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SAFETY GUIDE 

For HarmonicDrive

®

 component and unit   

Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. 

SYSTEMS 

 

Indicates a potentially hazardous situation, 
which, if not avoided, could result in death 
or serious personal injury. 

Indicates a potentially hazardous situation, which, if 
not avoided, may result in minor or moderate personal 
injury and/or damage to the equipment. 

WARNING

CAUTION

LIMITATION

 

OF

 

APPLICATIONS

 

The equipment listed in this document may not be used for the applications listed below: 

‘

 

Space equipment 

‘

 

Amusement equipment 

‘

 

Aircraft, aeronautic equipment 

‘

 

Machine or devices acting directly on the human body 

‘

 

Nuclear equipment 

‘

 

Instruments or devices to transport or carry people 

‘

 

Household apparatus 

‘

 

Apparatus or devices used in special environments 

‘

 

Vacuum equipment 

‘

 

Instruments or devices to prevent explosion 

‘

 

Automobile, automotive parts 

 

 
Safety measures are essential to prevent accidents resulting in death, injury or damage of the equipment due to 

lfunction or faulty operation. 

ma

   

Design Precaution: Be certain to read the catalog when designing the equipment. 

 

Use only in a specified environment. 

 Please ensure the following environmental conditions 

are complied with: 

-  Ambient temperature 0 to 40

°

C . 

-  No contamination by water, oil 
-  No corrosive or

 

explosive gas 

-  No dust such as metal powder

 

 

Install the equipment in a specified manner. 

 Carry out assembly precisely in the specified order 

according to the catalog. 

 Observe our recommended tightening methods (such 

as bolts used). 

 Operating the equipment without precise assembly can 

cause troubles such as generation of vibration, 
reduction of life, deterioration of precision and 
breakdown. Use the specified lubricant.

 

 

Install the equipment in a specified precision. 

 Design and assemble parts to keep the 

recommended installation precision on the catalog. 

 Failure to keep the precision can cause troubles such 

as generation of vibration, reduction of life, 
deterioration of precision and breakdown.

   

 

Use the specified lubricant. 

 Using other lubricant than our recommended products 

can reduce the life. Replace the lubricant in a specified 
condition. 

 Grease is sealed in a unit product. Do not mix other 

kinds of grease. 

 

 

Operational Precaution: Be certain to read the catalog before 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 equipment in a damaged condition, the 

specified performance may not be retained. It can 
also cause troubles such as breakdown.

 

 

Apply torque within the allowable range. 

 Do not apply torque exceeding the instantaneous 

allowable max. torque. Applying excess torque can 
cause troubles such as loose tightening bolts, 
generation of backlash and breakdown. 

 Striking an arm directly attached to the output shaft can 

damage the arm and make the output shaft 
uncontrollable.

 

 

Do not change a set of parts.

 

 The product is manufactured with sets of parts. the 

specified performance may not be retained if you 
have used mixed sets of parts.

 

 

Do not break down unit products. 

 Do not break down and reassemble unit products. 

Original performance may not be reproduced. 

 

 

Handling lubricant 

 

Precautions on handling lubricant 

 Lubricant got in the eye can cause an inflammation. 

Wear protective glasses to prevent it from getting in 
your eye when you handle it. 

 Lubricant coming in contact with the skin can cause 

an inflammation. Wear protective gloves to prevent it 
from contacting your skin when you handle it. 

 Do not eat it (to avoid diarrhea and vomiting). 

 When you open the container, you might have your 

hand cut by it. Wear protective gloves. 

 Keep lubricant off children.

 

 

Treatment of waste oil and containers 

 Treatment methods are obliged by law. Treat wastes 

appropriately according to the law. If you are unsure 
how to treat them, you should consult with the dealer 
before treating them. 

 Do not apply pressure on an empty container. The 

container may blow up. 

 Do not weld, heat, drill or cut the container. The 

remainder may ignite with an explosion.

 

 

First-aid 

 If lubricant gets in your eye, you should wash your 

eye with clean water for 15 minutes and submit to 
medical treatment. 

 If lubricant comes in contact with your skin, you 

should thoroughly wash it with water and soap. 

 If you swallowed it, you should immediately submit to 

medical treatment without throwing it up by 
constraint.

 

 

Storage 

 Tightly plug the container after use to prevent intrusion 

of dusts and water. Avoid direct sunlight to store 
lubricant in a dark place. 

 

Disposal 

 

Please discard as industrial waste. 

 Please discard as industrial waste when discarding. 

 

CAUTION

 

CAUTION

CAUTION

CAUTION

CAUTION

CAUTION

 

WARNING

 

WARNING

 

CAUTION

CAUTION

 

CAUTION

 

CAUTION

CAUTION

Содержание CSF-3 Series

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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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