CSF CSG PDF - Harmonic Drive LLC

Technical TermsCSF Ratcheting Torque Table 4 NmSizeRatio30 50 80 100 120 1608 11 12 - 14 - -11 29 34 - 43 - -14 59 88 110 84 - -17 100 150 200 160 120 -20 170 220 350 260 240 22025 340 450 680 500 470 45032 720 980 1400 1000 980 98040 - 1800 2800 2100 1900 180045 - 2700 3900 3100 2800 260050 - 3700 5400 4100 3800 360058 - 5800 8200 6400 5800 560065 - 7800 11000 9400 8300 800080 - 14000 22000 16000 15000 1400090 - 20000 30000 23000 21000 20000100 - 29000 44000 33000 30000 28000Table 5NmCSF Buckling TorqueSizeAll Ratio8 3511 9014 19017 33020 56025 100032 220040 430045 580050 800058 1200065 1700080 3100090 45000100 58000CSG Ratcheting Torque Table 6 NmSizeRatio50 80 100 120 16014 110 140 100 - -17 190 260 200 150 -20 280 450 330 310 28025 580 880 650 610 58032 1200 1800 1300 1200 120040 2300 3600 2700 2400 2300Table 7NmCSG Buckling TorqueSizeAll Ratio14 26017 50020 80025 170032 350040 6700The Life of a Wave GeneratorThe normal life of a gear is determined by the life of the wavegenerator bearing. The life may be calculated by using theinput speed and the output load torque.Rated Lifetime L n : (n = 10 or 50)L 10 CSF : 7,000 CSG: 10,000L 50 CSF : 35,000 CSG : 50,000Relative Torque RatingThe chart below shows the various torque specificationsrelative to rated torque. Rated Torque has been normalizedto 1 for comparison.Equation for the expected life of the wave generator undernormal operating conditions is given by the equation below.1716Figure 3Buckling Torque[Equation 8]Lh = Ln • ( Tr ) 3 • ( Nr )Tav NavLh : Expected Life, hoursLn : Rated Lifetime at L 10 or L 50Tr : Rated Torque (Tables 1, 2, 3)Nr : Rated input speed (2000 rpm)Tav : Average load torque on output side (page 15)Nav : Average input speed (page 15)Load Torque ( Rated Torque = 1 )109Racheting Torque87Life of the Wave Generator65Fatigue Strength of Flexspline4Momentary Peak Torque32 Repeated Peak Torque1Rated Torque0 10 5 10 6 10 7 10 8 10 9Total Number of Input Rotations10 101414