Harmonic actuator
Harmonic Drive SHA-CG hollow-shaft servo actuators
A hollow-shaft servo actuator variant using CSG-based gearing. It is available in 200 VAC and low-voltage 48 VDC versions in the smaller sizes.
Key specifications
| Rated torque (max) | 382 Nm |
|---|---|
| Peak torque (max) | 841 Nm |
| Speed (max) | 120 rpm |
| Supply | 200 VAC (100 VAC size 25; 48 VDC / 20–90 VDC sizes 20/25/32) |
| Ratio | 50–160:1 |
| Sizes | 20, 25, 32, 40 |
Summarised in our own words from Harmonic Drive SE / Harmonic Drive LLC's published data; series maxima, individual models vary. Last checked 2026-10-29. Source 1
Notes on this data
Maxima: max torque 841 Nm (size 40, 160:1) and continuous torque 382 Nm (size 40 with HA-800 24D drive). 120 rpm is size 20 at 50:1 (200 VAC). Positioning accuracy is 30–60 arcsec and surface runout <10 µm. The page gives no bore, IP or numeric backlash figure.
Specify Motion is not affiliated with Harmonic Drive SE / Harmonic Drive LLC. Harmonic Drive and SHA-CG hollow-shaft servo actuators are used only to identify the product. Comparisons use published figures; always confirm against the current datasheet.
Typical applications
Alternatives that meet or exceed these figures
Engineers often come to us with a Harmonic Drive part number and leave with an alternative that is easier to source, quicker to deliver or a better fit for the machine. These 3 series from our supply network are the closest match on published figures.
Hollow-shaft harmonic servo actuator: strain-wave gearing, motor, encoder and brake in one unit, run from a separate servo drive. Six frame sizes, from 48 VDC to 220 VAC.
| Published maximum | SHA-CG hollow-shaft servo actuators | MAH |
|---|---|---|
| Peak torque | 841 Nm | 800 Nm |
| Rated torque | 382 Nm | 557 Nm meets or exceeds |
| Speed | 120 rpm | 125 rpm meets or exceeds |
Large-bore version of the harmonic actuator with a frameless 16-pole motor, giving a much bigger through-hole for cabling. Two sizes.
| Published maximum | SHA-CG hollow-shaft servo actuators | MAT |
|---|---|---|
| Peak torque | 841 Nm | 800 Nm |
| Rated torque | 382 Nm | 557 Nm meets or exceeds |
| Speed | 120 rpm | 102 rpm |
Compact robot-joint harmonic actuator with built-in EtherCAT/CANopen drive, dual 20-bit encoders and optional torque sensor, from 0.35 kg; aimed at humanoids and cobots.
| Published maximum | SHA-CG hollow-shaft servo actuators | MGU |
|---|---|---|
| Peak torque | 841 Nm | 762 Nm |
| Rated torque | 382 Nm | 557 Nm meets or exceeds |
| Speed | 120 rpm | 68 rpm |
Figures are the highest published for each series and are not always measured the same way. A higher figure is not automatically a better choice: mounting, duty cycle, feedback, connectors and approvals matter too. An engineer will check the fit against your application before recommending anything.
Other harmonic actuator series
Spec builder
Specify what you need instead of SHA-CG hollow-shaft servo actuators
Select every part you need, answer the questions an applications engineer would ask, and see your summary before we ask for any details.
- 1Products
- 2Performance
- 3Environment
- 4Volumes
- 5Your spec
Engineer support
Let our experienced engineers do the hard work for you
Tell us how you use the Harmonic Drive SHA-CG hollow-shaft servo actuators: the load, speed, duty and environment. Our engineers will confirm whether it is still the right part, find it for you, or propose an alternative that fits better.
- Reviewed by an engineer, not an autoresponder
- Like-for-like and better-fit alternatives
- Standard, modified and custom options
Prefer to configure it? Use the spec builder.