CSF CSG PDF - Harmonic Drive LLC

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Driving ConfigurationsDriving ConfigurationsA variety of different driving configurationsare possible, as shown below.The reduction ratio given in the tables onpage 10 and 11 correspond to arrangement1, in which the Wave Generatoracts as the input element, the CircularSpine is fixed and the Flexspine acts asthe output element.1. Reduction Gearing2. Reduction GearingCS FixedFS FixedWG InputWG InputFS OutputCS OutputRatio = –R[Equation 1] Ratio = R + 111[Equation 2]Input and output in opposite direction.Input and output in same direction.3. Reduction GearingWG FixedFS InputCS OutputRatio =R + 1R[Equation 3]Input and output in same direction.4. Speed Increaser GearingWG FixedCS InputFS OutputRRatio = [Equation 4]R + 15. Speed Increaser GearingCS FixedFS InputWG OutputRatio = – 1 [Equation 5]RInput and output in opposite direction.1Ratio = [Equation 6]R + 17. Differential GearingWG Control InputCS Main Drive-InputFS Main Drive-OutputNumerous differential functions can beobtained by combinations of the speedand rotational direction of the three basicelements.6
Application ExampleThe CSF Cup-Style Component Set achieves higher performance thanthe Pancake Style Component Set in the same package size.CSF SeriesComponent SetPancake TypeComponent SetHarmonic Drive LLC 800-921-33327
Page 1: Cup Type Component Sets& Housed Uni
Page 4 and 5: Ordering InformationModelCustomized
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 38 and 39: EfficiencyEfficiencyThe efficiency
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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