Harmonic Drive CHA-14A-E Manual Download Page 92

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1018854 8/2018

V03

11.2 Labelling, Guidelines and Regulations

CE-Marking

With the CE marking, the manufacturer or EU importer declares in accordance
with EU regulation, that the product meets the applicable requirements of the
EU harmonization legislation.

REACH Regulation

REACH is a European Community Regulation on chemicals. REACH stands for
Registration, Evaluation, Authorization and Restriction of Chemicals.

RoHS EU Directive

The RoHS EU Directive on the restriction of the use of certain hazardous
substances in electrical and electronic equipment.

REACH

Verordnung

Nr. 1907/2006

Summary of Contents for CHA-14A-E

Page 1: ...AC Servo Actuators CHA Engineering Data More information on our servo products can be found HERE Contact us today...

Page 2: ...t of Inertia 18 6 3 3 Technical Data Brake 18 6 3 4 Performance Characteristics 19 6 4 Actuator Data CHA 17A E 20 6 4 1 Technical Data 20 6 4 2 Moment of Inertia 21 6 4 3 Technical Data Brake 21 6 4 4...

Page 3: ...3 3 Technical Data Brake 40 6 13 4 Performance Characteristics 41 6 14 Actuator Data CHA 32A M512P 42 6 14 1 Technical Data 42 6 14 2 Moment of Inertia 42 6 14 3 Technical Data Brake 42 6 14 4 Perform...

Page 4: ...Continuous Operation 74 7 3 2 Lifetime Calculation for Oscillating Motion 74 7 3 3 Permissible Static Tilting Moment 76 7 3 4 Angle of Inclination 76 8 Design Notes 77 8 1 Notes on the Fit Selection 7...

Page 5: ...products of Harmonic Drive AG you may require additional documents Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website www harmonicdr...

Page 6: ...d its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components Beware of electromagnetic environmental compatibility 1 2 Disclaimer and Cop...

Page 7: ...mains Prevent reconnection Test for absence of harmful voltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been co...

Page 8: ...weight 20 kg INFORMATION Special versions of products may differ in the specification from the standard Further applicable data from data sheets catalogues and offers of the special version have to be...

Page 9: ...hinery Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the Machinery Directive 2 5 2 Servo Actuators and Motors The Harmonic Drive Servo Actuat...

Page 10: ...ptions The integrated hollow shaft can be used to feed through supply lines or services for additional axes enabling space saving designs with minimal installation dimensions required With a reinforce...

Page 11: ...sign CHA 14A 17A 20A 25A 32A 40A 50A 58A 30 30 30 30 30 50 50 50 50 50 50 50 50 80 80 80 80 80 80 80 80 100 100 100 100 100 100 100 100 120 120 120 120 120 120 120 160 160 160 160 160 160 E H N C1024...

Page 12: ...vailable 1 Only for resolver and with increased length Gear Component Set Zero backlash Hollow shaft Transmission accuracy better than 1 arcmin Repeatability better than 6 arcsec Motor feedback system...

Page 13: ...rature C 0 40 Ambient storage temperature C 20 60 Relative humidity without condensation 20 80 Vibration resistance DIN IEC 68 Part 2 6 10 500 Hz g 5 Shock resistance DIN IEC 68 Part 2 27 18 ms g 30 C...

Page 14: ...1 0 0 9 0 8 0 8 No load current 40 C INLS Arms 3 1 3 7 4 5 5 1 No load running current constant 30 C KINL 10 3 Arms rpm 4 6 7 6 12 2 15 2 No load running current constant 80 C KINL 10 3 Arms rpm 1 6...

Page 15: ...at motor Moment of inertia at motor without brake J 10 4 kgm 0 347 Moment of inertia at motor with brake J 10 4 kgm 0 438 Motor feedback system D2048 Ratio i 30 50 80 100 Moment of Inertia output sid...

Page 16: ...on Antriebskennlinien CHA 14A 100 E Drehzahl Drehmoment Maximal 0 28 85 28 85 0 85 0 85 0 40 28 53 0 53 0 53 0 53 0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbetrieb 0 11 35 11 35 0 35 0 35 0 Spannungsgrenze...

Page 17: ...l time constant 20 C Version M128S tm ms 7 4 No load current INLS Arms 0 13 0 12 0 10 0 10 No load running current constant 30 C KINL 10 3 Arms rpm 0 5 0 8 1 2 No load running current constant 80 C KI...

Page 18: ...at motor Moment of inertia at motor without brake J 10 4 kgm 0 347 Moment of inertia at motor with brake J 10 4 kgm 0 438 Motor feedback system D2048 Ratio i 30 50 80 100 Moment of Inertia output sid...

Page 19: ...A 14A 100 H L Drehzahl Drehmoment Maximal 0 28 85 28 85 0 85 0 85 0 S3 ED 25 0 0 0 0 0 0 0 0 0 0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbetrieb 0 11 35 11 35 0 35 0 35 0 Spannungsgrenze 0 0 0 0 0 0 5 10 15...

Page 20: ...INLS Arms 0 8 0 7 0 6 0 6 0 6 No load current 20 C INLS Arms 2 6 3 5 3 9 4 4 4 7 No load running current constant 30 C KINL 10 3 Arms rpm 4 6 7 7 12 3 15 4 18 5 No load running current constant 80 C...

Page 21: ...motor Moment of inertia at motor without brake J 10 4 kgm 1 056 Moment of inertia at motor with brake J 10 4 kgm 1 158 Motor feedback system D2048 Ratio i 30 50 80 100 120 Moment of Inertia output sid...

Page 22: ...zahl min 1 Speed rpm CHA 17A 50 E Berechnung von Antriebskennlinien CHA 17A 100 E Drehzahl Drehmoment Maximal 0 54 60 54 66 15 66 0 66 0 28 54 35 0 35 0 35 0 35 0 S3 ED 50 0 0 0 0 0 0 0 0 0 0 Dauerbet...

Page 23: ...tm ms 4 5 No load current INLS Arms 0 15 0 13 0 11 0 11 0 10 No load running current constant 30 C KINL 10 3 Arms rpm 1 2 3 4 5 No load running current constant 80 C KINL 10 3 Arms rpm 0 4 0 6 0 9 1 1...

Page 24: ...motor Moment of inertia at motor without brake J 10 4 kgm 1 056 Moment of inertia at motor with brake J 10 4 kgm 1 158 Motor feedback system D2048 Ratio i 30 50 80 100 120 Moment of Inertia output sid...

Page 25: ...35 40 0 20 40 60 80 100 120 140 160 Drehmoment Nm Torque Nm Drehzahl min 1 CHA 17A 50 H L Berechnung von Antriebskennlinien CHA 17A 100 H L Drehzahl Drehmoment Maximal 0 54 73 54 73 0 73 0 73 0 S3 ED...

Page 26: ...220 430 Demagnetisation current IE Arms 7 0 Maximum motor speed nmax rpm 6000 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 5 9 Inductance L L LL L mH 8 0 Number of pole pairs p 5 Weight with...

Page 27: ...20A 80 CHA 20A 100 CHA 20A 120 CHA 20A 160 Illustration 27 1 Illustration 27 2 Illustration 27 3 Illustration 27 4 Illustration 27 5 Illustration 27 6 Speed rpm Speed rpm Speed rpm Speed rpm Speed rpm...

Page 28: ...M Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 5600 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weigh...

Page 29: ...15 110 30 35 30 0 30 0 Spannungsgrenze 54 157 56 140 0 20 40 60 80 100 120 140 160 180 0 10 20 30 40 50 60 CHA 25A 100 Berechnung von Antriebskennlinien CHA 25A 160 Drehzahl Drehmoment Maximal 0 176 3...

Page 30: ...UM Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 4800 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weig...

Page 31: ...Dauerbetrieb 0 165 33 0 33 0 33 0 33 0 Spannungsgrenze 40 333 48 230 0 50 100 150 200 250 300 350 0 10 20 30 40 50 60 CHA 32A 100 0 6 1 A 2 3 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h...

Page 32: ...emagnetisation current IE Arms 18 Maximum motor speed nmax rpm 4000 Rated motor speed nN rpm 3000 Resistance L L 20 C RL L 2 9 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weight without brake...

Page 33: ...0A 80 0 2 1 A 0 4 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 617 33 617 33 0 33 0 33 0 S3 ED 25 0 617 10 617 33 390 33 0 33 0 S3 ED 50 0 440 7 44...

Page 34: ...emagnetisation current IE Arms 18 Maximum motor speed nmax rpm 3500 Rated motor speed nN rpm 2500 Resistance L L 20 C RL L 3 5 Inductance L L LL L mH 12 Number of pole pairs p 6 Weight without brake m...

Page 35: ...min 1 Speed rpm CHA 50A 80 0 2 1 A 0 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1080 28 1080 30 1000 30 0 30 0 S3 ED 25 0 1080 8 1080 30 400 30...

Page 36: ...20 430 Demagnetisation current IE Arms 25 Maximum motor speed nmax rpm 3000 Rated motor speed nN rpm 2000 Resistance L L 20 C RL L 2 4 Inductance L L LL L mH 9 Number of pole pairs p 6 Weight without...

Page 37: ...CHA 58A 80 0 2 1 A 8 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1720 25 1720 25 0 25 0 25 0 S3 ED 25 0 1700 25 500 25 0 25 0 25 0 S3 ED 50 0 12...

Page 38: ...430 Demagnetisation current IE Arms 7 0 Maximum motor speed nmax rpm 6000 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 5 9 Inductance L L LL L mH 8 0 Number of pole pairs p 5 Weight without...

Page 39: ...8 36 0 36 0 Spannungsgrenze 0 0 0 0 0 10 20 30 40 50 60 70 80 90 0 10 20 30 40 50 60 70 CHA 20A 100 Berechnung von Antriebskennlinien CHA 20A 160 Drehzahl Drehmoment Maximal 0 92 37 5 92 37 5 0 37 5 0...

Page 40: ...rms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 5600 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weight w...

Page 41: ...15 110 30 35 30 0 30 0 Spannungsgrenze 54 157 56 140 0 20 40 60 80 100 120 140 160 180 0 10 20 30 40 50 60 CHA 25A 100 Berechnung von Antriebskennlinien CHA 25A 160 Drehzahl Drehmoment Maximal 0 176 3...

Page 42: ...Vrms 220 430 Demagnetisation current IE Arms 15 Maximum motor speed nmax rpm 4800 Rated motor speed nN rpm 3500 Resistance L L 20 C RL L 3 7 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weight...

Page 43: ...erbetrieb 0 165 33 0 33 0 33 0 33 0 Spannungsgrenze 40 333 48 230 0 50 100 150 200 250 300 350 0 10 20 30 40 50 60 CHA 32A 100 0 6 1 A 2 3 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e...

Page 44: ...agnetisation current IE Arms 18 Maximum motor speed nmax rpm 4000 Rated motor speed nN rpm 3000 Resistance L L 20 C RL L 2 9 Inductance L L LL L mH 6 0 Number of pole pairs p 6 Weight without brake m...

Page 45: ...0A 80 0 2 1 A 0 4 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 617 33 617 33 0 33 0 33 0 S3 ED 25 0 617 10 617 33 390 33 0 33 0 S3 ED 50 0 440 7 44...

Page 46: ...Demagnetisation current IE Arms 18 Maximum motor speed nmax rpm 3500 Rated motor speed nN rpm 2500 Resistance L L 20 C RL L 3 5 Inductance L L LL L mH 12 Number of pole pairs p 6 Weight without brake...

Page 47: ...min 1 Speed rpm CHA 50A 80 0 2 1 A 0 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1080 28 1080 30 1000 30 0 30 0 S3 ED 25 0 1080 8 1080 30 400 30...

Page 48: ...0 430 Demagnetisation current IE Arms 25 Maximum motor speed nmax rpm 3000 Rated motor speed nN rpm 2000 Resistance L L 20 C RL L 2 4 Inductance L L LL L mH 9 Number of pole pairs p 6 Weight without b...

Page 49: ...CHA 58A 80 0 2 1 A 8 5 A H C n e i n i l n n e k s b e i r t n A n o v g n u n h c e r e B Drehzahl Drehmoment Maximal 0 1720 25 1720 25 0 25 0 25 0 S3 ED 25 0 1700 25 500 25 0 25 0 25 0 S3 ED 50 0 12...

Page 50: ...S D2048 M128S RES D2048 M128S Length without brake L mm 97 5 101 Length with brake L1 mm 120 6 123 CHA 14A E CHA 17A E Illustration 50 1 Illustration 50 2 mm mm Table 50 3 Symbol Unit CHA 14A E CHA 17...

Page 51: ...CHA 25A Motor feedback system C1024 C1024 Length without brake L mm 118 132 5 Length with brake L1 mm 138 160 CHA 32A CHA 40A Illustration 51 4 Illustration 51 5 mm mm Table 51 6 Symbol Unit CHA 32A...

Page 52: ...CHA 20A CHA 25A Motor feedback system M512P M512P Length without brake L mm 118 132 Length with brake L1 mm 137 159 5 CHA 50A CHA 58A Illustration 52 1 Illustration 52 2 mm mm Table 52 3 Symbol Unit C...

Page 53: ...A 40A Motor feedback system M512P M512P Length without brake L mm 144 5 157 Length with brake L1 mm 172 176 CHA 50A M512P CHA 58A M512P Illustration 53 4 Illustration 53 5 mm mm Table 53 6 Symbol Unit...

Page 54: ...lity arcmin 0 1 0 1 0 1 0 1 Hysteresis loss arcmin 3 1 1 1 1 1 1 1 1 Lost Motion arcmin 1 1 1 1 Symbol Unit CHA 14A CHA 17A CHA 20A CHA 25A Limit torques T1 Nm 2 3 9 7 14 T2 Nm 6 9 12 25 48 Ratio i 30...

Page 55: ...8 4 These data are valid for n 15 rpm and L10 15000 h 3 4 These data are only valid if the following conditions are fulfilled for M0 Fa 0 N Fr 0 N Fa M 0 Nm Fr 0 N Fr M 0 Nm Fa 0 N 5 Average value 6 2...

Page 56: ...ion is for med by adding up the incremental position changes Where incremental encoders have square wave signals definition of the edge evaluation can be quadrupled quad counting Where incremental enc...

Page 57: ...rm sinusoidal Number of pulses n2 C D 1 Reference signal n3 R 1 Accuracy1 arcsec 12 Incremental resolution motor side 2 inc 262144 Resolution output side 2 Gear ratio i 30 50 80 100 120 160 arcsec 0 1...

Page 58: ...tion output side 2 Gear ratio i 30 50 80 100 120 160 arcsec 0 33 0 20 0 12 0 10 0 08 0 06 1 Source Manufacturer 2 For interpolation with 8 bit 3 Increasing position values for redation in clockwise di...

Page 59: ...10 Recommended encoder replacement interval a 6 Accuracy1 arcsec 360 Resolution of the absolute value output side Gear ratio i 30 50 80 100 120 160 arcsec 0 4 0 2 0 2 0 1 0 1 0 1 Number of revolutions...

Page 60: ...al battery service life a Theoretical battery service life depending on the previous time of storage Battery lifetime The theoretical battery service life can be determined based on the previous stora...

Page 61: ...360 2048 a b c d 0 25 T Tz 1 4 T HN 360 5 72 5 el Illustration 61 2 Ordering code Symbol Unit D2048 Manufacturer s designation EBG Power supply1 Ub VDC 5 10 Current consumption without load 1 I mA 40...

Page 62: ...ro additional protection e g I2 t monitoring is recommended Table 62 1 Table 62 3 Illustration 62 2 4000 3000 2000 1000 0 TNAT 5 TNAT TNAT 5 Resistance Temperature C When using the KTY 84 130 the valu...

Page 63: ...2 Table 63 6 Connector pin 1 2 3 4 5 6 7 15 8 9 10 16 11 12 13 14 15 7 16 10 17 C 1024 Signal A A R D C C GND Temp KTY Temp KTY Up B B R D GND Sensor Up Sensor Inner Shield Colour yellow green red wh...

Page 64: ...CHA with brake 6FX8002 5DG01 1xx0 Motor feedback H C1024 6FX8002 2CA31 1xx0 H M512P H M128S 6FX8002 2EQ10 1xx0 Version Mat no Length m H C1024 308853 308854 308855 308856 308857 5 10 15 20 25 H M512P...

Page 65: ...1 Mat no 301193 External diameter 26 mm Length 60 mm Encoder connector 12 M23 x 1 Cable plug 12 M23 x 1 Mat no 303494 External diameter 26 mm Length 60 mm CHA 14 17 Connector pin 1 2 3 4 5 6 Motor ph...

Page 66: ...PE BR BR Temp PTC Temp PTC Colour red white black green yellow black white blue white Connector pin 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 RES Signal SIN SIN Vss Temp KTY Temp KTY Vss COS COS Colo...

Page 67: ...A CLOCK GND Sensor Up Sensor Table 67 6 Table 67 1 Table 67 3 Table 67 4 6 24 4 CHA xx E RES E M128S E D2048 Motor connector 8 M17 x 1 Cable plug 8 M17 x 1 Mat no 1011445 Encoder connector 17 M17 x 1...

Page 68: ...ensor GND Sensor Up CLOCK CLOCK GND Inner shield B B DATA A A DATA Connecting Cables SIMODRIVE 6FX8002 2AD00 1xx0 SINAMICS S 120 SMC20 6FX8002 2CH00 1xx0 YukonDrive Mat no 1010747 3 m other length on...

Page 69: ...e T1 Equation 69 1 Is the required acceleration torque less than max output torque of the actuator No Yes Determine the torque pattern and calculate the effective torque Trms Equation 69 2 Calculate a...

Page 70: ...iciency TL Nm Coefficient of friction of bearing Speed pattern Torque pattern Speed n rpm Torque T Nm Operational cycle t0 Note t1 t3 Time t s Time t s TL m g r Nm g 9 81 m s2 JL m 8 D2 kgm2 1 JL 3 JO...

Page 71: ...to cyclically position a mass with a horizontal axis of rotation Speed pattern Torque pattern n2 40 rpm Speed n rpm T1 T2 T3 t1 0 1 t2 0 1 t3 0 1 tP 1 Torque T Nm t0 1 3 Note t1 t3 Time t s Time t s P...

Page 72: ...T1 5 2 1 3 0 86 40 103 8 Nm 60 0 1 Confirm Is the required acceleration torque less than the maximum output torque of the actuator Check according to the performance characteristics Trms and nav are...

Page 73: ...7 104 Nm rad 7 15 10 4 rad 2 5 arcmin 180 60 arcmin rad Example T 60 Nm K1 6 7 104 Nm rad T1 29 Nm K2 1 1 105 Nm rad T2 108 Nm K3 1 2 105 Nm rad T T1 K2 T1 K1 T1 T T2 T2 T1 K2 T1 K1 T T2 K3 7 2 Calcul...

Page 74: ...B Cross roller bearing 10 3 Four point bearing 3 At oscillating angles 5 fretting corrosion may occur due to insufficient lubrication In this case please contact our sales engineer for counter measure...

Page 75: ...maximum radial force Fax represents the maximum axial force tp represents the pause time between cycles Load factors x y 1 0 45 0 67 0 67 Frav 2 M dp 1 5 Faav Frav 2 M dp 1 5 Faav Illustration 75 5 I...

Page 76: ...Equation 76 1 7 3 3 Permissible Static Tilting Moment In case of static load the bearing load capacity can be determined as follows fs Static load safety factor fs 1 5 3 Table76 3 C0 Static load rati...

Page 77: ...0A CHA 25A CHA 32A CHA 40A CHA 50A CHA 58A Load side Fit of bearing inner ring mm 49 h7 59 h7 69 h7 84 h7 110 h7 132 h7 168 h7 193 h7 Recomended tolerance area for transition fit mm H7 H7 H7 H7 H7 H7...

Page 78: ...in the motor feedback systems do not contain more than 1 g of lithium or lithium alloy and are exempt from dangerous goods regulations 9 2 Installation Check the performance and protection and check t...

Page 79: ...52 175 Screw tightening torque Nm 2 3 5 1 5 1 10 17 42 83 83 Transmittable torque Nm 85 188 228 463 847 1964 4086 4688 Housing assembly Number of screws 8 12 12 12 12 12 12 12 Screw size M3 M3 M3 M4 M...

Page 80: ...asures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handling can cause damage to persons and property The respective national local an...

Page 81: ...ide the final mounting position should be limited to 5 minutes of continuous running at a motor speed of less than 1000 rpm These values should not be exceeded in order to avoid thermal damage to the...

Page 82: ...of an additional shaft seal to be provided by the user or the maintenance of a constant pressure inside the actuator Please contact Harmonic Drive AG for further information ADVICE Specification seal...

Page 83: ...nd property The respective national local and factory specific regulations must be adhered to ATTENTION Burns from hot surfaces with temperatures of over 100 C Let the motors cool down before starting...

Page 84: ...otor Feedback Systems DANGER 10 Decommissioning and Disposal The gears servo actuators and motors from Harmonic Drive AG contain lubricants for bearings and gears as well as electronic components and...

Page 85: ...s applied to the gear an average torque should be calculated for the complete operating cycle This value should not exceed the specified TA limit Backlash Harmonic Planetary Gears arcmin When subjecte...

Page 86: ...ng rotating this is the maximum allowable tilting moment with no additional axial forces or radial forces applied This value is not based on the equation for lifetime calculation of the output bearing...

Page 87: ...lubrication for short period The maximum input speed can be applied as often as desired as long as the application s average speed is lower than the permitted average input speed of the gear Maximum...

Page 88: ...M Vrms Required fundamental wave voltage to achieve the specified performance Additional power losses can lead to restriction of the maximum achievable speed Nominal Service Life Ln h When loaded with...

Page 89: ...speed the Wave Generator Bearing will reach the nominal service life Ln with 50 propability of failure The rated torque TN is not used for the dimensioning of the gear Rated voltage UN Vrms Supply vol...

Page 90: ...from the stall torque in Ncm 3 Direct drives from the TorkDrive Series The size of the TorkDrive Series is the outer diameter of the iron core of the stator Static load rating C0 N Maximum static loa...

Page 91: ...or a given torque and blocked input shaft The torsional rigidity of the Harmonic Planetary Gear describes the rotation of the gear above a reference torque of 15 of the rated torque In this area the t...

Page 92: ...the applicable requirements of the EU harmonization legislation REACH Regulation REACH is a European Community Regulation on chemicals REACH stands for Registration Evaluation Authorization and Restr...

Page 93: ...Germany Harmonic Drive AG Hoenbergstra e 14 65555 Limburg Lahn info harmonicdrive de www harmonicdrive de Subject to technical changes T 49 6431 5008 0 F 49 6431 5008 119 8 2018 1018854 V03...

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