Harmonic Drive CSF-3 Series Manual Download Page 6 | Manualshive

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Chapter 1 Outlines of CSF-3 series

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2

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1-3 External drawing

■

Double-shaft unit type

【

CSF-3-XX-1U

】

Unit: mm

Mass: 13.7

ｇ

■

Gear head type

【

CSF-3-XX-1U-CC

】

Unit: mm

Mass: 11.4

ｇ

Note) Please confirm the dimensions specification drawing issued by us for detail.

4-M1.6 tap 3.2

evenly spaced

4-M1.6 tap 3.2

evenly spaced

Maximum diameter of rotation part

Maximum diameter of rotation part

4-M1.4 tap 2.8

evenly spaced

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Summary of Contents for CSF-3 Series

Page 1: ...ng the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation Product specifications are subject to change without notice for impr...

Page 2: ...re operating the equipment Be careful in handling products and parts Do not give strong shock to parts and units with a hammer Do not scratch or bruise them Possible damage is assumed If you use the e...

Page 3: ...der oscillating movement 6 2 8 How to obtain the static safety coefficient 6 Chapter 3 Efficiency characteristics 7 3 1 Double axial unit type 1U 7 3 2 Gear head type 1U CC 8 Chapter 4 No load running...

Page 4: ...CSF 3 series manual Contents 2 Memo...

Page 5: ...CC Gear head type Specification None standard product SP special specifications such as shapes and performance 1 2 Model Model Reduction ratio Rated torque at input 2000r min Peak torque at start sto...

Page 6: ...mm Mass 13 7 Gear head type CSF 3 XX 1U CC Unit mm Mass 11 4 Note Please confirm the dimensions specification drawing issued by us for detail 4 M1 6 tap 3 2 evenly spaced 4 M1 6 tap 3 2 evenly spaced...

Page 7: ...Mmax Maximum load moment load Mmax permissible moment Mc 2 Checking the life Obtain the average radial load Frav and the average axial load Faav Obtain the radial load coefficient x and the axial loa...

Page 8: ...average radial load Frav Note that the maximum radial load within the t1 section is Fr1 and the maximum radial load within the t2 section is Fr2 Formula 3 How to obtain the average axial load Faav No...

Page 9: ...a 6 LB 10 Life hour Nav Average output rotational speed r min See How to obtain the average load C Basic dynamic load rating N kgf See Table 1 Pc Dynamic equivalent radial load coefficient N kgf See F...

Page 10: ...ain the static safety coefficient of the cross roller bearing by Formula 9 General values under the operating condition are shown in Table 4 You can obtain the static equivalent radial load Po by Form...

Page 11: ...ng pages on each series Measuring condition Grease lubrication Harmonic grease SK 2 Application quantity Appropriate application quantity 3 1 Double axial unit type 1U Reduction ratio 30 Reduction rat...

Page 12: ...60 70 80 90 100 10 0 10 20 30 40 500r min 1000r min 2000r min 3500r min 5000r min 10000r min 0 10 20 30 40 50 60 70 80 90 100 10 0 10 20 30 40 500r min 1000r min 2000r min 3500r min 5000r min 10000r...

Page 13: ...100 10 0 10 20 30 40 500r min 1000r min 2000r min 3500r min 5000r min 10000r min 0 10 20 30 40 50 60 70 80 90 100 10 0 10 20 30 40 500r min 1000r min 2000r min 3500r min 5000r min 10000r min 100 90 80...

Page 14: ...rrection amount by reduction ratio No load running torques of Harmonic Drive vary in accordance with the reduction ratio The values in Graph 1 below are the values for the gear head type 1U CC reducti...

Page 15: ...ing torque 30 0 34 30 0 32 50 0 30 50 0 28 100 0 26 100 0 24 Overdrive starting torque Overdrive starting torque means the instantaneous starting torque that the input side high speed side starts rota...

Page 16: ...ee values on the corresponding page of each series 0peraling the drive without fixing ratcheting will result in earlier abrasion of the teeth and shorter lifespan of the wave generator bearing due to...

Page 17: ...e actual rotating angle as the angle transmission error when any rotating angle is given as an input Example of measurement R er 1 2 er Angle transmission error 1 Input rotating angle 2 Actual output...

Page 18: ...ive correspond to a cycle of the input shaft from the mechanical viewpoint of Harmonic Drive Therefore the frequency is double the input frequency as it is the main element of the error If the charact...

Page 19: ...gram is divided into 3 partitions and the spring constants in the area are represented as K1 K2 and K3 K1 The spring constant when the torque changes from zero to T1 K2 The spring constant when the to...

Page 20: ...zero the torsional angle does not become absolutely zero and a small amount remains This is called hysteresis loss Hysteresis amount Reduction ratio Unit Hysteresis amount 30 10 rad 1 3 arc min 4 5 5...

Page 21: ...1U CC Maintain the recommended case accuracy shown below in design for embedding to ensure that excellent performance of Harmonic Drive is fully demonstrated Recommended accuracy for case embedding R...

Page 22: ...l load and axial load of Model No 3 The values in the graph are those when the average input rpm is 2 000r min and basic rated life of L10 7 000h Example The maximum tolerable radial load Fr will be 3...

Page 23: ...mp the mounting flange Part A in the diagram by bolting Bolt tightening torque for mounting flange Model No 3 Number of bolts 4 Bolt size M1 6 Mounting PCD mm 15 Nm 0 26 Tightening torque kgf m 0 03 M...

Page 24: ...inspection No greasing or grease coating is needed when mounting them in systems Grease specification Lubricant name Harmonic grease SK 2 Manufacturer Harmonic Drive Systems Ambient temperature rage 0...

Page 25: ...Chapter 10 Design and Precautions on assembly 21 Memo...

Page 26: ...duct that has been subject to 1 User s misapplication improper installation inadequate maintenance or misuse 2 Disassembling modification or repair by others than Harmonic Drive Systems Inc 3 Imperfec...

Page 27: ...Minami Ohi Shinagawa ku Tokyo Japan 140 0013 TEL 81 0 3 5471 7800 FAX 81 0 3 5471 7811 Overseas Division 5103 1 Hotakaariake Azumino shi Nagano Japan 399 8301 TEL 81 0 263 81 5950 FAX 81 0 263 50 5010...

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