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Components › Unclassified › Harmonic Drive Systems
SHA-32AAdd to cart
Series reference image, not this exact model · from harmonicdrive.netSHA-32A — SHA with Integrated Servo Drive — manufacturer series reference image1 / 1
哈默纳科（上海）商贸有限公司 · Harmonic Drive Systems

SHA-32A

Unclassified · active · sources 2 · multiple values 1
specs 52evidence [n]sources 2multiple values 1

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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
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Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 5151
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 8181
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 101101
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 121121
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 161161
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 146146 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 238238 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 298298 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 357357 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 477477 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 5050 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 3131 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 2525 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 2121 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 1616 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 25.525.5 A
source sentenceMaximum current A rms A rms 14.9 13.2 12 10.8 9.1 25.5 25.5 25.5 23.2 19 25.5 25.5 25.5 25.5 25.5
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Continuous currentcontinuous_current
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 8.58.5 A
source sentenceContinuous current A rms A rms 4.7 4.7 4.7 4.7 4.4 8.5 8.5 8.5 8.5 7.8 8.5 8.5 8.5 8.5 8.5
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 7.97.9 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 12.812.8 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 1515 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 19.119.1 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 25.425.4 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
Dual magnetic absolute
source sentenceEncoder type – – Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
PM1: 6.3, PM4: 6.4
source sentenceMass kg kg 2.1 2.1 2.1 2.1 2.1 3.3 3.3 3.3 3.3 3.3 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Rated voltagerated_voltage
valuemeasured at Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 48 (24-60)48 V
source sentenceOperating voltage V V 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60)
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Protocolprotocol
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
CAN, CANopen ® (DS301/DS402), EtherCAT ®
source sentenceCommunication protocol – – CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ®
sourcehttps://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 5151
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 8181
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 101101
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 121121
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
valuemeasured at Rated voltage 48 (24-60) · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 161161
source sentenceGear Ratio Gear Ratio Gear Ratio 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceConflicting
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 146146 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 238238 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 298298 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 357357 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 477477 N·m
source sentenceMaximum torque Nm Nm 68 96 107 113 120 100 163 204 217 229 146 238 298 357 477
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 5050 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 3131 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 2525 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 2121 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max speedmax_speed
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 1616 r/min
source sentenceMaximum Speed rpm rpm 63 40 32 27 20 75 47 38 32 24 50 31 25 21 16
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak currentpeak_current
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 25.525.5 A
source sentenceMaximum current A rms A rms 14.9 13.2 12 10.8 9.1 25.5 25.5 25.5 23.2 19 25.5 25.5 25.5 25.5 25.5
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Continuous currentcontinuous_current
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 8.58.5 A
source sentenceContinuous current A rms A rms 4.7 4.7 4.7 4.7 4.4 8.5 8.5 8.5 8.5 7.8 8.5 8.5 8.5 8.5 8.5
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 7.97.9 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 81 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 12.812.8 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 101 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 1515 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 121 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 19.119.1 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torque constanttorque_constant
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 25.425.4 N·m/A
source sentenceTorque constant Nm/A Nm/A 6.3 10.1 12.7 15.2 20.2 5.3 8.5 10.6 12.7 16.9 7.9 12.8 15 19.1 25.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Encoder typeencoder_type
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
Dual magnetic absolute
source sentenceEncoder type – – Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute Dual magnetic absolute
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
PM1: 6.3, PM4: 6.4
source sentenceMass kg kg 2.1 2.1 2.1 2.1 2.1 3.3 3.3 3.3 3.3 3.3 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4 PM1: 6.3, PM4: 6.4
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Rated voltagerated_voltage
valuemeasured at Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
as printed 48 (24-60)48 V
source sentenceOperating voltage V V 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60) 48 (24-60)
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Protocolprotocol
valuemeasured at Rated voltage 48 (24-60) · Reduction ratio Gear Ratio: 51 / 81 / 101 / 121 / 161 · How it was measured Compact Rotary Actuator | SHA Hollow Shaft Compact Actuator SHA with Integrated Servo Drive Discover the SHA Integrated Actuator with Servo Drive by Harmonic Drive. Compact design, high torque, accuracy, and no need for an external servo drive.
CAN, CANopen ® (DS301/DS402), EtherCAT ®
source sentenceCommunication protocol – – CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ® CAN, CANopen ® (DS301/DS402), EtherCAT ®
sourcehttps://www.harmonicdrive.net/products/integrated-actuators/integrated-actuators/sha-integrated-with-servo-drive · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
specs 52, 52 shown

Source documents.

2 documents · 1 fields with several values

2 documents
DownloadSource files are not published yet: which documents may be published is undecided.
1 fields with several values
2026-09-08first collected · 2 sources
multiple values · 1Reduction ratio
Next update2026-10-01

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JOINT · SHA-32A · Unclassified
StatusNot applicable
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WRC 2026 Beijing exhibitors, and other suppliers.

哈默纳科（上海）商贸有限公司Harmonic Drive Systems
WRC2026-B-008Hall BBooth B110CNharmonicdrive.net · official
This supplier's parts 1,815Supplier page

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