csf_mini.pdf - Harmonic Drive LLC

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NO LOAD RUNNING TORQUE Compensation Value in Each Ratio No load running torque of harmonic drive gear varies with ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compensation values from table at right. No load Running Torque Compensation Value Size Ratio 30 50 80 5 0.26 0.11 – 8 0.44 0.19 – 11 0.81 0.36 – 14 1.33 0.58 0.1 Nm 2XH Input Speed 500r/min Input Speed 000r/min 100.0 100.0 No Load Running Torque (N-cm) 10.0 1.0 14 11 8 Size No Load Running Torque (N-cm) 10.0 1.0 14 11 8 Size 5 5 0.1 0.1 -10 0 10 20 30 40 -10 0 10 20 30 40 Ambient temperature ºC Ambient temperature ºC Input Speed 2000r/min Input Speed 3500r/min 100.0 100.0 No Load Running Torque (N-cm) 10.0 1.0 14 11 8 Size No Load Running Torque (N-cm) 10.0 1.0 14 11 8 Size 5 5 0.1 -10 0 10 20 30 40 Ambient temperature ºC 0.1 -10 0 10 20 30 40 Ambient temperature ºC 18
STARTING TORQUE AND BACKDRIVING TORQUE Starting Torque Component Type Backdriving Torque Starting torque is the torque required to commence rotation of the input element (high speed side), with no load being applied to the output. The table below indicates the maximum values. The lower values are approximately 1/2 to 1/3 of the maximum values. Positioning Accuracy The positioning accuracy of the gear represents a linearity error between the input and output angle. The position error is the difference between theoretical and actual output rotation angle. The positioning accuracy is measured for one complete output revolution using a high resolution measurement system. The measurements are carried out without reversing direction. The positioning accuracy is defined as the difference between the maximum positive and maximum negative deviation from the theoretical position. Backdriving torque is the torque required to commence rotation of input element (high speed side) when torque is applied on the output side (low speed side). The table below indicates the maximum values. The typical values are approximately 1/2 to 1/3 of the maximum values. The backdriving torque should not be relied upon to provide a holding torque to prevent the output from backdriving. A failsafe brake should be used for this purpose. Measurement condition: Ambient temperature 20ºC Values shown below vary depending on condition. Please use values as a reference. Typical Positional Accuracy Curve øer θer........................................ Positioning Accuracy θ1......................................... Input Angle θ2......................................... Actual Output Angle R.......................................... Gear Ratio ( i=l;R ) θer = θ2 – θ1 equation [18] R Harmonic Drive LLC 800-921-3332 19
Page 1 and 2: M i n i a t u r e PRINCIPLE AND STR
Page 3 and 4: CONTENTS About Harmonic drive geari
Page 5 and 6: DRIVING CONFIGURATIONS Driving Conf
Page 7 and 8: RATING TABLE Rating Table Table 2 S
Page 9 and 10: SELECTION PROCEDURE Size Selection
Page 11 and 12: EXTERNAL DIMENSIONS Compact Double
Page 13 and 14: OUTPUT BEARING RATINGS How to Calcu
Page 15 and 16: Size 5 1U-2XH Figure 1 Ratio 30 Eff
Page 17: NO LOAD RUNNING TORQUE No Load Runn
Page 21 and 22: TORSIONAL STIFFNESS Torsional Stiff
Page 23 and 24: PERFORMANCE DATA FOR INPUT BEARING
Page 25 and 26: TOLERANCES FOR ASSEMBLY Tolerances
Page 27 and 28: SAFETY GUIDE CAUTIONS FOR DRIVERS I

csf_mini.pdf - Harmonic Drive LLC

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