# Harmonic Drive SHA20A Hollow-Shaft Rotary Actuator (CG, 1:100)

![Harmonic Drive SHA20A Hollow-Shaft Rotary Actuator (CG, 1:100)](https://parts.trymaglev.com/img/ac-harmonicdrive-sha20a-100.webp)

Western benchmark hollow-shaft servo actuator (CSG strain-wave gear + motor + absolute encoder) for precision arms; AC servo paired with the HA-800 drive.

- Maglev ID: ac-harmonicdrive-sha20a-100
- Brand: Harmonic Drive
- MPN: SHA20A (CG type, ratio 100)
- Category: actuators / Integrated Joint Actuators
- Origin: JP (maker HQ, factory not confirmed)
- Maker: Harmonic Drive Systems (JP); US arm Harmonic Drive LLC, Beverly MA (brand, JP)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8501.31.40.00 (typical)
- MOQ: unknown · Lead time: unknown
- Confidence: VERIFIED

## Price
- No public price. Request a quote via POST /api/rfq or the order pad.

## Specifications
- Peak torque: 107 N·m max
- Rated torque: 43 N·m allowable continuous (on 350x350x18 mm Al plate)
- Gear ratio: 100:1 strain-wave
- Voltage: AC servo; ratings with HA-800 drive (48 VDC version exists as SHA-20A integrated)
- Mass: 2.6 kg without brake
- Interface: Via HA-800 servo drive; integrated-drive SHA-20A offers CANopen or EtherCAT
- Encoder: 17-bit magnetic absolute, 16-bit multi-turn counter

## Links
- Product: https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive
- Datasheet: https://www.harmonicdrive.net/_hd/content/documents/SHACG_20A_spec.pdf
- CAD: https://www.harmonicdrive.net/downloads/stp-files/sha-integrated-actuators

## Equivalents
- ZeroErr eRob70F Harmonic Rotary Actuator (100:1) (ac-zeroerr-erob70f-100)
- MyActuator RH-20-100 Hollow Harmonic Actuator (no brake) (ac-myactuator-rh-20-100-e-n-d)
- Harmonic Drive SHA-25A Integrated Servo Actuator (1:101) (ac-harmonicdrive-sha25a-101-integrated)

## Works with
- Harmonic Drive CSF-17-100-2UH Strain-Wave Gear Unit (ac-harmonicdrive-csf-17-100-2uh)

## Sources
- https://www.harmonicdrive.net/_hd/content/documents/SHACG_20A_spec.pdf (CG-type spec table (max/continuous torque, encoder, mass))
- https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive (integrated-drive variant ranges, interfaces, CAD paths; price on request)