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1019659 11/2014

3.2 Ordering Code

Explanation of the technical data can be found in the Glossary.

Table 9.1

Table 9.2

Table 9.3

Series

Size

Ratio

Version

Flexsplinetype

Special design

CSD

100

2A-R

According to

customer requirements

100

160

2A-GR

100

160

100

160

100

160

100

160

Ordering code

CSD

100

2A-GR

Flexsplinetype

Ordering code

Description

Standard

Flexspline with enlarged bore

Version

Ordering code

Description

2A-R

Component Set

2A-GR

The ratios shown here are for a standard driving configuration with the circular spline fixed, the Wave Generator used for the input and the Flexspline attached to the output.

Other configurations are possible. Please consult the chapter 4 “Ratio”.

Содержание CSD-2A Component Sets

Страница 1: ...1 1019659 11 2014 QUICKLINK www harmonicdrive de 3060 Engineering Data CSD 2A Component Sets...

Страница 2: ...ersus Load 24 4 3 1 Efficiency Calculations 24 4 3 2 Efficiency Tables 25 4 4 Free Load Torques 26 4 4 1 No Load Running Torque 26 4 4 2 No Load Starting Torque 27 4 4 3 No Load Back Driving Torque 27...

Страница 3: ...uire 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 f...

Страница 4: ...ous electrical voltage and its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components 1 2 Disclaimer and Copyright The contents images an...

Страница 5: ...ltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handlin...

Страница 6: ...erter manufacturer must be observed in order that installation meets the EMC regulations 2 3 Non Intended Purpose The use of products outside the areas of application mentioned above or inter alia oth...

Страница 7: ...roved to conform to the provisions of this directive Essential health and safety requirements were considered in the design and manufacture of these gear component sets This simplifies the implementat...

Страница 8: ...available as specific configurations tailoredto your application Consisting of just three individual components they are very lightweight and the series with the shortest axial length The hollow shaft...

Страница 9: ...50 100 160 32 50 100 160 40 50 100 160 50 50 100 160 Ordering code CSD 25 100 2A GR BB SP Flexsplinetype Ordering code Description Standard BB Flexspline with enlarged bore Version Ordering code Descr...

Страница 10: ...0 3500 Moment of inertia Jin x10 4 kgm 0 021 0 054 Weight m kg 0 06 0 1 Table 10 2 Unit CSD 20 2A CSD 25 2A Ratio i 50 100 160 50 100 160 Repeatable peak torque TR Nm 39 57 64 69 110 123 Average torqu...

Страница 11: ...11 1019659 11 2014 3 3 2 Dimensions Illustration 11 1 Illustration 11 2 mm mm CSD 14 2A CSD 17 2A Illustration 11 3 Illustration 11 4 mm mm CSD 20 2A CSD 25 2A QUICKLINK www harmonicdrive de CAD3060...

Страница 12: ...lubrication nav max rpm 4600 3600 Average input speed grease lubrication nav max rpm 3500 3000 Moment of inertia Jin x10 4 kgm 1 09 2 85 Weight m kg 0 51 0 92 Table 12 2 Unit CSD 50 2A Ratio i 50 100...

Страница 13: ...13 1019659 11 2014 Illustration 13 3 mm CSD 50 2A Illustration 13 1 Illustration 13 2 mm mm CSD 32 2A CSD 40 2A QUICKLINK www harmonicdrive de CAD3060...

Страница 14: ...32 40 50 x 12 13 5 15 5 18 5 24 29 5 36 5 y 0 0 0 0 0 0 0 z 38 45 53 66 86 106 133 mm Illustration 14 2 Size 14 17 20 25 32 40 50 T1 Nm 2 0 3 9 7 0 14 29 54 108 T2 Nm 6 9 12 25 48 108 196 196 i 50 K3...

Страница 15: ...omponents of the Harmonic Drive units Circular Spline CS Flexspline FS and Wave Generator WG can be seen in the illustration 15 2 Ratio i Input speed Output speed Equation 15 1 Illustration 15 2 The v...

Страница 16: ...ions 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 16 1 Equation 16...

Страница 17: ...rsional stiffness is often decisive in machine tool manufacture We therefore recommend that you always take both criteria into account according to the following procedures Gear preselection Applicati...

Страница 18: ...ated input speed Rated torque TN 3 nin av Tav nout av n1 t1 n2 t2 nn tn t1 t2 tn tp Equation 18 4 Equation 18 6 Equation 18 8 Equation 18 11 Equation 18 9 Equation 18 10 Equation 18 5 Equation 18 7 Se...

Страница 19: ...in 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 spe...

Страница 20: ...n See table 20 1 4 1 2 Life of the Wave Generator Bearing Given that the Harmonic Drive Gear is rated to provide infinite fatigue life for the Flexspline the life expectancy is based on the average li...

Страница 21: ...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...

Страница 22: ...pass the resonance speed rapidly This can be achieved by selecting a suitable gear ratio Another possibility is to select suitable gear stiffness such that the resonance speed lies beyond the required...

Страница 23: ...iffness Nm rad 60 Nm 29 Nm 11 104 Nm rad 29 Nm 6 7 104 Nm rad 7 15 10 4 rad 2 5 arc min 180 60 arc min rad 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 T K1 T...

Страница 24: ...Procedure Example Efficiency of HFUC 20 80 2A GR with input speed n 1000 rpm output torque T 19 6 Nm at 20 C ambient temperature Lubrication Grease The efficiency may be determined using the efficien...

Страница 25: ...30 40 Ratio 100 Size 17 50 90 80 70 60 50 40 30 20 10 Efficiency 10 20 30 40 50 60 70 80 90 10 0 10 20 30 40 Umgebungstemp Ambient T emp C Wi r kungsgrad Ef f i c i e ncy 500 rpm 1000 rpm 2000 rpm 350...

Страница 26: ...rting torque 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 l...

Страница 27: ...6 4 14 24 44 Table 27 3 Nm Ratio Size 14 17 20 25 32 40 50 50 2 5 3 8 4 4 8 3 17 30 57 100 3 1 4 1 5 2 9 6 21 35 67 160 6 6 12 28 45 85 Ratio Size 14 17 20 25 32 40 50 50 0 56 0 95 1 4 2 6 5 4 9 6 18...

Страница 28: ...c Drive Lubricating Grease Depending on product size and if necessary ratio the matching Harmonic Drive grease should be selected We recommend the application of the Harmonic Drive lubricating grease...

Страница 29: ...25 5 2 mm2 s 50 12 mm2 s Drop Point 197 C 198 C 180 C 247 C Colour yellow green magenta pale yellow Max storage time in hermetically sealed container 5 years 5 years 5 years 5 years Tightness Safety...

Страница 30: ...gnation Operating temperature range 1 Broadband temperature range Grease Harmonic Drive Flexolub A1 40 C 120 C 3 Low temperature Grease Oil Harmonic Drive Flexolub M0 50 C 120 C 2 5 High temperature G...

Страница 31: ...aft motor shaft The Wave Generator thus needs to be fixed on the input shaft in the axial direction In closed Harmonic Drive Units and gearboxes the axial force is absorbed internally Ratio 30 FAX 2 T...

Страница 32: ...e gears are generally delivered according to the dimensions indicated in the confirmation drawing The three basic components of the gear the Flexspline Wave Generator and Circular Spline are matched a...

Страница 33: ...xial location of Flexspline 8 Air vent depending on the application 9 Flexspline and Circular Spline must be located in parallel and perpendicular to the output shaft 10 Axial location of Wave Generat...

Страница 34: ...ds a secure connection of both Flexspline and Circular Spline To ensure that the screw connection is adequate please observe the following general guidelines Base the calculation of torque transmittin...

Страница 35: ...lar Spline have to be fixed to the machine housing only for component sets Only then should the gear components be assembled according to illustration 35 1 Screws should be fixed using Loctite Screw A...

Страница 36: ...Wave Generator is connected to a motor an unusually high motor current indicates dedoidal tooth mesh A dial gauge can be inserted through an access hole near the Circular Spline to touch the surface...

Страница 37: ...ting of a Wave Generator without Old ham coupling optional on a motor shaft the shaft tolerances should fulfill the DIN 42955 R standard Table 37 2 mm Sizes 14 17 20 25 32 40 50 a 0 011 0 012 0 013 0...

Страница 38: ...to table 38 1 During operation the 4BNo 2 grease becomes relatively liquid Therefore the gear must be sealed as for oil lubrication when this grease is used If required please ask Harmonic Drive AG fo...

Страница 39: ...9 2 Operation mainly with Wave Generator in vertical position or below The standard grease quantity defined in table 38 1 is calculated for operating mainly with Wave Generator in vertical position or...

Страница 40: ...Wave Generator bearing the Oldham coupling and the teeth of the Circular Spline and Flexspline In illustration 40 3 the grease change interval depending on the grease temperature is given The number...

Страница 41: ...tion of the oil If the oil level is too low this may lead to early wear as a result of lubricant deficiency Table 31 2 shows examples of lubricants for special operating demands In individual cases ot...

Страница 42: ...pplication guidelines given by the manufacturer Auxiliary materials must not enter the gear Surface sealing Loctite 5203 Loxeal 28 10 Recommended for all mating surfaces if the use of o ring seals is...

Страница 43: ...pline fixing screws must be tightened Otherwise the Circular Spline would deform under the pre load initiated by the Wave Generator This could cause the gear to run roughly For the planning of the ass...

Страница 44: ...een the mating surfaces clean and degrease the surfaces thoroughly Keep the surfaces completely dry Apply Loctite No 243 to the threads of bolts Steel or cast iron is preferred for the female thread 1...

Страница 45: ...y 5 7 5 Assembly of the Wave Generator WG into the Flexspline FS When the Wave Generator is assembled into the Flexspline please consider that the parts must not be tilt during assembly By parallel as...

Страница 46: ...d 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 ou...

Страница 47: ...g moment with no additional axial forces or radial forces applied Electrical time constant e s The electrical time constant is the time required for the current to reach 63 of its final value Hollow s...

Страница 48: ...Tmax 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 parameteriz...

Страница 49: ...rpm The output speed which can be continuously maintained when driven at rated torque TN when mounted on a suitably dimensioned heat sink Rated torque TN Nm Servo The output torque which can be contin...

Страница 50: ...cle diameter of the gear teeth in inches multiplied by 10 2 CHM Servo motor series The size of the CHM servo motors is derived from the stall torque in Ncm 3 Direct drives from the TorkDrive series Th...

Страница 51: ...ty 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 arcm...

Страница 52: ...the applicable requirements in the harmonization legislation established the Community REACH Regulation REACH is a European Community Regulation on chemicals REACH stands for Registration Evaluation A...

Страница 53: ...19659 11 2014 Deutschland 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 11 2014 101...

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