-6B-200

HA-800C-3D/E-200

HA-800C-6D/E-100

HA-800C-3D/E-200

HA-800C-6D/E-200

HA-800C-24D/E-200

HA-800C-1C-200

HA-800C-1C-100

HA-800C-1Ｄ/E-200

HA-800C-1Ｄ/E-100

HA-800C-3C-200

HA-800C-6C-200

HA-800C-3A-200

HA-800C-6A-200

HA-800C-3C-100

HA-800C-6C-100

HA-800C-3A-100

HA-800C-6A-100

HA-800C-3B-200

HA-800C-6B-200

Item Driver model HA-800□-6HA-800□-3HA-800□-1 HA-800□-24

Features

■ Open field network supported MECHATROLINK-ll and CC-Link (Ver1.10) supported

■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems) Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.

■ Auto tuning function is available Auto tuning function is available, which can estimate the load to set optimal servo gain.

■ Control mode can be switched by I/O input Control mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.

■ Regenerative absorbing circuit and dynamic brake are embedded*Control mode to control motor current

Combination Actuators

Open Field Network SupportedAC Servo Driver HA-800 series

HA-800 series can be combined with the following rotary actuator (100V and 200V specifications).

Actuator series name Encoder Type

MECHATROLINK-II Supported CC-Link SupportedGeneral-purpose I/Ocommand type

Combined Driver

absolute

4-wire reduction

incremental

4-wire reduction

incremental

absolute

4-wire reduction

incremental

13bitabsolute

4-wire reduction

incremental

13bitabsolute

14-wire incremental

ModelNo.

Power Supply Voltage

HA-800 series Common Specification

Driver’s Rated Current*1

Driver’s Maximum Current*1

Power SupplyVoltagePower Supply Frequency

Multi Revolution Limit (Motor Shaft)

Ambient Condition

StructureMounting MethodControl Mode

Speed Control Range

Input Singal*2

Output Signal*2

Position Command Pulse*2

Speed Command Voltage*2

Torque Command Voltage*2

Monitor Terminal

Communication Connector *3

Operation Panel

Protection function

Regenerative Processing

Regenerative Resistance Absorbed PowerEmbedded FunctionsInrush Current Prevention FunctionOperation Mode

Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: Avoid vibration and shock No dust, metal powder, corrosive gas, flammable gas and oil mist

Base mount (mounted on a wall)

Self-cooled type

Position control, speed control, torque control (switchable from I/O*2)

1:1000

AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) ＋10 to －15%AC100 to 115V (single phase) or AC200 to 230V (single phase) ＋10 to －15%

　　　　　　　　　　　　　　　　　　　　　　　　 50/60Hz－4096 to 4095 (FHA-C series),－32768 to 32767 (SHA series, FHA-C mini series)

Line driver type: Maximum response frequency　　　　　　　　1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type: Maximum response frequency 200kHz

DC±10V／Max. rotation speed, input impedance approx. 68kΩDC±10V／Max torque, input impedance approx. 68kΩ

Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverseselection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2,torque limit, electronic gear select, control mode, INHIBIT

Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state,low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning

1.5A 3.0A 6.0A 24.0A 4.0A 9.5A 19.0A 55.0A

AC200 to 230V (3 phases)＋10 to －15%AC200 to 230V (single phase) ＋10 to －15%

3 channels, motor rpm, current command, general-purpose output (parameter selection)RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder

Display (7-segment LEDs) 5 digits (red), 4 push button switchesRotational speed (r/min), torque control (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and othersSystem parameter 1, 2, 3 or 4, adjustment parameter 1 or 2

− 3W Max 8W Max 90W Max

　　　　　　　　　　　 1kg 　　　　　　　　　　　　　　　　 1.2kg　　　　　　　　　　 5.8kg　

Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error

Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting

Regenerative Resistance InstalledExternal Regenerative ResistanceWith External Regenerative Resistance installation terminal With installation terminal

Embedded (CPU control by main circuit voltage monitoring)Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery

Status display (normal operation) mode, test mode, adjustment mode, system parameter mode

Main circuit*1

Control circuit*1

ConfigurationStatus Display FunctionParameter Adjustment Function*4

Alarm*2

Warning*2

* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.* 3: HA-800B/HA-800C are only RS-232C specification.* 4: HA-800B/HA800C do not have system parameter 1 and 2.

SHA series

FHA-C mini series

FHA-C series

RSF/RKFseries

RSF series

HA-800A-3D/E-200

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800A-6D/E-200

HA-800A-24D/E-200

HA-800A-1C-200

HA-800A-1C-100

HA-800A-1Ｄ/E-200

HA-800A-1Ｄ/E-100

HA-800A-3C-200

HA-800A-6C-200

HA-800A-3A-200

HA-800A-6A-200

HA-800A-3C-100

HA-800A-6C-100

HA-800A-3A-100

HA-800A-6A-100

HA-800A-3B-200

HA-800A-6B-200

HA-800B-3D/E-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800B-6D/E-200

HA-800B-24D/E-200

HA-800B-1C-200

HA-800B-1C-100

HA-800B-1Ｄ/E-200

HA-800B-1Ｄ/E-100

HA-800B-3C-200

HA-800B-6C-200

HA-800B-3A-200

HA-800B-6A-200

HA-800B-3C-100

HA-800B-6C-100

HA-800B-3A-100

HA-800B-6A-100

HA-800B-3B-200

HA-800B-6B-200

HA-800C-3D/E-200

HA-800C-6D/E-100

HA-800C-3D/E-200

HA-800C-6D/E-200

HA-800C-24D/E-200

HA-800C-1C-200

HA-800C-1C-100

HA-800C-1Ｄ/E-200

HA-800C-1Ｄ/E-100

HA-800C-3C-200

HA-800C-6C-200

HA-800C-3A-200

HA-800C-6A-200

HA-800C-3C-100

HA-800C-6C-100

HA-800C-3A-100

HA-800C-6A-100

HA-800C-3B-200

HA-800C-6B-200

Item Driver model HA-800□-6HA-800□-3HA-800□-1 HA-800□-24

Features

■ Open field network supported MECHATROLINK-ll and CC-Link (Ver1.10) supported

■ Unique control theory reduces positional settling time to 1/2 (compared with HA-655 of Harmonic Drive Systems) Unique control theory suppresses positional overshoot or undershoot, and reduces positional settling time to 1/2 of conventional item.

■ Auto tuning function is available Auto tuning function is available, which can estimate the load to set optimal servo gain.

■ Control mode can be switched by I/O input Control mode (position, speed, torque*) can be switched by I/O input in operation. This control mode switching function expands the usage.

■ Regenerative absorbing circuit and dynamic brake are embedded*Control mode to control motor current

Combination Actuators

Open Field Network SupportedAC Servo Driver HA-800 series

HA-800 series can be combined with the following rotary actuator (100V and 200V specifications).

Actuator series name Encoder Type

MECHATROLINK-II Supported CC-Link SupportedGeneral-purpose I/Ocommand type

Combined Driver

absolute

4-wire reduction

incremental

4-wire reduction

incremental

absolute

4-wire reduction

incremental

13bitabsolute

4-wire reduction

incremental

13bitabsolute

14-wire incremental

ModelNo.

HA-800 series Common Specification

Driver’s Rated Current*1

Driver’s Maximum Current*1

Power SupplyVoltagePower Supply Frequency

Multi Revolution Limit (Motor Shaft)

Ambient Condition

StructureMounting MethodControl Mode

Speed Control Range

Input Singal*2

Output Signal*2

Position Command Pulse*2

Speed Command Voltage*2

Torque Command Voltage*2

Monitor Terminal

Communication Connector *3

Operation Panel

Protection function

Regenerative Processing

Regenerative Resistance Absorbed PowerEmbedded FunctionsInrush Current Prevention FunctionOperation Mode

Working temperature: 0°C to 50°C Storage temperature: -20°C to 65°C Working humidity/storage humidity: 95%RH or less (No condensation) Ambience: Avoid vibration and shock No dust, metal powder, corrosive gas, flammable gas and oil mist

Base mount (mounted on a wall)

Self-cooled type

Position control, speed control, torque control (switchable from I/O*2)

1:1000

AC100 to 115V (single phase) or AC200 to 230V (single phase/3 phases) ＋10 to －15%AC100 to 115V (single phase) or AC200 to 230V (single phase) ＋10 to －15%

　　　　　　　　　　　　　　　　　　　　　　　　 50/60Hz－4096 to 4095 (FHA-C series),－32768 to 32767 (SHA series, FHA-C mini series)

Line driver type: Maximum response frequency　　　　　　　　1- and 2-pulse systems: 1MHz, 2-phase pulse system: 200kHzOpen collector type: Maximum response frequency 200kHz

DC±10V／Max. rotation speed, input impedance approx. 68kΩDC±10V／Max torque, input impedance approx. 68kΩ

Emergency stop, reset, clear, forward inhibit, reverse inhibit, forward start, reverse start, forward selection, reverseselection, internal speed command 1, internal speed command 2, internal speed limit 1, internal speed limit 2,torque limit, electronic gear select, control mode, INHIBIT

Ready, alarm, position complete, speed reaching, torque reaching, speed in limiting, torque in limiting, zero speed, control mode, DB state,low battery voltage, overload, cooling fan stopForward inhibit inputting, reverse inhibit, warning

1.5A 3.0A 6.0A 24.0A 4.0A 9.5A 19.0A 55.0A

AC200 to 230V (3 phases)＋10 to －15%AC200 to 230V (single phase) ＋10 to －15%

3 channels, motor rpm, current command, general-purpose output (parameter selection)RS-232C/RS-485: for output current monitor, various parameter setting, absolute encoder

Display (7-segment LEDs) 5 digits (red), 4 push button switchesRotational speed (r/min), torque control (%), load rate (%), input signal monitor, output signal monitor, alarm history (8 times) and othersSystem parameter 1, 2, 3 or 4, adjustment parameter 1 or 2

− 3W Max 8W Max 90W Max

　　　　　　　　　　　 1kg 　　　　　　　　　　　　　　　　 1.2kg　　　　　　　　　　 5.8kg　

Emergency stop, overcurrent, overload, IPM error (overcurrent), regeneration resistance overheat, encoder break, encoder reception error, UVW error, system shutdown, multi revolution overflow, multi revolution data error, excessively large deviation, memory error, FPGA configuration error, FPGA setting error, MEMORY error, single revolution data error, multi revolution data error, BUSY error, overheating error, communication error

Low battery voltage, overload state, cooling fan stop state, low main circuit power voltage, forward limit inputting, reverse inhibit inputting

Regenerative Resistance InstalledExternal Regenerative ResistanceWith External Regenerative Resistance installation terminal With installation terminal

Embedded (CPU control by main circuit voltage monitoring)Status display, self diagnosis, electronic gear, jogging, etc, dynamic brake, multi revolution data backup battery

Status display (normal operation) mode, test mode, adjustment mode, system parameter mode

Main circuit*1

Control circuit*1

ConfigurationStatus Display FunctionParameter Adjustment Function*4

Alarm*2

Warning*2

* 1: Set in accordance with the specification of a combined actuator. * 2: HA-800A specification. Refer to the technical information for HA-800B/HA-800C.* 3: HA-800B/HA-800C are only RS-232C specification.* 4: HA-800B/HA800C do not have system parameter 1 and 2.

SHA series

FHA-C mini series

FHA-C series

RSF/RKFseries

RSF series

Sets the station number (implemented only in HA-800C).

Station number setting switch

MECHATROLINK Communication Specification

HA-800 series Communication Specification

CC-Link Communication Specification

MECHATROLINK-Ⅱ

10Mbps

Twisted pair cable with balanced type shield

Maximum 30 mobile units

1, 1.5, 2, 3, 4, 5ms

Master/slave full synchronous method

Manchester encoding

17 bytes/32 bytes selectable

Maximum 30

*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).

For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.

MECHATROLINK version

Transmission rate

Maximum transmission distance

Minimum inter-station distance

Transmission medium

Number of mobile units connected

Topology

Communication cycle

Communication method

Coding

Data length

Number of connections *1

Item Specification

Item SpecificationApplicable CC-Link version

Station type

Transmission rate

Synchronous method

Encoding method

Transmission channel type

Error control method

Connecting cable

Transmission format

Remote station number

Number of exclusive stations

Cable length *4

Number of connections

Ver 1.10

Remote device station

10M/5M/2.5M/625K/156Kbps

Broadcast polling method

Frame synchronous method

Bus type (Compliant to EIA RS-485)

CRC（X15+X12+X5+1）

CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)

Compliant to HDLC

1 to 64

1 station, 2 station

*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.

Communication speed

Maximum cable extension

Cable length between stations

Maximum 42 units only for a remote station Can be shared with other devices

156kbps

625kbps

2.5Mbps

0.2m or more

10Mbps

Names and Functions of the Operation Part

Cover opened state

This section describes the names and functions of the operation panel on the front of the HA-800 driver.* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

You can check the status display of the driver, alarm display and data values.

LED display

The lamp lights up when the main circuit power is turned on. It also lights up after the power is turned off during high voltage charging. Do not touch the power connector.

CHARGE lamp

Connect the power line of the servo motor.

Servo motor connection terminal (U, V, W)

This is the external regenerating resistance connection terminal. Connect this if regeneration is in short supply.

Regenerating resistance connection terminal (R1, R2, R3)

This is the main circuit power connection terminal.

Main circuit power connection terminal (T, S, R)

This is the control circuit power connection terminal.

Control circuit power connection terminal (s, r)

This is the earth terminal to protect against electric shock. Be sure to connect it.

Earth terminal

Do not connect to it.

Connector for maintenance

Monitor speed and current waveform, and state signal.

Connector for waveform monitoring

Use four kinds of switches to switch display, set various functions and operate JOG.

Press button switch

This is the connector of the command and I/O signals.

I/O signal connector (CN2)

A battery is built in to maintain the multiple rotation data of the absolute encoder.* This is not built in for the incremental encoder.

Backup battery

This is the connector with the encoder of the servo actuator. Note that the connection method varies depending on the model.

Encoder connector (CN1)

This is the communication connector for the dedicated communication software PSF-800 of the driver.

PSF-800 communication connector (CN3)

123456789

10111213141516171819202122232425

PIN No.

InputInputInputInputInputInputInputInputInputInput

OutputOutputOutputOutputOutputOutputOutputOutputOutputOutput

Note 1: OC: Open collector, LD: Line driver

Note 2: Do not connect to the “-“ pin externally. As the internal circuit is connected, connecting it may cause problems.

Input signal commonServo onInput 2（Alarm reset）Input 3（Deviation clear）Input 4（Forward rotation inhibit）Input 5（Reverse rotation inhibit）Input 6（Start normal rotation/Select normal rotation）Input signal commonInput 7（Start reverse rotation/Select reverse rotation）Input 8（Select control mode）　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━Output 1（Operation preparation complete）Output 2（Servo on enabled）Output 3（Alarm）Output 4（Positioning complete）Output 5（Torque restricted）Output 6（Zero speed）Output 7（Warning output）Ｚ phase open collector outputOutput signal commonOutput signal common

Signal

IN-COMS-onIN2IN3IN4IN5IN6

IN-COMIN7IN8----------

OUT1OUT2OUT3OUT4OUT5OUT6OUT7Z(OC)

OUT-COMOUT-COM

Signal

26272829303132333435363738394041424344454647484950

PIN No.

InputInputInputInputInputInputInputInputInput

OutputOutputOutputOutputOutputOutputOutputOutputOutputOutputOutput

＋24VForward rotation puls＋Forward rotation puls－Reverse rotation pulse＋Reverse rotation pulse－Speed command inputSpeed command groundTorque command inputTorque command ground　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━Current value data output＋(LD)Current value data output－(LD)Ａ phase output ＋(LD)Ａ phase output －(LD)Ｂ phase output ＋(LD)Ｂ phase output －(LD)Ｚ phase output ＋(LD)Ｚ phase output －(LD)Monitor COMGroundGround

Signal

＋24VFWD＋FWD－REV＋REV－

SPD-CMDSPD-COMTRQ-CMDTRQ-COM

----------

POS-DAT+POS-DAT－

A＋A－B＋B－Z＋Z－

MON-COMFGFG

Signal

Description of I/O SignalsA general description of the I/O signals of the general-purpose I/O command type (HA-800A) is shown below.You can set and allocate functions from the system parameter modes 1 and 2 for input signals (3 to 7, 9 and 10 pins) and output signals (16 to 22 pins). The signal names described in parentheses are those allocated before shipment (default).* The input signals of the MECHATROLINK-Ⅱ support (HA-800B) and CC-Link support (HA-800C) differ from that of the general-purpose I/O command type (HA-800A). See “Technical information” for details of the I/O signals.

Rotary switch

Dip switch

800A: Sets the machine No. at multiple driver connections for communication.800B: Sets the station address.800C: Sets the communication speed.

800A: Sets the termination resistance at multiple driver connections for communication.800B: Sets the station address and number of bytes.800C: Sets the exclusive station number.

Sets the station number (implemented only in HA-800C).

Station number setting switch

MECHATROLINK Communication Specification

HA-800 series Communication Specification

CC-Link Communication Specification

MECHATROLINK-Ⅱ

10Mbps

Twisted pair cable with balanced type shield

Maximum 30 mobile units

1, 1.5, 2, 3, 4, 5ms

Master/slave full synchronous method

Manchester encoding

17 bytes/32 bytes selectable

Maximum 30

*1: A repeater is required for communication over 17 units or 16 units with 30m or more total extended distance. The maximum number of connectable units is restricted by the setting of the communication cycle and the retry count. See the home page of MECHATROLINK association (http://www.mechatrolink.org/jp/index_jp.html) for the detail.*2: Use MP2000 series (Yasukawa Denki) or KV-ML16V (Keyence) for the Higher-level controller (some funcions may be restricted).

For the restricted functiions, see the latest information on the homepage of Harmonic Drive Systems.*3: Use cables specified. Never use commercial USB cables.

MECHATROLINK version

Transmission rate

Maximum transmission distance

Minimum inter-station distance

Transmission medium

Number of mobile units connected

Topology

Communication cycle

Coding

Data length

Number of connections *1

Item Specification

Item SpecificationApplicable CC-Link version

Station type

Transmission rate

Synchronous method

Encoding method

Transmission channel type

Error control method

Connecting cable

Transmission format

Remote station number

Number of exclusive stations

Cable length *4

Number of connections

Ver 1.10

Remote device station

10M/5M/2.5M/625K/156Kbps

Broadcast polling method

Frame synchronous method

Bus type (Compliant to EIA RS-485)

CRC（X15+X12+X5+1）

CC-Link Ver1.10 support cable (triplex twisted pair cable with shield)

Compliant to HDLC

1 to 64

1 station, 2 station

*4 If CC-Link Ver1.00 support cable is used together, the total cable extension and the cable length between stations should follow the specification of Ver1.00.

Communication speed

Maximum cable extension

Cable length between stations

Maximum 42 units only for a remote station Can be shared with other devices

156kbps

625kbps

2.5Mbps

0.2m or more

10Mbps

Names and Functions of the Operation Part

Cover opened state

This section describes the names and functions of the operation panel on the front of the HA-800 driver.* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

You can check the status display of the driver, alarm display and data values.

LED display

The lamp lights up when the main circuit power is turned on. It also lights up after the power is turned off during high voltage charging. Do not touch the power connector.

CHARGE lamp

Connect the power line of the servo motor.

Servo motor connection terminal (U, V, W)

This is the external regenerating resistance connection terminal. Connect this if regeneration is in short supply.

Regenerating resistance connection terminal (R1, R2, R3)

This is the main circuit power connection terminal.

Main circuit power connection terminal (T, S, R)

This is the control circuit power connection terminal.

Control circuit power connection terminal (s, r)

This is the earth terminal to protect against electric shock. Be sure to connect it.

Earth terminal

Do not connect to it.

Connector for maintenance

Monitor speed and current waveform, and state signal.

Connector for waveform monitoring

Use four kinds of switches to switch display, set various functions and operate JOG.

Press button switch

This is the connector of the command and I/O signals.

I/O signal connector (CN2)

A battery is built in to maintain the multiple rotation data of the absolute encoder.* This is not built in for the incremental encoder.

Backup battery

This is the connector with the encoder of the servo actuator. Note that the connection method varies depending on the model.

Encoder connector (CN1)

This is the communication connector for the dedicated communication software PSF-800 of the driver.

PSF-800 communication connector (CN3)

123456789

10111213141516171819202122232425

PIN No.

InputInputInputInputInputInputInputInputInputInput

OutputOutputOutputOutputOutputOutputOutputOutputOutputOutput

Note 1: OC: Open collector, LD: Line driver

Note 2: Do not connect to the “-“ pin externally. As the internal circuit is connected, connecting it may cause problems.

Input signal commonServo onInput 2（Alarm reset）Input 3（Deviation clear）Input 4（Forward rotation inhibit）Input 5（Reverse rotation inhibit）Input 6（Start normal rotation/Select normal rotation）Input signal commonInput 7（Start reverse rotation/Select reverse rotation）Input 8（Select control mode）　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━Output 1（Operation preparation complete）Output 2（Servo on enabled）Output 3（Alarm）Output 4（Positioning complete）Output 5（Torque restricted）Output 6（Zero speed）Output 7（Warning output）Ｚ phase open collector outputOutput signal commonOutput signal common

Signal

IN-COMS-onIN2IN3IN4IN5IN6

IN-COMIN7IN8----------

OUT1OUT2OUT3OUT4OUT5OUT6OUT7Z(OC)

OUT-COMOUT-COM

Signal

26272829303132333435363738394041424344454647484950

PIN No.

InputInputInputInputInputInputInputInputInput

OutputOutputOutputOutputOutputOutputOutputOutputOutputOutputOutput

＋24VForward rotation puls＋Forward rotation puls－Reverse rotation pulse＋Reverse rotation pulse－Speed command inputSpeed command groundTorque command inputTorque command ground　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━　　　　　　　　　 ━Current value data output＋(LD)Current value data output－(LD)Ａ phase output ＋(LD)Ａ phase output －(LD)Ｂ phase output ＋(LD)Ｂ phase output －(LD)Ｚ phase output ＋(LD)Ｚ phase output －(LD)Monitor COMGroundGround

Signal

＋24VFWD＋FWD－REV＋REV－

SPD-CMDSPD-COMTRQ-CMDTRQ-COM

----------

POS-DAT+POS-DAT－

A＋A－B＋B－Z＋Z－

MON-COMFGFG

Signal

Description of I/O SignalsA general description of the I/O signals of the general-purpose I/O command type (HA-800A) is shown below.You can set and allocate functions from the system parameter modes 1 and 2 for input signals (3 to 7, 9 and 10 pins) and output signals (16 to 22 pins). The signal names described in parentheses are those allocated before shipment (default).* The input signals of the MECHATROLINK-Ⅱ support (HA-800B) and CC-Link support (HA-800C) differ from that of the general-purpose I/O command type (HA-800A). See “Technical information” for details of the I/O signals.

Rotary switch

Dip switch

800A: Sets the machine No. at multiple driver connections for communication.800B: Sets the station address.800C: Sets the communication speed.

800A: Sets the termination resistance at multiple driver connections for communication.800B: Sets the station address and number of bytes.800C: Sets the exclusive station number.

External Dimensions: HA-800□-1, 3

External Dimensions: HA-800□-6

* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network. （Unit: mm）（Unit: mm）

（Unit: mm）

* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.

Regenerative resistor

External Dimensions: HA-800□-1, 3

* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network.

* MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) come with connectors for each network. （Unit: mm）（Unit: mm）

（Unit: mm）

* Please confirm dimensions and shape against the illustrated specifications issued by us accompanying the delivered product.

Regenerative resistor

ノイズフィルタ電源入力

電磁接触器配線用遮断器

Example of Connection with the Host Equipment 《General-purpose I/O command type HA-800A》

◆ For the 17bit absolute encoder specification (SHA series)Shown below is an example of connection for switching position control of the line driver and speed control. The command pattern is the “two pulse method”.* For an example connection for the MECHATROLINK-II supported (HA-800B) and CC-Link supported (HA-800C), see “Technical information” .

Forward rotation command pulse signal input

Reverse rotation command pulse signal input

Speed command signal input

Speed command signal input ground

Voltage between terminals: 3.5V or more

Equivalent to Am26LS31 (EIA422A)

External power supply

Servo on

Forward rotation inhibit

Reverse rotation inhibit

Forward rotation start

Reverse rotation start

Control mode

Current value output +

Current value output –

Encoder A+ phase signal output

Encoder A– phase signal outputEncoder B+ phase signal output

Encoder B– phase signal outputEncoder Z+ phase signal output

Encoder Z– phase signal output

Monitor ground

Warning output

Z (OC) output

Output signal common

Positioning complete

Torque restricted output

Zero speed output

Operation preparation complete

Servo on input enabled

Alarm output

Shield

Use twisted pair shield cable.

Ground it before using.

Yellow

Orange

Attach the shield to the cable clamp with a ground plane of an applicable connector.

Shield

Connector shell

Green/Yellow

R1 and R3 are short-circuited. Open R1 and R3 and connect regenerating resistance between R1 and R2 to use the external regenerating resistance.

AC servo actuator

ノイズフィルター

Electromagnet contactor

Molded case circuit breaker

Power input

AC200V（50/60Hz）orAC100V

（50/60Hz）

Noise filter

Operation Mode and Types of Parameters

■ General description of the operation mode

■ Types of parameters

● Status display modeDisplay the command status of the position and speed, current position information from the encoder, the status of the accumulated pulses of the deviation counter, load status and the code number of the actuator to be combined.● Alarm modeDisplay the current alarm and the alarm history of the past eight occurrence history.When the driver comes into an alarm status in any mode on the display panel, it switches to the alarm mode and displays the current alarm code. You can display and change various parameters, even during an alarm.● Adjustment modeYou can display and change the parameters of the servo gain and internal speed command. You can also change parameters in the adjustment mode, even during operation of the actuator. The changed value is reflected in real-time.● System parameter mode 1Set the function related to the input signals of the driver and allocate functions to CN2 pins.● System parameter mode 2Allocate functions to CN2 pins. (HA-800A)● System parameter mode 3, 4Set various functions of the driver.● Test modeYou can monitor I/O signals and operate output signals. You can also perform simplified JOG operation simply by connecting the driver and actuator.

The parameters of the general-purpose I/O command type (HA-800A) are shown below.* The parameters of MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) differ from those of the general-purpose I/O command type (HA-800A). * See “Technical information” for details of the parameters.

d00d01d02d03d04d05d06d07d08d09d10d11d12d13d14d15

Display

Motor rotation speed displayDeviation pulse number display (lower level)Deviation pulse number display (upper level)Output torque monitorOverload ratio displayFeedback pulse number display (lower level)Feedback pulse number display (upper level)Command pulse number display (lower level)Command pulse number display (upper level)Command pulse frequency displayMain circuit power voltageSpeed command voltageTorque command voltageApplicable actuator codeControl modeTotal current-carrying time

Description

--------------------------------

Initial value

● Status display mode

AL A1A2A3A4A5A6A7A8

Display

Occurred alarm warning displayAlarm history 1 and time of occurrenceAlarm history 2 and time of occurrenceAlarm history 3 and time of occurrenceAlarm history 4 and time of occurrenceAlarm history 5 and time of occurrenceAlarm history 6 and time of occurrenceAlarm history 7 and time of occurrenceAlarm history 8 and time of occurrenceClear alarm history

Description

--------------------

Initial value

● Alarm mode

AJ00AJ01AJ02AJ03AJ04AJ05AJ06AJ07AJ08AJ09AJ10AJ11AJ12AJ13AJ14AJ15AJ16AJ17AJ18AJ19AJ20AJ21AJ22AJ23AJ24

toAJ59

Display

Position loop gainSpeed loop gainSpeed loop integral compensationFeed forward gainPositioning complete rangeSpeed achievement criteriaTorque achievement criteriaZero speed criteriaInternal speed command 1Internal speed command 2Internal speed command 3Torque limit valueConstant for acceleration and decelerationConstant for shutdown and decelerationExternal speed command offsetExternal torque command offsetSpeed monitor offsetCurrent monitor offsetSystem reservedSystem reservedFeed forward filterLoad inertia moment ratioTorque constant correction coefficientSpring constant correction coefficient

System reserved

Description

*1*1*1*110

20005010

500100015001000000*2*2*3*31

100100100

Initial value

● Adjustment mode

*1 The initial value varies depending on the applicable actuator.

*2 The initial value varies depending on the driver.

*3 This is an area reserved by the system. Do not change it.

ノイズフィルタ電源入力

電磁接触器配線用遮断器

Example of Connection with the Host Equipment 《General-purpose I/O command type HA-800A》

◆ For the 17bit absolute encoder specification (SHA series)Shown below is an example of connection for switching position control of the line driver and speed control. The command pattern is the “two pulse method”.* For an example connection for the MECHATROLINK-II supported (HA-800B) and CC-Link supported (HA-800C), see “Technical information” .

Forward rotation command pulse signal input

Reverse rotation command pulse signal input

Speed command signal input

Speed command signal input ground

Voltage between terminals: 3.5V or more

Equivalent to Am26LS31 (EIA422A)

External power supply

Servo on

Forward rotation inhibit

Reverse rotation inhibit

Forward rotation start

Reverse rotation start

Control mode

Current value output +

Current value output –

Encoder A+ phase signal output

Encoder A– phase signal outputEncoder B+ phase signal output

Encoder B– phase signal outputEncoder Z+ phase signal output

Encoder Z– phase signal output

Monitor ground

Warning output

Z (OC) output

Output signal common

Positioning complete

Torque restricted output

Zero speed output

Operation preparation complete

Servo on input enabled

Alarm output

Shield

Use twisted pair shield cable.

Ground it before using.

Yellow

Orange

Attach the shield to the cable clamp with a ground plane of an applicable connector.

Shield

Connector shell

Green/Yellow

R1 and R3 are short-circuited. Open R1 and R3 and connect regenerating resistance between R1 and R2 to use the external regenerating resistance.

AC servo actuator

ノイズフィルター

Electromagnet contactor

Molded case circuit breaker

Power input

AC200V（50/60Hz）orAC100V

（50/60Hz）

Noise filter

Operation Mode and Types of Parameters

■ General description of the operation mode

■ Types of parameters

● Status display modeDisplay the command status of the position and speed, current position information from the encoder, the status of the accumulated pulses of the deviation counter, load status and the code number of the actuator to be combined.● Alarm modeDisplay the current alarm and the alarm history of the past eight occurrence history.When the driver comes into an alarm status in any mode on the display panel, it switches to the alarm mode and displays the current alarm code. You can display and change various parameters, even during an alarm.● Adjustment modeYou can display and change the parameters of the servo gain and internal speed command. You can also change parameters in the adjustment mode, even during operation of the actuator. The changed value is reflected in real-time.● System parameter mode 1Set the function related to the input signals of the driver and allocate functions to CN2 pins.● System parameter mode 2Allocate functions to CN2 pins. (HA-800A)● System parameter mode 3, 4Set various functions of the driver.● Test modeYou can monitor I/O signals and operate output signals. You can also perform simplified JOG operation simply by connecting the driver and actuator.

The parameters of the general-purpose I/O command type (HA-800A) are shown below.* The parameters of MECHATROLINK-Ⅱ supported (HA-800B) and CC-Link supported (HA-800C) differ from those of the general-purpose I/O command type (HA-800A). * See “Technical information” for details of the parameters.

d00d01d02d03d04d05d06d07d08d09d10d11d12d13d14d15

Display

Motor rotation speed displayDeviation pulse number display (lower level)Deviation pulse number display (upper level)Output torque monitorOverload ratio displayFeedback pulse number display (lower level)Feedback pulse number display (upper level)Command pulse number display (lower level)Command pulse number display (upper level)Command pulse frequency displayMain circuit power voltageSpeed command voltageTorque command voltageApplicable actuator codeControl modeTotal current-carrying time

Description

--------------------------------

Initial value

● Status display mode

AL A1A2A3A4A5A6A7A8

Display

Occurred alarm warning displayAlarm history 1 and time of occurrenceAlarm history 2 and time of occurrenceAlarm history 3 and time of occurrenceAlarm history 4 and time of occurrenceAlarm history 5 and time of occurrenceAlarm history 6 and time of occurrenceAlarm history 7 and time of occurrenceAlarm history 8 and time of occurrenceClear alarm history

Description

--------------------

Initial value

● Alarm mode

AJ00AJ01AJ02AJ03AJ04AJ05AJ06AJ07AJ08AJ09AJ10AJ11AJ12AJ13AJ14AJ15AJ16AJ17AJ18AJ19AJ20AJ21AJ22AJ23AJ24

toAJ59

Display

Position loop gainSpeed loop gainSpeed loop integral compensationFeed forward gainPositioning complete rangeSpeed achievement criteriaTorque achievement criteriaZero speed criteriaInternal speed command 1Internal speed command 2Internal speed command 3Torque limit valueConstant for acceleration and decelerationConstant for shutdown and decelerationExternal speed command offsetExternal torque command offsetSpeed monitor offsetCurrent monitor offsetSystem reservedSystem reservedFeed forward filterLoad inertia moment ratioTorque constant correction coefficientSpring constant correction coefficient

System reserved

Description

*1*1*1*110

20005010

500100015001000000*2*2*3*31

100100100

Initial value

● Adjustment mode

*1 The initial value varies depending on the applicable actuator.

*2 The initial value varies depending on the driver.

*3 This is an area reserved by the system. Do not change it.

EWA-RS03 1.6m

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800A-6D/E-200

HA-800A-24D/E-200

HA-800A-1C-200

HA-800A-1C-100

HA-800A-1D/E-200

HA-800A-1D/E-100

HA-800A-3C-200

HA-800A-6C-200

HA-800A-3A-200

HA-800A-6A-200

HA-800A-3C-100

HA-800A-6C-100

HA-800A-3A-100

HA-800A-6A-100

HA-800A-3B-200

HA-800A-6B-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800B-6D/E-200

HA-800B-24D/E-200

HA-800B-1C-200

HA-800B-1C-100

HA-800B-1D/E-200

HA-800B-1D/E-100

HA-800B-3C-200

HA-800B-6C-200

HA-800B-3A-200

HA-800B-6A-200

HA-800B-3C-100

HA-800B-6C-100

HA-800B-3A-100

HA-800B-6A-100

HA-800B-3B-200

HA-800B-6B-200

HA-800C-6D/E-100

HA-800C-3D/E-200

HA-800C-6D/E-200

HA-800C-24D/E-200

HA-800C-1C-200

HA-800C-1C-100

HA-800C-1D/E-200

HA-800C-1D/E-100

HA-800C-3C-200

HA-800C-6C-200

HA-800C-3A-200

HA-800C-6A-200

HA-800C-3C-100

HA-800C-6C-100

HA-800C-3A-100

HA-800C-6A-100

HA-800C-3B-200

HA-800C-6B-200

HA-800A-3D/E-200 HA-800B-3D/E-200 HA-800C-3D/E-200200

Types of Parameters

SP00SP01SP02SP03SP04SP05SP06SP07SP08SP09SP10SP11SP12SP13SP14SP15SP16SP17SP18SP19

Display

Emergency stop input settingReset input settingClear input settingForward rotation inhibit input settingReverse rotation inhibit input settingForward rotation start input settingReverse rotation start input settingForward rotation selection input settingReverse rotation selection input settingInternal speed command 1 input settingInternal speed command 2 input settingInternal speed limit 1 input settingInternal speed limit 2 input settingInternal torque limit input settingElectronic gear selection input settingControl mode input settingINHIBIT input settingSystem reservedSystem reservedSystem reserved

Description

00000002000301040105000600070006000700000000000000000000000000080000

*2*2*2

Initial value

● System parameter mode1 *3

Display

CP3 output signal settingControl mode switching settingCommand pulse input pattern settingIncrease for 2-phase inputElectronic gear 1 numeratorElectronic gear 1 denominatorElectronic gear 2 numeratorElectronic gear 2 denominatorDeviation clear for servo ONAllowable position deviationCommand polaritySpeed input factorZero clampTorque input factorStatus display settingDB enabled/disabled settingExternal speed limit enabled/disabled settingExternal torque limit enabled/disabled settingSystem reservedAngle correction enabled/disabled setting

Description

0000111110

1000*10

100d00

100*20

Initial value

SP60SP61SP62toSP79

Display

Positioning automatic gain setting enabled/disabled settingEncoder monitor output pulse number

System reserved

Initial value

SP20SP21SP22SP23SP24SP25SP26SP27toSP39

Display

CN2-16pin-pin function allocationCN2-17pin-pin function allocationCN2-18pin-pin function allocationCN2-19pin-pin function allocationCN2-20pin-pin function allocationCN2-21pin-pin function allocationCN2-22pin-pin function allocation

System reserved

Description

0001000201030004000800090021

Initial value

T00T01T02T03T04T05T06T07T08T09T10T11

Display

I/O signal monitorOutput signal operationJOG speedConstant for JOG acceleration and decelerationJOG operationParameter initializationAutomatic adjustment of speed command offsetAutomatic adjustment of torque command offsetMultiple rotation clearAuto-tuningAuto-tuning distanceAuto-tuning level selection

Description

10010------------

Initial value

● Test mode

*1 The initial value varies depending on the applicable actuator.*2 This is an area reserved by the system. Do not change it.*3 The changed set value of the system parameter mode will become effective after the power of the driver is turned on again.

HA-800 series Option (sold separately)

Relay Cable

Model Length

Dedicated Communication CableUse the dedicated communication cable to connect the HA-800 driver and your PC.

Combinations of actuators, the HA-800 drivers and relay cables are shown below.

FHA-C mini series

FHA-C series

RSF series

RSF/RKF series

SHA series

* (INC) indicates an incremental encoder and (ABS) indicates an absolute encoder.* □□ in the model description of relay cables indicate the cable length. Select one from three types of length (03=m, 05=5m, 10=10m).

Actuator series name

Relay cable(Sold separately)MECHATROLINK-II

SupportedCC-Link

SupportedGeneral-purpose I/O

command type

Combined DriverModelNo.

Motor cableEWD-MB□□-A06-TN3Encoder cableEWD-S□□-A08-3M14

Motor cableModel 40：EWD-MB□□-A06-TMCModel 58, 65：EWD-MB□□-D09-TMCEncoder cableModel 40：EWD-S□□-A08-3M14Model 58, 65：EWD-S□□-D10-3M14

Motor cableEWC-M□□-A06-TN3Encoder cable（INC）EWC-E□□-M06-3M14

Motor cableEWC-M□□-A06-TN3Encoder cable（ABS）EWD-S□□-A08-3M14

Motor cableEWC-MB□□-M08-TN3Encoder cable（INC）EWC-E□□-B04-3M14

Motor cableEWC-MB□□-M08-TN3Encoder cable（ABS）EWC-S□□-B08-3M14

Motor cableEWA-M□□-A04-TN3Encoder cableEWA-E□□-A15-3M14

EWA-RS03 1.6m

HA-800A-6D/E-100

HA-800A-3D/E-200

HA-800A-6D/E-200

HA-800A-24D/E-200

HA-800A-1C-200

HA-800A-1C-100

HA-800A-1D/E-200

HA-800A-1D/E-100

HA-800A-3C-200

HA-800A-6C-200

HA-800A-3A-200

HA-800A-6A-200

HA-800A-3C-100

HA-800A-6C-100

HA-800A-3A-100

HA-800A-6A-100

HA-800A-3B-200

HA-800A-6B-200

HA-800B-6D/E-100

HA-800B-3D/E-200

HA-800B-6D/E-200

HA-800B-24D/E-200

HA-800B-1C-200

HA-800B-1C-100

HA-800B-1D/E-200

HA-800B-1D/E-100

HA-800B-3C-200

HA-800B-6C-200

HA-800B-3A-200

HA-800B-6A-200

HA-800B-3C-100

HA-800B-6C-100

HA-800B-3A-100

HA-800B-6A-100

HA-800B-3B-200

HA-800B-6B-200

HA-800C-6D/E-100

HA-800C-3D/E-200

HA-800C-6D/E-200

HA-800C-24D/E-200

HA-800C-1C-200

HA-800C-1C-100

HA-800C-1D/E-200

HA-800C-1D/E-100

HA-800C-3C-200

HA-800C-6C-200

HA-800C-3A-200

HA-800C-6A-200

HA-800C-3C-100

HA-800C-6C-100

HA-800C-3A-100

HA-800C-6A-100

HA-800C-3B-200

HA-800C-6B-200

HA-800A-3D/E-200 HA-800B-3D/E-200 HA-800C-3D/E-200200

Types of Parameters

Display

Emergency stop input settingReset input settingClear input settingForward rotation inhibit input settingReverse rotation inhibit input settingForward rotation start input settingReverse rotation start input settingForward rotation selection input settingReverse rotation selection input settingInternal speed command 1 input settingInternal speed command 2 input settingInternal speed limit 1 input settingInternal speed limit 2 input settingInternal torque limit input settingElectronic gear selection input settingControl mode input settingINHIBIT input settingSystem reservedSystem reservedSystem reserved

Description

00000002000301040105000600070006000700000000000000000000000000080000

*2*2*2

Initial value

Display

CP3 output signal settingControl mode switching settingCommand pulse input pattern settingIncrease for 2-phase inputElectronic gear 1 numeratorElectronic gear 1 denominatorElectronic gear 2 numeratorElectronic gear 2 denominatorDeviation clear for servo ONAllowable position deviationCommand polaritySpeed input factorZero clampTorque input factorStatus display settingDB enabled/disabled settingExternal speed limit enabled/disabled settingExternal torque limit enabled/disabled settingSystem reservedAngle correction enabled/disabled setting

Description

0000111110

1000*10

100d00

100*20

Initial value

SP60SP61SP62toSP79

Display

Positioning automatic gain setting enabled/disabled settingEncoder monitor output pulse number

System reserved

Initial value

SP20SP21SP22SP23SP24SP25SP26SP27toSP39

Display

CN2-16pin-pin function allocationCN2-17pin-pin function allocationCN2-18pin-pin function allocationCN2-19pin-pin function allocationCN2-20pin-pin function allocationCN2-21pin-pin function allocationCN2-22pin-pin function allocation

System reserved

Description

0001000201030004000800090021

Initial value

T00T01T02T03T04T05T06T07T08T09T10T11

Display

I/O signal monitorOutput signal operationJOG speedConstant for JOG acceleration and decelerationJOG operationParameter initializationAutomatic adjustment of speed command offsetAutomatic adjustment of torque command offsetMultiple rotation clearAuto-tuningAuto-tuning distanceAuto-tuning level selection

Description

10010------------

Initial value

● Test mode

*1 The initial value varies depending on the applicable actuator.*2 This is an area reserved by the system. Do not change it.*3 The changed set value of the system parameter mode will become effective after the power of the driver is turned on again.

Relay Cable

Model Length

Dedicated Communication CableUse the dedicated communication cable to connect the HA-800 driver and your PC.

Combinations of actuators, the HA-800 drivers and relay cables are shown below.

FHA-C mini series

FHA-C series

RSF series

RSF/RKF series

SHA series

* (INC) indicates an incremental encoder and (ABS) indicates an absolute encoder.* □□ in the model description of relay cables indicate the cable length. Select one from three types of length (03=m, 05=5m, 10=10m).

Actuator series name

Relay cable(Sold separately)MECHATROLINK-II

SupportedCC-Link

SupportedGeneral-purpose I/O

command type

Combined DriverModelNo.

Motor cableEWD-MB□□-A06-TN3Encoder cableEWD-S□□-A08-3M14

Motor cableModel 40：EWD-MB□□-A06-TMCModel 58, 65：EWD-MB□□-D09-TMCEncoder cableModel 40：EWD-S□□-A08-3M14Model 58, 65：EWD-S□□-D10-3M14

Motor cableEWC-M□□-A06-TN3Encoder cable（INC）EWC-E□□-M06-3M14

Motor cableEWC-M□□-A06-TN3Encoder cable（ABS）EWD-S□□-A08-3M14

Motor cableEWA-M□□-A04-TN3Encoder cableEWA-E□□-A15-3M14

Connector: 10114-3000PE Cover: 10314-52F0-008

Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A

Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C

FKIC2, 5/6-ST-5.08

FKC2, 5/5-ST-5.08

35505-6000-B0M GF

35715-L010-B00 AK

Connector

For CN1 Sumitomo 3M Ltd.

For motor cable connection Phoenix Contact Inc.

For power supply connection Phoenix Contact Inc.

CC-Link connector Sumitomo 3M Ltd.

CC-Link branch connector Sumitomo 3M Ltd.

Connectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.

Connector model■ General-purpose I/O command type 《HA-800A》CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 typesCNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types

■MECHATROLINK-Ⅱ supported 《HA-800B》CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 typesCNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types

■CC-Link supported 《HA-800C》CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 typesCNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 4 types

ModelMaker

Lithium battery ER17/33 (3.6V 1600mAh)

Maker model

Hitachi Maxell

MakerBattery type

Model: HAB-ER17/33-2

One year continuous use Ambient temperature: Total backup time at 25ºC

ConditionDuration of retention

Duration of Data Retention

Replacement Backup Battery

This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.

Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.

Monitor Cable

EWA-MON01-JST4

This is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.

Connector: 10114-3000PE Cover: 10314-52F0-008

Connector: 10150-3000PE Cover: 10350-52F0-008HA-800A

Connector: 10120-3000PE Cover: 10320-52F0-008HA-800B, HA-800C

FKIC2, 5/6-ST-5.08

FKC2, 5/5-ST-5.08

35505-6000-B0M GF

35715-L010-B00 AK

Connector

For motor cable connection Phoenix Contact Inc.

For power supply connection Phoenix Contact Inc.

CC-Link connector Sumitomo 3M Ltd.

CC-Link branch connector Sumitomo 3M Ltd.

Connectors for the HA-800 driver CN1 and CN2, motor cable and power supply are shown below.

Connector model■ General-purpose I/O command type 《HA-800A》CNK-HA80A-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 typesCNK-HA80A-S2: For CN2/power supply connection ・・・ 2 types

■MECHATROLINK-Ⅱ supported 《HA-800B》CNK-HA80B-S1: For CN1/CN2/Motor cable connection/power supply connection ・・・ 4 typesCNK-HA80B-S2: For CN2/power supply connection ・・・ 2 types

■CC-Link supported 《HA-800C》CNK-HA80C-S1: For CN1/CN2/Motor cable connection/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 6 typesCNK-HA80C-S2: For CN2/power supply connection/two CC-Link connectors/ CC-Link branch connector ・・・ 4 types

ModelMaker

Lithium battery ER17/33 (3.6V 1600mAh)

Maker model

Hitachi Maxell

MakerBattery type

Model: HAB-ER17/33-2

One year continuous use Ambient temperature: Total backup time at 25ºC

ConditionDuration of retention

Duration of Data Retention

Replacement Backup Battery

This battery retains the multiple rotation data of the absolute encoder when the power supply is cut off. This is built into the driver of the absolute encoder specification and shipped. The replacement battery is shown below.

Note: If you purchase a single battery from a battery maker, the connector wire and eject ribbon are not attached. Use it after the same processing.

Monitor Cable

EWA-MON01-JST4

This is the signal cable to measure monitor signals such as speed and torque with an oscilloscope.

EWA-RS03

PSF-800 Windows® XP, Windows Vista®＊1, Windows® 7＊1

PSF-680CL Windows® XP, Windows Vista®＊1, Windows® 7＊1

www.hds.co.jp

Software to Set Servo Parameters (Free)

Software to Set Servo Parameters PSF-800 (Free)

*1: Although it is confirmed to operate normally on Windows Vista® and Windows® 7, it dose not guarantee the operation.* Microsoft, Windows, and IntelliMouse are registered trademarks or trademarks in the United States, Japan and other country of Microsoft Corporation

of the United States. * Official name for Windows is Microsoft Windows Operating System.

Software to Create the Operation Table Data PSF-680CL (Free)

The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).

The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)

InstallPSF-800/PSF-680CLSetting software

WarrantyHarmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope.

● Warranty PeriodUnder the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time. ● Warranty ScopeAll the products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to:

(1) User's misapplication, improper installation, inadequate maintenance, or misuse.(2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.(3) Imperfection caused by the other than the products.(4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.

Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.

Trademark

The academic and general nomenclature for “HarmonicDrive®” is “wave motion gearing” and “HarmonicDrive®” is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems.

Dedicated communication cable (EWA-RS03)Preparation articleSupported OSModel

Overseas Standards Conformance

UL standard

CSA standard

EN standard

UL standard

CSA standard

EN standard

Safety standards MarkingProduct name

UL1004-1 (File No.243316)

C22.2 No.100

EN60034-1:2010, EN60034-5

UL508C (File No.229163)

C22.2 No.14

EN61800-5-1, EN61800-3

HA-800A/B/C

* Above is the list of standards at Harmonic Drive Systems.

EWA-RS03

PSF-800 Windows® XP, Windows Vista®＊1, Windows® 7＊1

PSF-680CL Windows® XP, Windows Vista®＊1, Windows® 7＊1

www.hds.co.jp

Software to Set Servo Parameters (Free)

Software to Set Servo Parameters PSF-800 (Free)

Software to Create the Operation Table Data PSF-680CL (Free)

The software allows you to set various parameters to the HA-800 driver from your PC. You can connect a PC on which “CN3” of the HA-800 driver and “Servo parameter setting software PSF-800” have been installed with the EIA-232C cable and change various servo parameters of the driver. Request a separate “PSF-800 instruction manual” and view it for details of the software.You can also download the servo parameter setting software from our home page (http://www.hds.co.jp).

The software allows you to create the operation table data with the HA-800C (CC-Link supported) driver and operate the actuator.(The operation table data can be set from the CC-Link supported.)

InstallPSF-800/PSF-680CLSetting software

WarrantyHarmonic Drive Systems undertakes warranty of its products contained in this catalog for the following warranty period and scope.

● Warranty PeriodUnder the condition that the products are handled, used and maintained properly followed each item of the technical materials, the manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either one year after delivery or 2,000 hours of operation time. ● Warranty ScopeAll the products are warranted against defects in workmanship and materials for the warranted period. This limited warranty does not apply to any product that has been subject to:

(1) User's misapplication, improper installation, inadequate maintenance, or misuse.(2) Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.(3) Imperfection caused by the other than the products.(4) Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.

Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective. Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment.

Trademark

The academic and general nomenclature for “HarmonicDrive®” is “wave motion gearing” and “HarmonicDrive®” is a registered trademark only usable on products manufactured and sold by Harmonic Drive Systems.

Dedicated communication cable (EWA-RS03)Preparation articleSupported OSModel

Overseas Standards Conformance

UL standard

CSA standard

EN standard

UL standard

CSA standard

EN standard

Safety standards MarkingProduct name

UL1004-1 (File No.243316)

C22.2 No.100

EN60034-1:2010, EN60034-5

UL508C (File No.229163)

C22.2 No.14

EN61800-5-1, EN61800-3

HA-800A/B/C

* Above is the list of standards at Harmonic Drive Systems.

As a Specialist in Precision Control Field

Harmonic Planetary® is a planetary speed reducer featuring high precision and stiffness, created by utilizing expertise in precision machining technology of HarmonicDrives® in the field of low speed reduction ratio. A high rotational accuracy is achieved by a unique backlash removal mechanism.

Harmonic Planetary®

Servo Driver Safety Precautions

Actuator Safety Precautions

Install the actuator at the specified accuracy.● Correctly align the centers of the actuator shaft and

mating machine in accordance with the technical information.

● Any misalignment could cause vibration and fracture of the output shaft.

Use only in a specified environment.● Actuators are designed and manufactured for indoor

use. Please ensure the following environmental conditions are complied with:• Ambient temperature 0 to 40°C • Vibration 24.5m/s2 or less• Ambient humidity 20 to 80% RH (Do not expose to condensation) • No splashing of water or oil • Do not expose to corrosive or explosive gas

Design Precaution: Be certain to read the technical information when designing the equipment.

Operational Precaution: Be certain to read the instruction manual and technical information before operating the actuator.

Take adequate precautionary measures to damp noise and ground● Noise on signal wire may cause vibration and

malfunction. Observe the following conditions:• Separate strong and weak wires.• Minimize wiring distances and lengths.• Ground the actuator and servo driver to one point and in class 3 in grounding.• Do not use a power input filter in the motor circuit.

Use only in a specified environment.● The driver generates heat. Exercise reasonable care

concerning heat radiation and operate under the following conditions. • Install vertically and ensure sufficient space nearby• 0 to 50°C and 95% RH (Do not expose to condensation)• Avoid vibration or shocks• Do not expose to dust or corrosive or explosive gas• No splashing of water or oil

Use an earth leakage breaker for the inverter.● Use an earth leakage breaker for the inverter. A

time-delay breaker cannot be used.

Exercise reasonable care when rotating from load side● The servo driver may break if the actuator is run while

being rotated from the load side.● Consult Harmonic Drive Systems when the servo driver

is operated in this mode.

Do not touch the terminals for 15 min after turning it off.● Residual electricity remains after turning the power off.

Make checks more than 15 minutes after turning the power off to prevent any electric shock

● When installing a servo driver, design the structure so that the electric parts inside cannot be touched easily.

Do not change the wiring while the current is active.● Always turn the power off when removing any wire or

connecting or disconnecting a connector, otherwise an electric shock or runway may result.

Do not operate the servo driver by turning it on and off.● Frequent turning on and off of the power causes the

internal circuit devices to deteriorate.● Start and stop the actuator by issuing a command

signal.

Do not conduct a withstand voltage test.● Do not conduct a megger or withstand voltage test,

otherwise the control circuit of the servo driver may be damaged.

Please discard as industrial waste.● Please discard as industrial waste when discarding.

When Discarding Actuator and Servo Driver

CautionCaution

WarningCaution

WarningWarning

CautionCaution

WarningWarning

CautionCaution

Caution

Caution on Oil Leakage● The output shaft contains an oil seal of high reliability. However, it is not guaranteed to be completely free of oil leakage. Customers are kindly requested to protect against grease or oil leakage depending on their application.Caution

Composed of only three basic components, the HarmonicDrive® speed reducer features more precision motion control through a unique mechanism.

The linear actuators compactly combining a precision screw and HarmonicDrive®. Versatile series are available for ultra precision positioning and high driving force.

Harmonic Linear®

HarmonicDrive®

For Safe Use of Servo Systems

Warning

Caution

: Means that improper use or handling could result in a risk of death or serious injury.

: Means that improper use or handling could result in personal injury or damage to property.

Limited ApplicationsThis product cannot be used for the following applications: * Space equipment * Aircraft equipment * Nuclear power equipment * Equipment and apparatus used in domestic homes * Vacuum equipment * Automotive equipment * Game equipment * Equipment that directly works on human bodies * Equipment for transport of humans * Equipment for use in a special environment

Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications.Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to breakdown when using it in equipment that affects human lives and that may trigger serious damage.

Do not plug directly into a socket.● The actuator cannot be operated unless connected to

a dedicated control unit.● Never connect directly to the AC power supply. The actuator may fracture and a fire may break out.

Do not exceed the permissible torque.● Do not apply a torque larger than the maximum value.● If an arm or other part is connected directly to the

output shaft, this latter may become uncontrollable if the arm or other part is collided.

Do not pull the cables.● Pulling a cable may damage the connecting part and

cause the actuator to run out of control.

Do not pat the actuator.● An encoder is coupled to the actuator. Do not pat the

actuator.● A fractured encoder may cause the actuator to run

out of control.

Beam Servo®

Beam servo is developed based on the small motors and optical sensor technology, which are developed by HarmonicDrive®. Smooth optical scanning is realized by high response and precision of optical scanner.

Through close cooperation in areas of development, design, production and marketing, Harmonic Drive Systems creates unique products tailored to customer needs.

In 1995 and 1998, Harmonic Drive Systems respectively obtained approvals for ISO 9001 (International Quality Management Standard) and for ISO 14001 (International Environmental Management Systems) from TÜV Management Service GmbH, a German accreditation organization. The approvals signify global recognition of the quality assurance and environment management systems of Harmonic Drive Systems.

Hotaka factory facing Northern Japan Alps

Development design departments closely collaborate and highly integrate on organization- developed technologies, actively creating new technologies and products.

Proposes optimum products meeting the operating environment by precisely determining the needs of individual customers

Clear awareness of and techniques for quality control establish a viable production system, promising a supply of high-quality and high-precision products.

Harmonic Drive L.L.C（U.S.A.）Controlling share 51%

Sales and Marketing

Development Design

ProductionAffiliate Companies

Manufacturing Headquarters

Research Headquarters

Development Headquarters

HD Logistics, Inc.Subcontract operation of physical distributionControlling share 100%

Harmonic Precision, Inc.Production of crossed roller bearingsControlling share 100%

OME IRON CASTING CO.,LTDDevelopment, manufacturing and sales of casting productsRatio of capital contribution: 49.2%

Development, design, and production of precision planetary reducersControlling share 100%

Harmonic AD, Inc.

Winbel, Inc.Development, mass production support, production, and sales of various motorsControlling share 50%

Harmonic Drive AG（Germany）Controlling share 25%

Overseas Sales Division

Kita-Kanto Sales Office

Tokyo Sales Office

Chubu Sales Office

Kyushu Sales Office

Kansai Sales Office

Koshu/Shin-etsu Sales Office

Sales Strategy Headquarters

Sales and technical support of mechatornics products and reduction devices Controlling share 100%

哈默纳科（上海）商贸有限公司