# Harmonic Drive SHA-32A Integrated Servo Actuator (1:101)

Western benchmark: largest SHA integrated hollow-shaft actuator with Harmonic Drive SG gearing, integrated servo drive and dual absolute encoders, for robot-arm bases. 48 V, no-brake version; full order code to be confirmed with the maker.

- Maglev ID: ac-harmonicdrive-sha32a-101-integrated
- Brand: Harmonic Drive
- MPN: unknown
- Category: actuators / Integrated Joint Actuators
- Origin: US (maker HQ, factory not confirmed)
- Maker: Harmonic Drive LLC (US) / Harmonic Drive Systems (JP) (brand, US)
- 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: 298 N·m max
- Rated torque: 77 N·m continuous (with 320x320x16 mm Al heatsink)
- Gear ratio: 101:1 harmonic (also 51/81/121/161)
- Voltage: 48 VDC (24-60 V)
- Mass: 6.3 kg (PM1 axial exit); 6.4 kg (PM4)
- Interface: CAN, CANopen (DS301/DS402) or EtherCAT option

## Links
- Product: https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive
- Datasheet: https://www.harmonicdrive.net/_hd/Content/catalogs/pdf/SHA-Integrated-Brochure.pdf
- CAD: none

## Equivalents
- MyActuator RH-32-100 Hollow Harmonic Actuator (no brake) (ac-myactuator-rh-32-100-e-n-d)

## Sources
- https://www.harmonicdrive.net/products/rotary-actuators/integrated-actuators/sha-integrated-with-servo-drive (spec table + ordering code)