1-10 Stiffness
1-34
1
2
3
4
5
6
7
8
9
10
11
付
Ou
tlin
e
s
Torsional stiffness
(Ratio 11: HPF hollow shaft planetary)
If a torque is applied to the output unit with the input and casing of the speed reducer are locked, the output
unit generates a torsion in proportion to the torque. When the values for torque are gradually changed in
sequence from (1) Rated output torque in the positive rotation direction
→
(2) zero
→
(3) Rated output torque
in the negative rotation direction
→
(4) zero
→
(5) Rated output torque in the positive rotation direction, the
values follow a loop (1)
→
(2)
→
(3)
→
(4)
→
(5) (returns to (1)) shown in Fig.1 [torque vs. torsional angle
diagram].
The gradient of the region [Rated output torque] from [0.15
x
rated output torque] is small, and the torsional
stiffness of the HPF series is the average of this gradient. The gradient of the region [0.15 x rated output
torque] from [zero torque] is large. This gradient is caused by semi-partial contact in the meshing region and
uneven load distribution from light loads and so forth on the planet gears.
An explanation is provided below on how to calculate the total torsional quantity on one side from a no-load
state after a load has been applied by the speed reducer.
The zero torque part widths of (2) and (4) in the figure on
the right [torque vs. torsional angle diagram] is called the
hysteresis loss. For the HPF series, backlash is defined
as hysteresis loss [rated output torque in the negative
rotation direction] from [rated output torque in the positive
rotation direction]. The HPF series has a backlash of less
than 3 minutes (less than 1 minute with special products)
with factory settings.
Model • speed ratio
Item
SHA25Y
SHA32Y
11
11
Backlash
arc-min
3
3
10
-4
rad
8.7
8.7
Rated torque (T
R
)
Nm
21
44
Torsional quantity
on one side given
by T
R
x 0.15 (D)
arc-min
2.0
1.7
10
-4
rad
5.8
4.9
Torsional stiffness
(A/B)
kgf
･
m/arc-min
1.7
3.5
x10
-4
Nm/rad
5.70
11.7
θ＝
D
＋
T
－
TL
A
B
θ
: total torsional quantity
D: torsional quantity on one side given by rated output torque x
0.15 torque
T: load torque
TL: rated output torque x 0.15 torque (= T
R
x 0.15)
A/B: torsional stiffness
Fig. 1 Torque vs. torsional angle diagram
Torsional angle
Torque
Hysteresis loss
= backlash
T
R
: rated output torque
A/B: torsional stiffness
D: torsional quantity on one
side given by T
R
x 0.15
(1) (5)
(2)
(4)
(3)
Summary of Contents for SHA - Y series
Page 1: ...AC Servo Actuator S H A Y s e r i e s m a n u a l ISO14001 ISO9001...
Page 61: ...1 15 Cable specifications 1 49 1 2 3 4 5 6 7 8 9 10 11 Outlines...
Page 77: ...2 4 Examining operating status 2 15 1 2 3 4 5 6 7 8 9 10 11 Selection guidelines...
Page 92: ...Chapter 5 Appendix A 1 Unit conversion 5 1 A 2 Calculating inertia moment 5 3...
Page 98: ...Calculating moment of inertia 5 6 1 2 3 4 Apx 6 7 8 9 10 11 Appendix...
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