The document provides specifications for the SHA-CG series harmonic drive actuators from Harmonic Drive. The SHA-CG series features a compact and lightweight design with a hollow shaft, high torque output, and precision positioning capabilities. It is available in 5 sizes with gear ratios ranging from 50:1 to 160:1 and is suited for applications requiring high precision rotary motion like medical, semiconductor, and machine tool systems.

1. SHA-CG Series
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Harmonic Drive LLC
Boston US Headquarters
247 Lynnfield Street
Peabody, MA 01960
New York Sales Office
100 Motor Parkway
Suite 116
Hauppauge, NY 11788
Group Companies
Harmonic Drive Systems, Inc.
6-25-3 Minami-Ohi, Shinagawa-ku
Tokyo 141-0013, Japan
Harmonic Drive AG
Hoenbergstrasse, 14, D-6555
Limburg/Lahn Germany
San Jose Sales Office
333 W. San Carlos Street
Suite 1070
San Jose, CA 95110
Chicago Sales Office
137 N. Oak Park Avenue
Suite 410
Oak Park, IL 6030
T: 800.921.3332
T: 978.532.1800
F: 978.532.9406
www.HarmonicDrive.net
Rev_07_14
Driver and Extension Cables
REL-230-18
REL-230-18
REL-230-36
REL-230-18
REL-230-36
REL-230-36
REL-230-40
HA-800B-3D/E-200 HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800B-6D/E-100
HA-800B-3D/E-200
HA-800B-6D/E-200
(HA-800B-24D/E-200)
HA-800C-6D/E-200
(HA-800C-24D/E-200)
HA-800C-6D/E-100
HA-800C-3D/E-200
HA-800C-3D/E-200
CC-Link Commands
General Purpose I/O Commands
Control Modes (Position / Velocity / Current) Size 20 Size 25 Size 32 Size 40
MECHATROLINK-ⅡCommands
New Product News Vol. 17
Compact, Hollow Shaft Design
The SHA-CG Series actuators is compact, delivers high torque
and features a hollow shaft that allows design versatility in
demanding applications.
Model Options
Gearhead Cable Orientation Encoder
Brake
Servomotor
Environmental
Option
Harmonic Drive® Gear -
CSG Series 50:1 ~ 160:1
Magnetic Absolute Encoder (17 bit)
Multi-Turn (16 bit)
(Nikon -A Format)
Standard
Option
Standard
Option Side exit
Origin & End Limit Sensor
Mounting Stand IP 65
No Brake
Absolute Encoder: Panasonic format,
Mitsubishi format, Riss-C format
Incremental Encoder
200V AC
100V AC (size 25)
100V AC
72V DC, 48V DC
IP 54
Temperature Range 0°C - 40°C
UL, CE marking, RoHS
Motor Brake (Integrated without dimension change)
Cross Roller Bearing
Larger size bearing for higher load capacities
Rear exitStandard
Option
Standard
Option
Standard
Option
Standard
Option
Standard
Output Bearing
High Precision SHA-CG Actuators
Direct Drive Motor Performance
~ 80-90% less weight
~ 50% more compact
High torque for fast acceleration and positioning
Measurement, Analytical
and Test Systems
Optical Equipment Machine ToolsApplication Examples
Theta Axis Wafer Dicing Precision Machining (Indexing Device)
The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal
for high precision rotary applications such as indexing tables.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

2. SHA25A-CG
SHA32A-CG
SHA40A-CGSHA20A-CG
AWG20-4C+AWG24-2C
Cable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903111-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG28-3P+Shield
Cable dia. Ø6
X 7
C0.5
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
50:1
80:1
100:1
120:1
160:1
73
96
107
113
120
15.1
13.2
12.2
11.0
9.0
8.7
7.6
7.0
6.3
5.2
17.7
15.4
13.7
12.2
10.0
27.2
22.0
19.6
18.0
14.7
6.1
5.0
4.6
4.1
3.4
21
35
43
48
48
4.7
4.7
4.7
4.5
3.7
3.0
3.0
3.0
2.6
2.1
6.0
6.0
5.7
5.0
4.1
9.0
9.0
9.0
8.8
7.2
2.1
2.1
2.1
2.0
1.7
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
50
40
40
40
40
50
40
40
40
40
40
30
30
30
30
40
30
30
30
30
60
50
50
50
50
200V
100V
200V
200V
200V
2.6
(2.7)
3.95
(4.1)
3.95
(4.1)
7.7
(8.0)
13
(13.80)
● Improved output shaft runout accuracy (radial runout & axial runout: less than 0.010mm)
Improved structure for high precision surface and shaft runout.
● Output shaft resolution is evenly divisible
Indexing at 0.01 ° / 0.001 ° / 0.0001 °
● Optional mounting stand available
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 MAX
26 14
19.5 （63.5）
UL_N.P CE_N.P
（83）
4
4
17.5
R0.4 MAX
C0.5
R0.4 MAX
C0.5
（3）
15°
30°
Ø0.05
12-M4x7
Ø60
Ø107
12-M4×7 6-Ø5.5∼6
Ø117
Ø90
Ø95h70
-0.035
Ø69h70
-0.030
Ø43H7+0.025
0
125.5±1
123±1
（Ø94）
（Ø76）
N.P
Ø17
Ø33
+0.5
-0.2
Ø95h7
0
-0.035
R30
+35
0200
Ø4 H7
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
+0.012
0
AWG16-4C+AWG24-2C
Cable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 10
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
22.5°
15° 15°
15°
(14)
(28)
(12)
(13)
5
(6) 28.5
(108)22
Ø45±0.5
(80)
3.5
28
5.4
170±1
40
(21) 200
(28)
1A
1B
Ø90H7+0.035
0
Ø132h7
Ø170
Ø180h7
Ø225
0
-0.040
0
-0.040
(Ø175)
Ø180h7
0
-0.040
(Ø143)
Ø116
Ø203
C0.5
+0.015
0
2-M10
12-M8×12
Ø8 H7
R0.4 MAX
C0.5
8-Ø11 ∼ 11.5
+35
0
R0.4 MAX
Ø0.05
(Removal Tap)
AWG18-4C+AWG24-2C
Cable dia. Ø7.7
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350547-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 8
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
144±1
（90）
（5）
5
5
（70.5）19.523.5
2034
2-M645°
12-Ø6.5∼7
R50
15°15°
Ø35±0.5
Ø148h70
−0.040
（Ø121）
（Ø146）
R0.4 MAX
R0.4 MAX
C0.5
C0.5
3.5
Ø75H7＋0.030
0
Ø148h70
−0.040
Ø110h70
−0.035
Ø142
Ø175
Ø96
15°
Ø162
12-M6×10
（21）
（28）（28）
（13） 200
+35
0
1A
1B
（14）
（12）
+0.012
0Ø6 H7
Ø0.05
AWG20-4C+AWG24-2C
Cable dia. Ø5.6(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 8
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
15°22.5°
15°15°
（12）
（13）
(4) 19
4
3.5
Ø27±0.5
（14）
（28）
（21）
（28）
17
4
28.5 (82)
127.5 ±1
16.5 (65.5)
1A
1B
(Ø93)
200 +35
0
(Ø114)
Ø55H7+0.030
0
Ø144
Ø110
Ø115h70
-0.035
Ø84h70
-0.035
Ø115h7
0
-0.035
Ø131
Ø72
C0.5
C0.5
R0.4 MAXR0.4 MAX
8-Ø6.5 ∼ 7
Ø5 H7
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012
0
Ø0.05
R37.5
R37.5
Product Features
Size
20A
25A
25A
32A
40A
Gear
Ratio
Maximum
Torque [Nm]
Maximum
Current
Continuous
Torque [Nm]
Allowable
Continuous
Current
Maximum
Speed [rpm]
Output Resolution
Pulse / Rev
One-way
Positioning
Accuracy (arc-sec)
Hollow
Shaft Dia.
Motor
Voltage
Mass*
kg
Outline Dimensions
* Value in parenthesis is with brake.
Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown. (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

3. SHA25A-CG
SHA32A-CG
SHA40A-CGSHA20A-CG
AWG20-4C+AWG24-2C
Cable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903111-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG28-3P+Shield
Cable dia. Ø6
X 7
C0.5
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
50:1
80:1
100:1
120:1
160:1
127
178
204
217
229
127
178
204
217
229
281
395
433
459
484
333
548
686
802
841
523
675
738
802
841
34
57
72
81
81
40
66
81
81
81
90
151
178
178
178
92
156
196
235
315
157
260
327
382
382
96
60
48
40
30
112
70
56
46.7
35
96
60
48
40
30
80
50
40
33.3
25
80
50
40
33.3
25
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
27
27
27
27
27
27
27
27
27
27
35
35
35
35
35
45
45
45
45
45
45
45
45
45
45
50:1
80:1
100:1
120:1
160:1
73
96
107
113
120
15.1
13.2
12.2
11.0
9.0
8.7
7.6
7.0
6.3
5.2
17.7
15.4
13.7
12.2
10.0
18.0
18.0
18.0
17.6
14.3
27.2
22.0
19.6
18.0
14.7
6.1
5.0
4.6
4.1
3.4
21
35
43
48
48
4.7
4.7
4.7
4.5
3.7
3.0
3.0
3.0
2.6
2.1
6.0
6.0
5.7
5.0
4.1
6.0
6.0
6.0
6.0
6.0
9.0
9.0
9.0
8.8
7.2
2.1
2.1
2.1
2.0
1.7
120
75
60
50
37.5
6,553,600
10,485,760
13,107,200
15,728,640
20,971,520
17
17
17
17
17
50
40
40
40
40
50
40
40
40
40
40
30
30
30
30
40
30
30
30
30
40
30
30
30
30
60
50
50
50
50
2.6
(2.7)
3.95
(4.1)
3.95
(4.1)
7.7
(8.0)
13
(13.80)
13
(13.80)
● Improved output shaft runout accuracy (side runout / shaft runout: less than 0.010mm)
Improved structure for high precision surface and shaft runout. Ideal for index table application.
● Easily split output shaft resolution
Indexing at 0.01 ° / 0.001 ° / 0.0001 ° is possible.
● Vertical stand for index application is also available
3.5
(21) (13)
20°15°
(12)
(14)
1B
1A
(28)(28)
15 MAX
26 14
19.5 （63.5）
UL_N.P CE_N.P
（83）
4
4
17.5
R0.4 MAX
C0.5
R0.4 MAX
C0.5
（3）
15°
30°
Ø0.05
12-M4x7
Ø60
Ø107
12-M4×7 6-Ø5.5∼6
Ø117
Ø90
Ø95h70
-0.035
Ø69h70
-0.030
Ø43H7+0.025
0
125.5±1
123±1
（Ø94）
（Ø76）
N.P
Ø17
Ø33
+0.5
-0.2
Ø95h7
0
-0.035
R30
+35
0200
Ø4 H7
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
+0.012
0
AWG16-4C+AWG24-2C
Cable dia. Ø5.6
(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 10
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
22.5°
15° 15°
15°
(14)
(28)
(12)
(13)
5
(6) 28.5
(108)22
Ø45±0.5
(80)
3.5
28
5.4
170±1
40
(21) 200
(28)
1A
1B
Ø90H7+0.035
0
Ø132h7
Ø170
Ø180h7
Ø225
0
-0.040
0
-0.040
(Ø175)
Ø180h7
0
-0.040
(Ø143)
Ø116
Ø203
C0.5
+0.015
0
2-M10
12-M8×12
Ø8 H7
R0.4 MAX
C0.5
8-Ø11 ∼ 11.5
+35
0
R0.4 MAX
Ø0.05
(Removal Tap)
AWG18-4C+AWG24-2C
Cable dia. Ø7.7
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350547-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 8
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
144±1
（90）
（5）
5
5
（70.5）19.523.5
2034
2-M645°
12-Ø6.5∼7
R50
15°15°
Ø35±0.5
Ø148h70
−0.040
（Ø121）
（Ø146）
R0.4 MAX
R0.4 MAX
C0.5
C0.5
3.5
Ø75H7＋0.030
0
Ø148h70
−0.040
Ø110h70
−0.035
Ø142
Ø175
Ø96
15°
Ø162
12-M6×10
（21）
（28）（28）
（13） 200
+35
0
1A
1B
（14）
（12）
+0.012
0Ø6 H7
Ø0.05
AWG20-4C+AWG24-2C
Cable dia. Ø5.6(Removal Tap)
Housing :350715-1 [AMP]
Pin Contact (Motor U • V • W) :350690-1 [AMP]
Pin Contact (Brake) :350690-1 [AMP]
Pin Contact (Motor PE) :350669-1 [AMP]
Housing :1-1903130-4 [AMP]
Tab Contact :1903117-2 [AMP]
Output Rotational Part
HollowShaftDiameter
AWG24-3P+Shield
Cable dia. Ø7.7
X 8
C1
15 MAX
Motor • Brake Cable
Motor • Brake Connector
Encoder Cable
Encoder Connector
15°22.5°
15°15°
（12）
（13）
(4) 19
4
3.5
Ø27±0.5
（14）
（28）
（21）
（28）
17
4
28.5 (82)
127.5 ±1
16.5 (65.5)
1A
1B
(Ø93)
200 +35
0
(Ø114)
Ø55H7+0.030
0
Ø144
Ø110
Ø115h70
-0.035
Ø84h70
-0.035
Ø115h7
0
-0.035
Ø131
Ø72
C0.5
C0.5
R0.4 MAXR0.4 MAX
8-Ø6.5 ∼ 7
Ø5 H7
UL_N.P
N.P
CE_N.P
12-M5×8
2-M6
+0.012
0
Ø0.05
R37.5
R37.5
Product Features
Size
20A
Motor Voltage
Rating: 200V
25A
Motor Voltage
Rating: 100V
25A
Motor Voltage
Rating: 200V
32A
Motor Voltage
Rating: 200V
40A
(HA-800 -4D/E-200)
Motor Voltage
Rating: 200V)
40A
(HA-800 -24D/E-200)
Motor Voltage
Rating: 200V)
Gear
Ratio
Maximum
Torque [Nm]
Maximum
Current
Continuous
Torque [Nm]
Allowable
Continuous
Current
Maximum
Speed [rpm]
Output Resolution
Pulse / Rev
One-way
Positioning
Accuracy (arc-sec)
Hollow
Shaft Dia.
Mass*
kg
Outline Dimensions
* Value in parenthesis is with brake. Output Encoder Resolution = Encoder Resolution x Reduction Ratio.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown. (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
(Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:

4. SHA-CG Series
Harmonic Drive is a registered trademark of Harmonic Drive LLC.
Harmonic Drive LLC
Boston US Headquarters
247 Lynnfield Street
Peabody, MA 01960
New York Sales Office
100 Motor Parkway
Suite 116
Hauppauge, NY 11788
Group Companies
Harmonic Drive Systems, Inc.
6-25-3 Minami-Ohi, Shinagawa-ku
Tokyo 141-0013, Japan
Harmonic Drive AG
Hoenbergstrasse, 14, D-6555
Limburg/Lahn Germany
San Jose Sales Office
333 W. San Carlos Street
Suite 1070
San Jose, CA 95110
Chicago Sales Office
137 N. Oak Park Avenue
Suite 410
Oak Park, IL 6030
T: 800.921.3332
T: 978.532.1800
F: 978.532.9406
www.HarmonicDrive.net
Rev_07_14_A
Recommended Drivers
REL-230-18
REL-230-18
REL-230-36
REL-230-18
REL-230-36
REL-230-36
REL-230-40
HA-800B-3D/E-200 HA-800B-6D/E-200
HA-800C-6D/E-200
HA-800B-6D/E-100
HA-800B-3D/E-200
HA-800B-6D/E-200
(HA-800B-24D/E-200)
HA-800C-6D/E-200
(HA-800C-24D/E-200)
HA-800C-6D/E-100
HA-800C-3D/E-200
HA-800C-3D/E-200
CC-Link Commands
General Purpose
I/O Commands
Control Modes
(Position/Velocity/Current)
Size 20 Size 25 Size 32 Size 40
MECHATROLINK-ⅡCommands
New Product News Vol. 17
Compact, Hollow Shaft Design
The SHA-CG Series actuators is compact, delivers high torque
and features a hollow shaft that allows design versatility in
demanding applications.
Model Options
Gearhead Cable Orientation Encoder
Brake
Servomotor
Environmental
Option
Harmonic Drive® Gear -
CSG Series 50:1 ~ 160:1
Magnetic Absolute Encoder (17 bit)
Multi-Turn (16 bit)
(Nikon -A Format)
Standard
Option
Standard
Option Side exit
Origin & End Limit Sensor
Mounting Stand IP 65
No Brake
Absolute Encoder: Panasonic format,
Mitsubishi format, BiSS C format
Incremental Encoder
200V AC
100V AC
72V DC, 48V DC
IP 54
Temperature Range 0°C - 40°C
UL, CE marking, RoHS
Motor Brake (Integrated without dimension change)
Cross Roller Bearing
Larger size bearing for higher load capacities
Rear exitStandard
Option
Standard
Option
Standard
Option
Standard
Option
Standard
Output Bearing
High Precision SHA-CG Actuators
Direct Drive Motor Performance
~ 80-90% less weight
~ 50% more compact
High torque for fast acceleration and positioning
Measurement, Analytical
and Test Systems
Optical Equipment Machine ToolsApplication Examples
Theta Axis Wafer Dicing Precision Machining (Indexing Device)
The SHA-CG delivers high precision with improved positioning accuracy and surface runout. Ideal
for high precision rotary applications such as indexing tables.
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
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