FHA-C Series - Harmonic Drive LLC

Chapter 2 Guidelines for sizing• Equivalent static radial loadEquivalent static radial load is obtained by formula (9) below.2MmaxP = Frmax + O + 0.44 Famax (9)dpWhere, the variables of the formula are:Po: Equivalent static radial load in N (kgf)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.dp: Circular pitch of roller: See Fig.1 and Table 1.• Static safety factorGenerally, the static safety factor is limited by the basic static load rating (Co).However, for the heavy duty, the factor is limited by the following formula:Cofs = (10)PoWhere, the variables of the formula are:fs:Static safety factor;For precise positioning operation: fs > 3For operation with shock and/or vibration: fs > 2For normal operation: fs > 1.5Co: Basic static load rating in N (kgf). See Table 1.Po: Equivalent static radial load in N (kgf); obtained by formula (9).23