HFUS-2A Component Sets
Engineering Data
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www.harmonicdrive.de/3050
Страница 1: ...HFUS 2A Component Sets Engineering Data QUICKLINK www harmonicdrive de 3050...
Страница 2: ...Calculation of the Torsion Angle 24 4 3 Accuracy of the Oldham Coupling 24 4 4 Efficiency Versus Load 25 4 4 1 Efficiency Calculations 25 4 4 2 Efficiency Tables 26 4 5 No Load Starting Back Driving a...
Страница 3: ...ment for the entire life of the product up to its disposal Please hand over the documentation when re selling the product Additional documentation For the configuration of drive systems using the prod...
Страница 4: ...rous 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 a...
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5: ...ltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handlin...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: ...f required the Component Sets are available as specific configurations tailored to your application including special lubricants for extended temperature ranges or special materials for extreme ambien...
Страница 9: ...2A GR 25 30 50 80 100 120 160 32 30 50 80 100 120 160 40 50 80 100 120 160 45 50 80 100 120 160 50 50 80 100 120 160 58 50 80 100 120 160 Ordering code HFUS 25 100 2A GR SP Version Ordering code Descr...
Страница 10: ...Grease Lubrication nav max rpm 3500 3500 Moment of inertia Jin x10 4 kgm 0 033 0 079 Weight m kg 0 11 0 18 Table 10 2 Unit HFUS 20 2A HFUS 25 2A Ratio i 30 50 80 100 120 160 30 50 80 100 120 160 Repea...
Страница 11: ...1 1019658 11 2014 3 3 2 Dimensions Illustration 11 1 Illustration 11 2 mm mm HFUS 14 2A HFUS 17 2A Illustration 11 3 Illustration 11 4 mm mm HFUS 20 2A HFUS 25 2A QUICKLINK www harmonicdrive de CAD305...
Страница 12: ...rtia Jin x10 4 kgm 1 69 4 5 Weight m kg 0 97 1 86 Table 12 2 Unit HFUS 45 2A HFUS 50 2A Ratio i 50 80 100 120 160 501 80 100 120 160 Repeatable peak torque TR Nm 500 706 755 823 882 715 941 980 1080 1...
Страница 13: ...13 1019658 11 2014 Illustration 13 1 Illustration 13 2 mm mm HFUS 32 2A HFUS 40 2A Illustration 13 3 Illustration 13 4 mm mm HFUS 45 2A HFUS 50 2A QUICKLINK www harmonicdrive de CAD3050...
Страница 14: ...e TA Nm 520 770 1060 1190 1210 Rated torque TN Nm 353 549 696 745 745 Momentary peak torque TM Nm 1960 2450 3180 3330 3430 Maximum input speed Oil Lubrication nin max rpm 4000 Maximum input speed Grea...
Страница 15: ...113 131 x 24 5 27 5 30 5 35 5 43 5 53 0 59 0 65 0 75 5 y 2 9 3 6 3 7 4 2 4 8 5 4 6 1 6 8 7 9 Z 38 45 53 66 86 106 119 133 154 Size 14 17 20 25 32 40 45 50 58 T1 Nm 2 3 9 7 14 29 54 76 108 168 T2 Nm 6...
Страница 16: ...onents of the Harmonic Drive units Circular Spline CS Flexspline FS and Wave Generator WG can be seen in the illustration 16 2 Ratio i Input speed Output speed Equation 16 1 Illustration 16 2 The valu...
Страница 17: ...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 17 1 Equation 17...
Страница 18: ...tiffness is often decisive in machine tool applications We therefore recommend that you always take both criteria into account according to the following procedures Gear preselection Application Gear...
Страница 19: ...input speed Rated torque TN 3 nin av Tav nout av n1 t1 n2 t2 nn tn t1 t2 tn tp Equation 19 4 Equation 19 6 Equation 19 8 Equation 19 11 Equation 19 9 Equation 19 10 Equation 19 5 Equation 19 7 Select...
Страница 20: ...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 ni...
Страница 21: ...n See table 21 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 22: ...d 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 hea...
Страница 23: ...u 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 requir...
Страница 24: ...econds of arc can occur at the output shaft as listed in table 24 5 Angle rad T Torque Nm K Stiffness 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...
Страница 25: ...n 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 Oil The efficiency may be determined using the efficiency...
Страница 26: ...70 60 50 40 30 20 Illustration 26 1 Ratio 30 50 80 Temperature C 0 10 20 30 40 100 90 80 70 60 50 40 30 20 Efficiency 100 90 80 70 60 50 40 30 20 Temperature C 0 10 20 30 40 Ratio 120 100 90 80 70 60...
Страница 27: ...0 0 10 20 30 40 Ratio 30 100 90 80 70 60 50 40 30 20 Efficiency Temperature C 10 0 10 20 30 40 Ratio 100 100 90 80 70 60 50 40 30 20 Efficiency 10 0 10 20 30 40 Temperature C Ratio 50 80 100 90 80 70...
Страница 28: ...70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 Efficiency Efficiency Temperature C 10 0 10 20 30 40 Ratio 160 100 90 80 70 60 50 40 30 20 Efficie...
Страница 29: ...ined input speed with no load applied to the output No Load Starting Torque The no load starting torque is the quasistatic torque required to commence rotation of the input element high speed side wit...
Страница 30: ...5 8 8 4 13 25 43 56 75 107 80 0 1 0 1 0 2 0 3 0 7 1 2 1 7 2 3 3 4 120 0 1 0 1 0 2 0 5 0 9 1 3 1 7 2 5 160 0 3 0 6 1 2 2 2 3 0 4 0 6 1 Ratio Size 14 17 20 25 32 40 45 50 58 30 2 0 3 2 5 5 10 21 50 1 4...
Страница 31: ...f Harmonic 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 lubricatin...
Страница 32: ...greases Type Standard Special SK 1A SK 2 Flexolub A1 4BNo 2 Operating temperature range 0 C 80 C 0 C 80 C 40 C 120 C 10 C 110 C Base oil Mineral oil Mineral oil PAO Ester oil Synthetic oil Thickener...
Страница 33: ...rer Designation 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 tempe...
Страница 34: ...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 35: ...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 36: ...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 37: ...emands 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 transmi...
Страница 38: ...uld be tightened crosswise using successively increased torque Only then should the Wave Generator be inserted into the Flexspline as shown in illustration 38 1 Caution The assembly of the Wave Genera...
Страница 39: ...the 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 surf...
Страница 40: ...2 0 048 0 053 0 057 0 062 c 0 015 0 018 0 019 0 022 0 022 0 024 0 027 0 030 0 032 d 0 011 0 015 0 017 0 024 0 026 0 026 0 027 0 028 0 031 e 0 011 0 015 0 017 0 024 0 026 0 026 0 027 0 028 0 031 f 0 01...
Страница 41: ...he so called Solid Wave Generator configuration The Wave Generator bore may be enlarged or splined to accept a hollow shaft or a splined shaft The maximum allowable bore diameter with or without keywa...
Страница 42: ...If in doubt please contact the Harmonic Drive AG Ordering code Available packaging Special grease SK 1A SK 2 0 5 2 5 16 Special grease 4BNo 2 0 5 2 16 Table 42 3 Table 42 4 Size 8 11 14 17 20 25 32 4...
Страница 43: ...position of the gear The operating positions Wave Generator above or Wave Generator below refer to the relative position of the Wave Generator to Flexspline flange see illustration 43 2 Operation mai...
Страница 44: ...ease should be applied generously to the inside of the Flexspline the Wave Generator bearing the Oldham coupling and the teeth of the Circular Spline and Flexspline In illustration 44 3 the grease cha...
Страница 45: ...e 45 3 Operating Positions Wave Generator above Wave Generator perpendicular Wave Generator below B Oil level B Oil level Illustration 45 1 A Oil level Table 45 2 The required oil quantity is dependen...
Страница 46: ...end the application of the following auxiliary materials or the use of those with similar characteristics Please pay attention to the application guidelines given by the manufacturer Auxiliary materia...
Страница 47: ...hould to be mounted and screwed down The assembly of these two components can take place in any order The Wave Generator WG should be shifted at last into the pre mounted components Flexspline Circula...
Страница 48: ...rdance with illustration 43 1 For the correct mounting please also see illustration 39 1 Circular Spline Screws Table 48 1 5 9 2 Assembly of the Flexspline Care must be taken that the heads of clampin...
Страница 49: ...ze of screws M3 M3 M3 M4 M5 M6 M6 M8 M8 Pitch circle diameter 1 mm 64 74 84 102 132 158 180 200 226 Pitch circle diameter 2 mm 54 66 76 96 124 152 170 190 218 Screw tightening torque Nm 2 0 2 0 2 0 4...
Страница 50: ...fill in the prescribed oil quantity 5 9 6 Final Check of Position of the Wave Generator When the Wave Generator is assembled into the Flexspline please consider that the parts must not be tilted duri...
Страница 51: ...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 52: ...ring rotating this is the maximum allowable radial load with no additional axial forces or tilting moments applied Dynamic tilting moment Mdyn max Nm With the bearing rotating this is the maximum allo...
Страница 53: ...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 54: ...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 55: ...ircle 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...
Страница 56: ...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 57: ...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 58: ...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 1019658...
