Harmonic Drive SHG Series Manual Download | Manualshive

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63

1021387 12/2018

V02

Inductance (L-L) L

L-L

[mH]

Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts.

Lost Motion (Harmonic Drive® Gears) [arcmin]

Harmonic Drive® Gears exhibit zero backlash in the teeth.
Lost motion is the term used to characterise the torsional
stiffness in the low torque region.

The illustration shows the angle of rotation

ϕ

measured

against the applied output torque as a hysteresis curve with
the Wave Generator locked. The lost motion measurement
of the gear is taken with an output torque of about ± 4 % of
the rated torque.

Maximum current I

max

[A]

The maximum current is the maximum current that can be applied for a short period.

Maximum DC bus voltage U

DC (max)

[VDC]

The maximum DC bus power supply for the correct operation of the actuator. This value may only be exceeded for a short
period during the braking or deceleration phase.

Maximum hollow shaft diameter d

H (max)

[mm]

For gears with a hollow shaft, this value is the maximum possible diameter of the axial hollow shaft.

Maximum input speed (grease lubrication) n

in (max)

[rpm]

Maximum allowable input speed with grease 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 input speed (oil lubrication) n

in (max)

[rpm]

Maximum allowable input speed for gearing with oil 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 motor speed n

max

[rpm]

The maximum allowable motor speed.

Maximum output speed n

max

[rpm]

The maximum output speed. Due to heating issues, this may only be momentarily applied during the operating cycle. The
maximum output speed can occur any number of times as long as the calculated average speed is within the permissible
continuous operation duty cycle.

Maximum output torque T

max

[Nm]

Specifies the maximum allowable acceleration and deceleration torques. For highly dynamic processes, this is the maximum
torque available for a short period. The maximum torque can be parameterised by the control unit where the maximum
current can be limited. The maximum torque can be applied as often as desired, as long as the calculated average torque is
within the permissible continuous operation duty cycle.

Torsion

φ

Torque T

~ +4 % T

N

~ -4 % T

N

Lost Motion

φ

1

;

φ

2

φ

1‘

;

φ

2‘

«
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62
63
64
65
...
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Summary of Contents for SHG Series

Page 1: ...Engineering Data SHG 2UH 2SO 2SH Units More information on our units can be found HERE Contact us today ...

Page 2: ...electing Harmonic Drive Gears 29 4 1 1 Torque Based Dimensioning 30 4 1 2 Life of the Wave Generator Bearing 32 4 1 3 Stiffness Based Dimensioning 33 4 2 Calculation of the Torsion Angle 35 4 3 Accuracy of the Oldham Coupling SHG 2SO 35 4 4 Efficiency Calculation SHG 2UH 36 4 4 1 Efficiency Calculation Scheme 36 4 4 2 Efficiency Correction factor 37 4 4 3 Efficiency Correction Value 37 4 4 4 Effic...

Page 3: ...sembly Preparation 54 5 7 Assembly of SHG 2SO and SHG 2SH Units 55 5 7 1 Motor Assembly SHG 2SO 56 5 7 2 Wave Generator Components SHG 2SO 57 5 7 3 Mounting the Wave Generator WG to the Motor Shaft 57 5 7 4 Check before Assembly of the Wave Generator WG 58 5 7 5 Assembly of the Wave Generator WG into the Flexspline FS 58 5 7 6 Assembly Control 58 5 7 7 Assembly of the Output Flange 59 5 7 8 Assemb...

Page 4: ...e 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 harmonicdrive de Third party systems Documentation for parts supplied by third party suppliers associated with Harmonic Drive Components is not included in our standard documentation and should be requested di...

Page 5: ...nd 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 Copyright The contents images and graphics contained in this document are predected by copyright In addition to the copyright logos fonts company and product names can also be predected by brand law or ...

Page 6: ...rules Disconnect 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 completed and the device is fully assembled Improper handling can cause damage to persons and property The respective national local and factory specific regulations must be adhered to A...

Page 7: ...N 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 considered 2 2 Intended Purpose Harmonic Drive Products are intended for industrial or commercial applications Typical areas of application are robotics and handling machine tools packaging and food machines and similar ma...

Page 8: ...achinery 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 Actuators and Motors described in the engineering data comply with the Low Voltage Directive In accordance with the Machinery Directive Harmonic Drive Servo Actuators and Motors are electrical equipment f...

Page 9: ...saving design The SHG 2UH Unit is fully sealed with a large hollow shaft diameter to feed through supply lines shafts or cables for further drive systems The gears cover a wide torque range and feature a long service life confirmed by many years of successful service The SHG 2SH and 2SO Simplicity Units are very short and lightweight The absence of input and output flanges means ma ximum flexibili...

Page 10: ...5 80 100 120 160 Ordering code SHG 25 100 2UH SP Table 10 1 Table 10 2 Version Ordering code Description 2UH Unit with hollow shaft 2SO Simplicity Unit for motor assembly 2SH Simplicity Unit with hollow shaft Clarification of the technical data can be found in the Glossary 1 The ratios shown here are for a standard driving configuration with the circular spline fixed the Wave Generator used for th...

Page 11: ... SHG 2SO m kg 0 41 Weight SHG 2SH m kg 0 45 1 Valid for SHG 2UH and SHG 2SH when radial shaft seals are used on the hollow shaft Symbol Unit SHG 17 Ratio i 50 80 100 120 Repeated peak toque TR Nm 44 56 70 70 Average torque TA Nm 34 35 51 51 Rated torque TN Nm 21 29 31 31 Momentary peak torque TM Nm 91 113 143 112 Maximum input speed oil lubrication nin max rpm 10000 Maximum input speed grease lubr...

Page 12: ...018 V02 3 3 2 Dimensions Illustration 12 1 Illustration 12 4 Illustration 12 2 Illustration 12 5 Illustration 12 3 Illustration 12 6 mm mm mm mm mm mm SHG 14 2UH SHG 17 2UH SHG 14 2SO SHG 17 2SO SHG 14 2SH SHG 17 2SH ...

Page 13: ... 31 Weight SHG 2SH m kg 1 44 1 Valid for SHG 2UH and SHG 2SH when radial shaft seals are used on the hollow shaft Table 13 1 Symbol Unit SHG 20 Ratio i 50 80 100 120 160 Repeated peak toque TR Nm 73 96 107 113 120 Average torque TA Nm 44 61 64 64 64 Rated torque TN Nm 33 44 52 52 52 Momentary peak torque TM Nm 127 165 191 191 191 Maximum input speed oil lubrication nin max rpm 10000 Maximum input ...

Page 14: ...1387 12 2018 V02 Illustration 14 1 Illustration 14 4 Illustration 14 2 Illustration 14 5 Illustration 14 3 Illustration 14 6 mm mm mm mm mm mm SHG 20 2UH SHG 25 2UH SHG 20 2SO SHG 25 2SO SHG 20 2SH SHG 25 2SH ...

Page 15: ...9 Weight SHG 2SH m kg 3 1 1 Valid for SHG 2UH and SHG 2SH when radial shaft seals are used on the hollow shaft Symbol Unit SHG 40 Ratio i 50 80 100 120 160 Repeated peak toque TR Nm 523 675 738 802 841 Average torque TA Nm 255 369 484 586 586 Rated torque TN Nm 178 268 345 382 382 Momentary peak torque TM Nm 892 1270 1400 1530 1530 Maximum input speed oil lubrication nin max rpm 5600 Maximum input...

Page 16: ...1387 12 2018 V02 Illustration 16 1 Illustration 16 4 Illustration 16 2 Illustration 16 5 Illustration 16 3 Illustration 16 6 mm mm mm mm mm mm SHG 32 2UH SHG 40 2UH SHG 32 2SO SHG 40 2SO SHG 32 2SH SHG 40 2SH ...

Page 17: ... m kg 6 5 Weight SHG 2SH m kg 6 9 1 Valid for SHG 2UH and SHG 2SH when radial shaft seals are used on the hollow shaft Table 17 2 Symbol Unit SHG 50 Ratio i 80 100 120 160 Repeated peak toque TR Nm 1223 1274 1404 1534 Average torque TA Nm 675 866 1057 1096 Rated torque TN Nm 484 611 688 688 Momentary peak torque TM Nm 1860 2678 2678 3185 Maximum input speed oil lubrication nin max rpm 4500 Maximum...

Page 18: ...1387 12 2018 V02 Illustration 18 1 Illustration 18 4 Illustration 18 2 Illustration 18 5 Illustration 18 3 Illustration 18 6 mm mm mm mm mm mm SHG 45 2UH SHG 50 2UH SHG 45 2SO SHG 50 2SO SHG 45 2SH SHG 50 2SH ...

Page 19: ... m kg 13 5 Weight SHG 2SH m kg 14 1 Symbol Unit SHG 65 Ratio i 80 100 120 160 Repeated peak toque TR Nm 2743 2990 3263 3419 Average torque TA Nm 1352 1976 2041 2041 Rated torque TN Nm 969 1236 1236 1236 Momentary peak torque TM Nm 4836 6175 6175 6175 Maximum input speed oil lubrication nin max rpm 3500 Maximum input speed grease lubrication nin max rpm 2800 Average input speed oil lubrication nav ...

Page 20: ...1387 12 2018 V02 Illustration 20 1 Illustration 20 4 Illustration 20 2 Illustration 20 5 Illustration 20 3 Illustration 20 6 mm mm mm mm mm mm SHG 58 2UH SHG 65 2UH SHG 58 2SO SHG 65 2SO SHG 58 2SH SHG 65 2SH ...

Page 21: ...1 4 Table 21 5 Symbol Unit SHG 14 SHG 17 SHG 20 Ratio i 50 80 50 80 50 80 Transmission accuracy arcmin 1 5 1 5 1 Repeatability arcmin 0 1 0 1 0 1 Hysteresis loss arcmin 2 1 2 1 2 1 Lost Motion arcmin 1 1 1 Symbol Unit SHG 25 SHG 32 SHG 40 Ratio i 50 80 50 80 50 80 Transmission accuracy arcmin 1 1 1 Repeatability arcmin 0 1 0 1 0 1 Hysteresis loss arcmin 2 1 2 1 2 1 Lost Motion arcmin 1 1 1 Symbol ...

Page 22: ... Unit SHG 25 SHG 32 SHG 40 Limit torque T1 Nm 14 29 54 T2 Nm 48 108 196 Ratio i 50 80 50 80 50 80 Torsional Stiffness K3 103 Nm rad 44 57 98 120 180 230 K2 103 Nm rad 34 50 78 110 140 200 K1 103 Nm rad 25 31 54 67 100 130 Symbol Unit SHG 45 SHG 50 SHG 58 SHG 65 Limit torque T1 Nm 76 108 168 235 T2 Nm 275 382 598 843 Ratio i 50 80 80 80 80 Torsional Stiffness K3 103 Nm rad 260 330 440 710 980 K2 10...

Page 23: ...d constant performance The integration of an output bearing also serves to reduce subse quent design and production cost by removing the need for additional output bearings in many applications However in some applications the machine element to be driven requires additional bearing support In this case please take care to avoid overdetermination of the bearing arrangement The cross roller bearing...

Page 24: ...Abtrieb Mounted to housing Mounted to housing Output Output Symbol Unit SHG 14 SHG 17 SHG 20 SHG 25 SHG 32 SHG 40 SHG 45 SHG 50 SHG 58 SHG 65 A mm 0 033 0 038 0 040 0 046 0 054 0 057 0 057 0 063 0 063 0 67 B mm 0 035 0 035 0 039 0 041 0 047 0 050 0 053 0 060 0 063 0 63 C mm 0 064 0 071 0 079 0 085 0 104 0 111 0 118 0 121 0 121 0 131 D mm 0 053 0 053 0 059 0 061 0 072 0 075 0 078 0 085 0 088 0 089 ...

Page 25: ...t is subjected to an axial force acting in the negative direction Fa see illustration 25 2 it can be shifted by the value s given in table 25 1 For the size 32 up to 58 the bearing A is designed as a fixed bearing Input Bearing SHG 2UH Table 25 1 Symbol Unit SHG 14 SHG 17 SHG 20 SHG 25 SHG 32 SHG 40 SHG 45 SHG 50 SHG 58 SHG 65 Bearing A C N 4000 4300 4500 4900 14100 19400 17400 24400 32000 42500 C...

Page 26: ...tized Housing Bright Output bearing corrosion protected optional browned Illustration 26 2 Illustration 26 1 0 100 200 300 0 100 200 300 Fr N Fa N 14 17 20 25 Eingangslagerung SHG 2UH 32 65 BG Fa N Fr N 32 0 770 100 770 570 100 40 0 1060 80 1060 720 100 45 0 880 520 100 50 0 1360 20 1360 820 100 58 0 1720 960 200 65 0 2320 100 2320 1650 100 0 500 1000 1500 2000 2500 0 500 1000 1500 2000 Fr N Fa N ...

Page 27: ...ents of the Harmonic Drive Units Circular Spline CS Flexspline FS and Wave Generator WG can be seen in the illustration 27 2 Ratio i Input speed Output speed Equation 27 1 Illustration 27 2 The values for ratios of Harmonic Drive Gears refer to the standard drive arrangement example 1 in the table below Other arrangements are possible and also shown in the table WG 2SO WG 2SH 2UH ...

Page 28: ...cations available to download from our website Input and output rotate in opposite directions Input and output rotate in same direction Input and output rotate in same direction Equation 28 1 Equation 28 4 1 2 3 Equation 28 2 Equation 28 5 Equation 28 3 Equation 28 6 Speed increaser gearing WG Fixed CS Input FS Output Speed increaser gearing CS Fixed FS Input WG Output Speed increaser gearing FS F...

Page 29: ... therefore recommend that you always take both criteria into account according to the following procedures Preselection gear Application Gear size sufficient Gear size sufficient Selection of a bigger size Yes Yes No No Selection of a bigger size End of gear selection Torque based dimensioning according to selection procedure on page 30 Stiffness based dimensioning according to selection procedure...

Page 30: ...ted input speed Rated torque TN 3 nin av Tav nout av n1 t1 n2 t2 nn tn t1 t2 tn tp Equation 30 4 Equation 30 6 Equation 30 8 Equation 30 11 Equation 30 9 Equation 30 10 Equation 30 5 Equation 30 7 Selection of a bigger size No Equation 30 3 Load limit 3 TM Tk TM Allowable number of momentary peak torques Nk max 104 2 nk i tk 60 Permissible average input speed nin av Limit for average input speed s...

Page 31: ... av 120 12 0 rpm 1440 rpm nout av 7 rpm 0 3 s 14 rpm 3 s 7 rpm 0 4 s 12 0 rpm 0 3 s 3 s 0 4 s 0 2 s Permissible maximum input speed nin max 14 rpm 120 1680 rpm 4000 rpm Permissible average input speed nin av 1440 rpm 3000 rpm Load limit 2 TR Load limit 3 TM Allowable number of momentary peak torques Tmax 400 Nm TR 617 Nm Tk 500 Nm TM 1180 Nm 104 14 120 2 60 0 15 Operating life HFUC 40 120 2A GR L5...

Page 32: ... nominal service life of the Wave Generator Bearing see table 32 1 4 1 2 Life of the Wave Generator Bearing The life expectancy of a Harmonic Drive Strain Wave Gear is based on the average life of the Wave Generator Bearing The rated torque at the rated speed given in the rating table is based on the nominal service life Ln of the Wave Generator Bearing The life expectancy of a component set or an...

Page 33: ...ing and positioning axes of medical equipment 15 B C axes in 5 axis grinding machines hand axes of welding robots laser welding milling heads for plastics machining 20 C axes in turning machines milling heads for light metal machining milling heads for woodworking chipboards etc 25 Milling heads for woodworking hardwood etc 30 C axes in turning machines 35 Milling heads for metal machining B axes ...

Page 34: ...d passing the resonance speed quickly This can be achieved by selecting a suitable gear ratio Another possibility the selection of a suitable gear stiffness such that the resonance speed lies beyond the required speed range Selection Example HFUC 40 120 2A GR preselected from Selection Procedure on page 31 Intended application milling head for woodworking Moment of inertia at the gear output 7 kgm...

Page 35: ...ional stiffness up to the limit torque T1 from section 3 3 5 Nm rad K2 Torsional stiffness up to the limit torque T2 from section 3 3 5 Nm rad K3 Torsional stiffness above the limit torque T2 from section 3 3 5 Nm rad φ 60 Nm 29 Nm 11 104 Nm rad 29 Nm 6 7 104 Nm rad φ 7 15 10 4 rad φ 2 5 arcmin 180 60 φ arcmin φ rad Example HFUC 32 100 2UH T 60 Nm K1 6 7 104 Nm rad T1 29 Nm K2 1 1 105 Nm rad T2 10...

Page 36: ...bearing concept etc Please contact the Harmonic Drive AG for further support 4 4 1 Efficiency Calculation Scheme Calculation Procedure Example Efficiency of SHG 20 80 2UH with input speed n 1000 rpm output torque T 35 Nm at 20 C ambient temperature Lubrication Harmonic Drive Grease The efficiency may be determined using the efficiency graphs See illustration 38 4 ηR 63 Calculate the torque factor ...

Page 37: ...shaft having an large impact on the gear s efficiency The impact depends on the gear size and ratio and is considered by the correction value ηe Calculation of torque factor V with T Actual torque TN Rated torque at rated speed Equation 37 1 T TN V 141720 25 32 4045 50 58 i 50 i 80 100 i 120 160 0 2 4 6 8 10 Illustration 37 3 Correction value h e Size i 30 Illustration 37 2 sch 0 0 1 0 2 0 3 0 4 0...

Page 38: ... is the quasistatic torque required to commence rotation of the input element high speed side with no load applied to the output element low speed side No Load Back Driving Torque The no load back driving torque is the torque required to commence rotation of the output element low speed side with no load applied to the input element high speed side The approximate range for no load back driving to...

Page 39: ...500 rpm 1 10 100 1000 10000 10 0 10 20 30 40 Umgebungstemp Ambient T emp C Lastfrei e s Laufdrehmoment No Load Runni n g Torque Ncm 50 45 40 32 25 20 17 Eingangsdrehzahl Input Speed 500 rpm No load running torque Ncm No load running torque Ncm No load running torque Ncm No load running torque Ncm 10000 1000 100 10 1 10000 1000 100 10 1 10000 1000 100 10 1 10000 1000 100 10 1 Input Speed 500 rpm In...

Page 40: ...13 3 18 2 80 Ncm 0 2 0 4 0 5 0 8 1 5 2 4 3 3 4 3 6 2 8 1 120 Ncm 0 2 04 0 6 1 1 1 7 2 4 3 1 4 4 5 8 160 Ncm 0 8 1 3 2 5 4 0 5 5 7 2 10 3 13 7 Ratio Unit SHG 14 SHG 17 SHG 20 SHG 25 SHG 32 SHG 40 SHG 45 SHG 50 SHG 58 SHG 65 50 Ncm 8 8 27 36 56 85 136 165 80 Ncm 7 5 25 33 50 74 117 138 179 244 314 100 Ncm 6 9 24 32 49 72 112 131 171 231 297 120 Ncm 24 31 48 68 110 126 165 223 287 160 Ncm 31 47 67 10...

Page 41: ...rotary shaft seals at the input element should only be carried out if other measures have been undertaken to prevent the leakage of grease or oil or if a leakage can be ruled out due to the installation position Illustration 41 1 Table 41 2 Max Permissible Operating Time At Continuous Operation The data mentioned in table 41 2 are valid for Ambient temperature 25 C Input speed 2000 rpm Max lubrica...

Page 42: ...on 3 3 6 PC N Dynamic equivalent load equation 43 1 fW Operating factor table 42 3 B Bearing type table 42 4 Average Output Speed nav n1 t1 n2 t2 nn tn t1 t2 tn tp Load conditions fW No impact loads or vibrations 1 1 2 Normal rotating normal loads 1 2 1 5 Impact loads and or vibrations 1 5 3 Table 42 3 L10 106 60 nav B C fw PC Equation 42 1 Equation 42 2 Bearing type B Cross roller bearings 10 3 F...

Page 43: ...p Equation 43 1 Frav n1 t1 Fr1 B n2 t2 Fr2 B nn tn Frn B n1 t1 n2 t2 nn tn 1 B Equation 43 2 Faav 1 B n1 t1 Fa1 B n2 t2 Fa2 B nn tn Fan B n1 t1 n2 t2 nn tn Equation 43 3 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 with Frav N Radial force equation 43 2 Faav N Axial force equation 43 3 dp m Pitch circle see section 3 3 5 x Radial load factor table 43 4 y Axial load f...

Page 44: ... engineer for counter measures with LOC h Operating life for oscillating motion n1 cpm Number of oscillations minute C N Dynamic load rating see table Output Bearing in the appropriate product chapter table 23 1 PC N Dynamic equivalent load equation 43 1 ϕ Oscillating angle fW Operating factor table 42 3 one oscillation means 2ϕ Equation 44 1 Illustration 44 2 LOC 106 60 n1 B 180 ϕ C fw PC 1021387...

Page 45: ...ment Rotation conditions of bearing Lower limit value for fs Normal 1 5 Vibrations Impacts 2 High transmission accuracy 3 Table 45 3 fS C0 P0 mit P0 x0 Fr y0 Fa 2M dp MO dp CO 2 fS and so 4 9 Angle of Inclination The angle of inclination of the output flange as a function of the tilting moment acting on the output bearing can be calculated by means of equation 45 4 Equation 45 1 Equation 45 2 with...

Page 46: ...on are used 4 10 1 Grease Lubrication Application of Harmonic Drive Grease Depending on product size and if necessary ratio the matching Harmonic Drive Grease should be selected Caution The Harmonic Drive Greases 4B No 2 and Flexolub A1 have relatively low viscosities during operation Therefore the design must be oil tight Because of the special characteristics of this grease a small base oil leak...

Page 47: ... Harmonic Drive Gears The following procedures can be utilised to improve the lubricant life 1 apply the grease to the required areas before operation 2 remove any abrasion particles after the running in period 3 re grease the contact areas Precautions 1 When greasing The consistency of Harmonic Drive Grease 4B No 2 when stored in the container is higher than during operation However please note t...

Page 48: ...urer Designation Operating temperature range1 Broadband temperature range Grease Harmonic Drive Flexolub A1 40 C 120 C3 Low temperature Grease Oil Harmonic Drive Flexolub M0 50 C 120 C2 5 High temperature Grease Oil Mobil Mobil Grease 28 Mobil Mobil SHC 626 55 C 160 C2 15 C 140 C2 Food pharmaceutical industry Grease Bechem Berulub FG H 2 SL 40 C 120 C2 4 Special Operating Demands Table 48 1 shows ...

Page 49: ...shaft The Wave Generator thus needs to be fixed on the input shaft in the axial direction In closed Harmonic Drive Units and gearboxes with support bearings the axial force is absorbed internally Ratio 30 FAX 2 T _ D µ tan 32 Equation 49 3 50 FAX 2 T _ D µ tan 30 2µPF Equation 49 4 80 160 FAX 2 T _ D µ tan 20 2µPF Equation 49 5 Table 49 2 Unit 14 17 20 25 32 40 50 2µPF for CSD and SHD N 2 1 4 1 5 ...

Page 50: ... lubricant type can be found at chapter 4 10 1 and the recommended amount of grease at chapter 5 5 2 Gears with Oil Lubrication Harmonic Drive Units with oil lubrication are generally customer specific solutions Please follow the notes given on the confirmation drawing The oil temperature during operation must not exceed 90 C Oil must be filled into the unit by the customer as the standard deliver...

Page 51: ...ded tolerances for component sets featuring a Wave Generator without Oldham Coupling The Oldham Coupling serves to compensate for eccentricity of the input shaft and is available in the standard version For the direct mounting of a Wave Generator without Oldham Coupling Solid Wave Generator on a motor shaft the shaft tolerances should fulfill the DIN 42955 R standard 5 4 Recommended Tolerances for...

Page 52: ...tion of the Units is not necessary 5 5 2 Grease Lubrication SHG 2SO and SHG 2SH These units are delivered without lifetime lubrication Before commissioning of the unit an initial lubrication has to be applied by the customer A recommendation for the lubricant type can be found at chapter 4 10 1 If any other grease is used this will be indicated on the customer drawing On delivery of SHG 2SO and 2S...

Page 53: ...8 revolutions of the input shaft To change the grease the gear should be completely disassembled and cleaned before regreasing Fresh grease should be applied to the inside of the Flexspline the Wave Generator bearing the Oldham Coupling and the teeth of the Circular Spline and Flexspline Illustration 53 2 LGT Number of Wave Generator revolutions until grease change LGTn see diagram TN Rated torque...

Page 54: ...t Please make sure that during the assembly procedure no foreign particles enter the gear General information Clean degrease and dry all mating surfaces to ensure an adequate coefficient of friction The values given are valid for 12 9 quality screws which must be tightened by means of a torque wrench Locking devices such as spring washers or toothed washers should not be used Auxiliary materials f...

Page 55: ...t be observed please ask Harmonic Drive AG whether in the concrete case another sequence is permissible The assembly must be carried out without the use of excessive force The assembly instructions of the machine manufacturer should be referred to Unless otherwise noted all screws must be tightened crosswise in 3 steps to the prescribed torque Pre assembled screws must not be released On delivery ...

Page 56: ...5 to the motor shaft 3 Mount the adapter flange motor subassembly to the unit 10 Wave Generator Main axis Table 56 2 Unit SHG 14 SHG 17 SHG 20 SHG 25 SHG 32 SHG 40 SHG 45 SHG 50 SHG 58 SHG 65 ca ø Wave Generator Main axis mm 36 43 50 63 82 100 114 125 146 164 O rings 3 and 9 or sealing agent should be used for sealing the adapter flange 1 towards the motor 2 and the unit 10 The sealing surfaces of...

Page 57: ...ve Generator must be moved until it reaches the shaft collar Insert the plug into the bore of the Wave Generator Hub and tighten with the screw When a clamping element is used tighten its screws in five steps to the torque given in the confirmation drawing Final control of the assembly Some types of clamping elements can move axially during tightening Adjust as appropriate 1 2 7 6 3 5 4 1 Ball Sep...

Page 58: ...ring slowly rotation of the input shaft n 10 rpm This method eases the assembly 5 7 6 Assembly Control Very rarely an eccentric tooth mesh called dedoidal may occur see illustration 57 1 The correct assembly can be checked as follow Check the running behaviour by rotating the input shaft in case of types with input shaft Alternatively you may rotate the output flange If you notice torque variation...

Page 59: ...HG 2UH and SHG 2SH Table 59 3 Unit SHG 14 SHG 17 SHG 20 SHG 25 SHG 32 SHG 40 SHG 45 SHG 50 SHG 58 SHG 65 Number of Bolts 16 16 12 16 12 16 Bolt Size M3 M3 M3 M4 M5 M6 M8 M8 M10 M10 Bolt pitch diameter mm 44 54 62 77 100 122 140 154 178 195 Tightening Torque Nm 2 4 2 4 2 4 5 4 10 8 18 3 44 44 89 89 Torque transmitting capacity1 Nm 88 216 248 520 1080 1867 2914 4274 5927 8658 Unit SHG 14 SHG 17 SHG ...

Page 60: ...tain lubricants for bearings and gears as well as electronic components and printed circuit boards Since lubricants greases and oils are considered hazardous substances in accordance with health and safety regulations it is necessary to dispose of the products correctly Please ask for safety data sheet where necessary ...

Page 61: ... 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 subjected to the rated torque Harmonic Planetary Gears display characteristics shown in the hysteresis curve When a torque is applied to the output shaft of the gear with the input shaft locked the torque tors...

Page 62: ...g 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 but on the maximum allowable deflection of the Harmonic Drive Component Set This value must not be exceeded even if the lifetime calculation of the bearing permits higher values Electrical time consta...

Page 63: ... 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 input speed oil lubrication nin max rpm Maximum allowable input speed for gearing with oil lubrication for short period The maximum input speed can be applied as often as desired as long as the applic...

Page 64: ... UM 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 rated torque and running at rated speed the Wave Generator Bearing will reach the nominal service life Ln with 50 propability of failure For different load conditions the service life of the Wave G...

Page 65: ...e 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 voltage for operation with rated torque and rated speed Ratio i The ratio is the reduction of input speed to the output speed Note for Harmonic Drive Gears In the standard drive arrangement the Wave Generator is...

Page 66: ...ed 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 load that can be absorbed by the output bearing before permanent damage may occur Static tilting moment M0 Nm With the bearing stationary this is the maximum allowable radial load with no additional ax...

Page 67: ... 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 torsional stiffness is almost linear Transmission accuracy arcmin The transmission accuracy of the gear represents the linear ity error between input and output angle The transmission accuracy is measured ...

Page 68: ...s 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 ...

Page 69: ...Deutschland Harmonic Drive AG Hoenbergstraße 14 65555 Limburg Lahn info harmonicdrive de www harmonicdrive de Subject to technical changes T 49 6431 5008 0 F 49 6431 5008 119 1021387 12 2018 V02 ...

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