CSF CSG PDF - Harmonic Drive LLC

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EfficiencyEfficiencyThe efficiency depends on the conditions shown below.Efficiency depends on gear ratio, input speed, load torque, temperature,quantity of lubricant and type of lubricant.Efficiency values shown are for rated torque. If load torque is belowrated torque, a compensation factor must be employed.Load Torque > Rated Torque : Efficiency = Efficiency from GraphLoad Torque < Rated Torque : Efficiency = Efficiency from Graph xCompensation Coefficient from figure 9.Measurement ConditionInstallation : Based on recommended toleranceLoad torque : Rated torqueLubricant : Harmonic Grease SK-1AHarmonic Grease SK-2Harmonic Grease 4B No.2Grease quantity : Recommended quantityPlease contact us for details pertaining to recommended oil lubricant.COMPONENT SET 8,11, 14Harmonic Drive Grease SK-2Ratio 30 Ratio 50, 80 Ratio 100100100100909090Efficiency807060500r/min1000r/min2000r/min3500r/minEfficiency807060500r/min1000r/min2000r/min3500r/minEfficiency807060500r/min1000r/min2000r/min3500r/min5050504040σ ∼ 3% σ ∼ 3% σ ∼ 3%4030303020-10 0 10 20 30 40Ambient Temperature (Cº)20-10 0 10 20 30 40Ambient Temperature (Cº)20-10 0 10 20 30Ambient Temperature (Cº)40Harmonic Drive Grease 4B No.2ARatio 30Ratio 50, 80Ratio 100100100100Efficiency90807060500r/min1000r/min2000r/min3500r/minEfficiency90807060Ø500r/min1000r/min2000r/min3500r/minEfficiency90807060500r/min1000r/min2000r/min3500r/min5050504040σ ∼ 3% σ ∼ 3% σ ∼ 3%40303030202020-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30Ambient Temperature (Cº)Ambient Temperature (Cº)Ambient Temperature (Cº)4038
Efficiency1.0Efficiency Compensation CoefficientEfficiency Compensation CoefficientFigure 90.9Compensation Coefficient0.80.70.60.50.40.3ηR = Efficiency at Rated TorqueTorque =Load TorqueRated TorqueCOMPONENT SET 17~10000.1 0.2 0.3 0.4 0.5 0.6 0.4 0.8 0.9 1.0TorqueHarmonic Drive Grease SK-1A, SK-2Ratio 30 Ratio 50 Ratio 80, 1001001001009080500r/min9080500r/min1000r/min9080500r/min1000r/min2000r/min701000r/min2000r/min702000r/min3500r/min703500r/minEfficiency603500r/minEfficiency60Efficiency605050504040σ ∼ 3% σ ∼ 3% σ ∼ 3%4030303020-10 0 10 20 30 40Ambient Temperature (Cº)-10 0 10 20 30 40Ambient Temperature (Cº)-10 0 10 20 30 40Ambient Temperature (Cº)Ratio 120100Ratio 16010090500r/min90500r/min801000r/min2000r/min801000r/minEfficiency70603500r/minEfficiency70602000r/min3500r/min5050403040σ ∼ 3% σ ∼ 3%3020-10 0 10 20 30 40Ambient Temperature (Cº)20-10 0 10 20 30 40Ambient Temperature (Cº)39
Page 1: Cup Type Component Sets& Housed Uni
Page 4 and 5: Ordering InformationModelCustomized
Page 6 and 7: Driving ConfigurationsDriving Confi
Page 8 and 9: Application ExampleTool ChangerMult
Page 10 and 11: CSF Rating TableTable 1Size Ratio R
Page 12 and 13: CSG Rating TableTable 4Size Ratio R
Page 14 and 15: Technical TermsCSF Ratcheting Torqu
Page 16 and 17: Selection ExampleValues of an each
Page 18 and 19: External Dimension & Shape2-NFL-øM
Page 20 and 21: External DimensionsGH1 0-0.1øI h6L
Page 22 and 23: LubricationGreasebProper lubricatio
Page 24 and 25: LubricationOil LubricantKind of Lub
Page 26 and 27: Recommended Tolerances for Assembly
Page 28 and 29: Assembly of the FlexsplineShape and
Page 30 and 31: Assembly of Circular SplineCSG Seri
Page 32 and 33: External Dimensions of Housed Unit
Page 34 and 35: Output Bearing RatingsHow to Calcul
Page 36 and 37: Recommended Tolerances for Assembly
Page 40 and 41: EfficiencyCOMPONENT SET 17~100Harmo
Page 42 and 43: EfficiencyHOUSED UNIT 17~65Harmonic
Page 44 and 45: No Load Running TorqueNo Load Runni
Page 46 and 47: No Load Running TorqueCompensation
Page 48 and 49: Starting Torque and Backdriving Tor
Page 50 and 51: Torsional StiffnessTorsional Stiffn
Page 52: Harmonic Drive LLCBoston US Headqua

CSF CSG PDF - Harmonic Drive LLC

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