---
title: "SHA-CG series (SHA-CG Hollow Shaft Actuator) by Harmonic Drive LLC: specs, torque and price"
description: "Harmonic / Precision actuator from Harmonic Drive LLC (Japan). Peak torque n/a, rated n/a, weight n/a, torque density n/a, price quote only."
canonical: https://getactuators.com/actuators/harmonic-drive-sha-cg
last-updated: 2026-09-26T20:29:50.000Z
---
# SHA-CG series (SHA-CG Hollow Shaft Actuator) by Harmonic Drive LLC

> Harmonic / Precision actuator from Harmonic Drive LLC (Japan). Peak torque n/a, rated n/a, weight n/a, torque density n/a, price quote only.

## Specifications

| Spec | Value |
| --- | --- |
| Category | Harmonic / Precision |
| Peak torque | n/a |
| Rated torque | n/a |
| Max speed | n/a |
| Gear ratio | 50:1-160:1 |
| Weight | n/a |
| Torque density | n/a |
| Price | quote only |
| Price per Nm | n/a |
| Backdrivable | no |
| Backlash | 0 arcmin |
| Voltage | 24 / 100-240 V |
| Peak current | n/a |
| Communication | EtherCAT, CAN |
| Control modes | position, velocity, torque |
| Encoder | magnetic dual absolute, output resolution up to ~20,971,520 pulse/rev |
| Integrated driver | yes |
| Availability | in production |
| Data status | unverified |

## Use cases

- robot arm
- cobot joint
- positioning stage
- assembly automation

## Notes

Hollow-shaft AC servo actuator combining a CSG zero-backlash strain-wave gear with a brushless servomotor and integrated servo drive (EtherCAT/CANopen). Four frame sizes, five reduction ratios 50:1 to 160:1. The series delivers up to 3,400 N·m across sizes; positional accuracy better than 1 arcmin and repeatability better than +/-5 arc-sec (recorded as ~0.08 arcmin). This is a multi-size series, so per-size rated/peak torque, weight and speed are not a single value and are left null rather than guessed. 'Zero backlash' recorded as 0 per the manufacturer strain-wave claim. Quote-only pricing.

## Sources

- <https://www.harmonicdrive.net/products/rotary-actuators/hollow-shaft-servo-actuators/sha-cg>
- <https://www.harmonicdrivegearhead.com/_hd/content/documents/SHASGandCGManual.pdf>
- <https://www.motioncontroltips.com/new-harmonic-drive-sha-cg-hollow-shaft-actuators-serve-as-direct-drives/>
- <https://www.automate.org/products/harmonic-drive-llc/sha-cg-actuator>

## Similar Harmonic / Precision actuators

- [LPA-20 (Low Profile Rotary Actuator) (Harmonic Drive LLC)](https://getactuators.com/actuators/harmonic-drive-lpa-20): 40.7 Nm/kg
- [FHA-14C-100 (FHA-C Mini) (Harmonic Drive LLC)](https://getactuators.com/actuators/harmonic-drive-fha-14c-100): 17 Nm/kg
- [CHA series (Hollow Shaft Servo Actuator) (Harmonic Drive (Harmonic Drive SE / LLC))](https://getactuators.com/actuators/harmonic-drive-cha-series): n/a
- [LHS series (Harmonic Drive strain-wave reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))](https://getactuators.com/actuators/leaderdrive-lhs): n/a
- [LHD series (hollow-shaft harmonic reducer) (Leaderdrive (Suzhou Leader Harmonic Drive))](https://getactuators.com/actuators/leaderdrive-lhd): n/a

## Machine-readable

- JSON: https://getactuators.com/api/v1/actuators/harmonic-drive-sha-cg
- Catalog index for agents: https://getactuators.com/llms.txt