Harmonic Drive HFUS-2A Series, Engineering Data

Page: 12 / 58

12
1019658 11/2014
Table 12.1
Unit HFUS-32-2A HFUS-40-2A
Ratio i [ ] 30 50 80 100 120 160 50 80 100 120 160
Repeatable peak torque T
R
[Nm] 100 216 304 333 353 372 402 519 568 617 647
Average torque T
A
[Nm] 75 108 167 216 216 216 196 284 372 451 451
Rated torque T
N
[Nm] 54 76 118 137 137 137 137 206 265 294 294
Momentary peak torque T
M
[Nm] 200 382 568 647 686 686 686 980 1080 1180 1180
Maximum input speed (Oil Lubrication) n
in (max)
[rpm] 7000 5600
Maximum input speed (Grease Lubrication) n
in (max)
[rpm] 4800 4000
Average input speed (Oil Lubrication) n
av (max)
[rpm] 4600 3600
Average input speed (Grease Lubrication) n
av (max)
[rpm] 3500 3000
Moment of inertia J
in
[x10
-4
kgm²] 1.69 4.5
Weight m [kg] 0.97 1.86
Table 12.2
Unit HFUS-45-2A HFUS-50-2A
Ratio i [ ] 50 80 100 120 160 50
1)
80 100 120 160
Repeatable peak torque T
R
[Nm] 500 706 755 823 882 715 941 980 1080 1180
Average torque T
A
[Nm] 265 390 500 620 630 350 519 666 813 843
Rated torque T
N
[Nm] 176 313 353 402 402 245 372 470 529 529
Momentary peak torque T
M
[Nm] 950 1270 1570 1760 1910 1430 1860 2060 2060 2450
Maximum input speed (Oil Lubrication) n
in (max)
[rpm] 5000 4500
Maximum input speed (Grease Lubrication) n
in (max)
[rpm] 3800 3500
Average input speed (Oil Lubrication) n
av (max)
[rpm] 3300 3000
Average input speed (Grease Lubrication) n
av (max)
[rpm] 3000 2500
Moment of inertia J
in
[x10
-4
kgm²] 8.68 12.5
Weight m [kg] 2.64 3.53
1)
Only with oil lubrication. Grease lubrication is possible if the average torque T
av
does not exceed half the rated torque T
N
.