CSF CSG PDF - Harmonic Drive LLC

Selection ExampleValues of an each Load Torque PatternLoad Torque Tn (Nm) no max = 14 rpmTime tn (sec) ni max = 1800 rpmOutput Speednn (rpm)Normal Operating PatternAcceleration T 1 = 400 Nm, t 1 = 0.3 sec, n 1 = 7 rpm T s = 500 Nm, t s = 0.15 sec, n s = 14 rpmRegular Operation Stop T 2 = 320 Nm, t 2 = 3 sec, n 2 = 14 rpmDeceleration T 3 = 200 Nm, t 3 = 0.4 sec, n 3 = 7 rpm L10 = 7000 hrs.Dwell T 4 = 0 Nm, t 4 = 0.2 sec, n 4 = 0 rpm Oil LubricationTav (Nm)3 7rpm•0.3sec•|400Nm| 3 +14rpm•3sec•|320Nm| 3 +7rpm•0.4sec•|200Nm| 3Tav =7rpm•0.3sec+14rpm•3sec+7rpm•0.4secTav =319Nm 12014 rpmn i av = 12 rpm •120 = 1440 rpmn o max ni max (rpm)n i max = 14 rpm •120 = 1680 rpmniav =1440rpm