CSF CSG PDF - Harmonic Drive LLC

Positioning AccuracyPositioning AccuracyThe positioning accuracy of the gear represents a linearity error betweenthe input and output angle. The position error is the differencebetween theoretical and actual output rotation angle.The positioning accuracy is measured for one complete output revolutionusing a high resolution measurement system. The measurementsare carried out without reversing direction.The positioning accuracy is defined as the difference between themaximum positive and maximum negative deviation from the theoreticalposition.Typical Positional Accuracy CurveøerPosition Accuracyx 10 -4 rad (arc-min) Table 40Gear Ratio 8 11 14 17 20 25 32 40-100standard5.8 5.8 5.8 4.4 4.4 4.4 4.4- -30(2) (2) (2) (1.5) (1.5) (1.5) (1.5) -special- - - - 2.9 2.9 2.9 -- - - - (1) (1) (1) -5.8 4.4 4.4 4.4 2.9 2.9 2.9 2.9standard(2) (1.5) (1.5) (1.5) (1) (1) (1) (1)50 andlarger- - 2.9 2.9 1.5 1.5 1.5 1.5special--- - (1) (1) (0.5) (0.5) (0.5) (0.5)49