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Company

Harmonic Drive

Description

BHA - Harmonic Drive® Servo actuators with hollow shaft

Bill of material

BHA-20A-100-AO-LB-SZE-1

SIZE

Size

HSD

Hollow Shaft diameter

18.1

RATIO

Selection for Ratio

100

MWT

Motor winding type

Connector version

LB: Motor connector M23 8-pol. ✔

LB: Motor connector M23 8-pol.

EFS

Motor Feedback System

SZE: EnDat 2.2 Singleturn absolute encoder ECI-119 (19 bit Singleturn) ✔

SZE: EnDat 2.2 Singleturn absolute encoder ECI-119 (19 bit Singleturn)

SIH: Hiperface® Singleturn absolute encoder SES70 (32 SinCos, 10 bit Singleturn)

SZB: BiSS-C Singleturn absolute encoder FFB (16 bit Singleturn)

MZE: EnDat 2.2 Multi-turn absolute encoder EBI-135 (19 bit Singleturn, 16 bit Multi-turn battery buffered)

MIH: Hiperface® Multi-turn absolute encoder SEM70 (32 SinCos, 10 bit Singleturn/12 bit Multi-turn (mechanical)

MZB: BiSS-C Multi-turn absolute encoder FFB (16 bit Singleturn, 16 bit Multi-turn battery buffered)

MHS: SSI Multi-turn absolute encoder FFB (64 SinCos, 16 bit Singleturn, 12 bit Multi-turn battery buffered)

Break

OTS

Option Temperature sensor

MOT

Maximum output torque

107

MOS

Maximum output speed

60.00

1/min

Maximum current

3.1

Arms

CST

Continuous stall torque

64.0

CSC

Continuous stall current

1.7

Arms

Backlash

arcmin

WGT

Weight

2.8

CRB

Integrated Output Bearing

Yes

Permissible dynamic tilting moment

172

Permissible axial load

4486

Permissible radial load

3006

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BHA-20A-100-AO-LB-SZE-1