FHA-C Series - Harmonic Drive LLC

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Chapter 2 Guidelines for sizing• Calculating average loads: average radialand axial loads, average output speedWhen the radial and/or axial loads vary during motion, calculate and verifythe life of the cross roller bearing converting the loads to their average values.• Average radial load: Frav10/3n 1 t 1| Fr 1| 10/3 +n 2 t 2| Fr 2| 10/3 ...n n t n| Frn10/3Faav= (2)√ n 1 t 1 + n 2 t 2 + ... +nn tnNote: "Fr 1 " is the maximum radial load in "t 1 " range,and "Fr 3 " is the maximum radial load in "t 3 " range.– Axial load +Fr 1Fr 2Fr 3Fa 1Fa 2Time• Average axial load: Faav10/3n 1 t 1| Fa 1| 10/3 +n 2 t 2| Fa 2| 10/3 ...n n t n| Fa n| 10/3√Faav= (3)n 1 t 1 + n 2 t 2 + ... +n n t n– Axial load +Fa 3TimeNote: "Fa 1 " is the maximum radial load in "t 1 " range,and "Fa 3 " is the maximum radial load in "t 3 " range.t 1 t 2 t 3• Average output speed: Nav10/3n 1 t 1 +n 2 t 2 +...n n t n (4)Nav=t 1 + t 2 + ... + t n– Axial load +n 1n 2n 3Time• Calculating radial load factor and axial load factorBoth load factors are different with average loads as follows:• When the right formula is satisfied,X=1.0, and Y=0.45FaavFrav + 2(Frav ( L r+ R ) + Faav.La ) /dp1.5 (5’)Where, the variables of the formula are:Mmax: Maximum torsional moment in N•m(kgf•m); obtained by the formula (1)Frmax: Maximum radial load in N(kgf); See Fig.1.Famax: Maximum axial load in N(kgf); See Fig.1.Lr, La: Loading point in mm; See Fig.1.R: Offset; See Fig.1 and Table 1.dp: Circular pitch of roller: See Fig.1 and Table 1.21
Chapter 2 Guidelines for sizing• Equivalent dynamic radial loadThe equivalent dynamic radial load is:2 (Frav (Lr + R) + Faav . La)P C = X . ( Frav + ) + Y .Faav (6)dpWhere, the variables of the formula are:Frav: Average radial load in N(kgf); obtained by formula (2).Faav: Average axial load in N(kgf); obtained by formula (3).dp: Circular pitch of roller: See Fig.1 and Table 1.X: Radial load factor; obtained by formula (5)Y: Axial load factor; obtained by formula (5')Lr, La: Loading point in mm; See Fig.1.R: Offset; See Fig.1 and Table 1.• Life of cross roller bearingCalculate the life of cross roller bearing with the formula below:10 6 CL B-10 = x (7)60 x Nav ( fw.Pc )10/3Where, the variables of the formula are:LB-10: Life of cross roller bearing in hourNav: Average output speed in r/min; obtained by formula (4).C: Basic dynamic load rating in N (kgf). See Table 1.Pc: Average dynamic radial load in N (kgf); obtained by formula (6) below.fw: Load factor:For smooth operation without shock or vibration: fw=1 to 1.2For normal operation: fw=1.2 to 1.5For operation with shock and/or vibration: fw=1.5 to 3• Life of cross roller bearing for swaying motionCalculate the life of cross roller bearing with the formula below:10 6 90 CL = x x (8)OC60 x n1 θ ( fw.Pc )Where, the variables of the formula are:Loc: Life of cross roller bearing in hourn1: Average output speed in r/min; obtained by formula (4).C: Basic dynamic load rating in N (kgf). See Table 1.Pc: Equivalent dynamic radial load in N (kgf); obtained by formula (6).fw: Load factor:For smooth operation without shock or vibration: fw=1 to 1.2For normal operation: fw=1.2 to 1.5For operation with shock and/or vibration: fw=1.5 to 3θ: Half of sway angle; See the right figure.When the sway angle is less than 5 degrees, consult Harmonic Drive Systems,because fretting wear may occur for the operation caused by no oil filmbetween the race and the rolling element.10/3Inertia2(kg•m ) (kgf•cm•s 2)1000 10000100 1000FHA-40C-160FHA-32C-16010 100 FHA-25C-1601 10 FHA-17C-160FHA-40C-100FHA-32C-100FHA-40C-50FHA-25C-100FHA-32C-50FHA-17C-100FHA-25C-50FHA-17C-500.1 10 20 40 60 80 100 120Max. speed (r/min)Sway MotionHarmonic Drive LLC 800-921-3332 22
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Page 6 and 7: Chapter 1 Overview of the FHA-C ser
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Page 34 and 35: Chapter 3 Installing the FHA actuat
Page 36 and 37: Chapter 3 Installing the FHA actuat
Page 38 and 39: Chapter 4 Options4-2 Brake for moto
Page 40 and 41: Chapter 4 Options4-5 5 meter cables
Page 42 and 43: Chapter 4 Options4-7-2 Adjusting pr
Page 44 and 45: Chapter 4 Options4-8 Extension cabl
Page 46 and 47: Appendix 1 Unit conversion(7) Angul
Page 49 and 50: Moment of inertia2 Inertia of cylin
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FHA-C Series - Harmonic Drive LLC

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