HarmonicDrive SHA - Y series, Руководство пользователя

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1-8 Positional accuracy
1-28
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Reverse positional accuracy (CG)
For the "reverse positional accuracy", the shaft is rotated beforehand in the forward (or reverse) direction
and the stop position for that rotation is set as the reference position. An instruction is given to rotate the
shaft in the same direction and from the stopped position, the same instruction is given in the reverse (or
forward) direction and the difference between the stop position after this rotation and the reference position
is measured. The average value from repeating this 7 times in each direction is shown and the maximum
value measured at the 4 locations on the output shaft is shown.
CG type (Unit: Second)
Model
Reduction ratio
SHA25Y SHA32Y SHA40Y
1:50 60 60 50
1:80 of more 25 25 20
P1
P2
＊
P1
～
P7
：
Stop position
X
：
Maximum error
P7
X
Repeatability
：±
X/2
Reverse positional accuracy
：
|X1+X2+
・・・
+X7|/7
P1
P1’
＊
P1
～
P7
：
Stop position after forward rotation
P1’
～
P7’
：
Stop position after reverse
rotation
X1
～
X7
：
Difference between the stop
positions after forward and reverse rotations
X1
X2 P2
P2’
P7’
P7
X7