5
Contents
SAFETY GUIDE......................................................................................................1
NOTATION.............................................................................................................1
LIMITATION OFAPPLICATIONS............................................................................1
SAFETY NOTE ......................................................................................................2
Contents ..........................................................................................................5
Related manual.......................................................................................................7
Conformance to overseas standards
...........................................................................7
Chapter 1 Outlines
1-1 Outlines .......................................................................................................1-1
1-2 Model .......................................................................................................1-3
1-3
Combinations with Servopacks and extension cables
...........................................................1-4
1-4 Specifications...............................................................................................1-5
1-5 Motor shaft holding brake ..........................................................................1-12
1-6 External dimensions...................................................................................1-15
1-7 Mechanical accuracy .................................................................................1-25
1-8 Positional accuracy....................................................................................1-27
One-way positional accuracy.............................................................................1-27
Repeatability (CG).............................................................................................1-27
Reverse positional accuracy (CG).....................................................................1-28
1-9
Detector specifications (Absolute encoder)
...............................................................1-29
1-10 Stiffness .....................................................................................................1-31
Moment stiffness ...............................................................................................1-31
Torsional stiffness
(Speed ratio 50:1 or more)
..............................................................1-32
Torsional stiffness
(Speed ratio 11:1 HPF hollow shaft planetary)
..........................................1-34
1-11 Rotation direction........................................................................................1-35
1-12 Shock resistance........................................................................................1-36
1-13 Resistance to vibration...............................................................................1-37
1-14 Operable range..........................................................................................1-38
1-15 Cable specifications...................................................................................1-47
Motor cable specifications .................................................................................1-47
Encoder cable specifications.............................................................................1-48
Chapter 2 Selection guidelines
2-1 SHA-Y series selection...................................................................................2-1
Allowable load inertia moment.............................................................................2-1
