SHF and SHG - Harmonic Drive LLC

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OUTPUT BEARING LIFEHow to Calculate Life of the Output BearingThe life of a cross roller bearing can be calculated by equation (6).equation (6)L 10=60xNav10 6 x(C) 10/3List 3Load Coefficient, fwfw.PcEquation 7L 10 Life Hour ––––––––Nav Average Output Speed rpm equation 14C Basic Dynamic Rated Load N table 30Pc Dynamic Equivalent N equation 15fw Load Coefficient ––––– list 3Steady operation without impact and vibration 1~1.2Normal operation 1.2~1.5Operation with impact and vibration 1.5~3Dynamic Equivalent Radial Loadequation 7Pc = X . ( 2 (Frav ( Lr + R ) + Faav . La)) + Y . FaavdpHow to Calculate Life for Oscillating MotionThe Life of a cross roller bearing in a oscillating operationcan be calculated by equation 10equation (9)Loc =10 6 x60xn1 Ø fw.PcSymbol of equation90 x(C) 10/3Loc Rated life for oscillating motion Hour ––––––––n1 Round trip oscillation each minute rpm ––––––––C Basic dynamic rated load N ––––––––Pc Dynamic equivalent radial load N equationfw Load Coefficient ––––– list 3Ø Angle of oscillation/2 degrees refer to figurefigure 9Symbol of equationFrav Average radial load N equation 10Faav Average axial load N equation 11dp Pitch diameter m table 29X Radial load coefficient –––––– list 2Y Axial load coefficient ––––––– list 2ØLr, La Moment Arm m figure 6R Offset m figure 5 and table 29How to Calculate Static Safety CoefficientBasic static rated load is an allowable limit for static load,but its limit is determined by usage. In this case, static safety coefficientof the cross roller bearing can be calculated by equation 8.Reference values under general conditions are shown on list 4.Static equivalent radial load can be calculated by equation (8)equation (8)fs =CoPoSymbols for equation (17)Oscillating AngleA small angle of oscillation (less than 5 degrees) may cause frettingcorrosion to occur since lubrication may not circulate properly.equation (10)Po = Frmax + 2Mmax + 0.44. FamaxdpCo Basic static rated load N table 29Po Static equivalent radial load N refer to equation (18)Rotating Conditions Load Conditions Lower Limit Value for list f s4Normally not rotating Slight oscillations 0.5Impact loads 1-1.5Normally rotating Normal loads 1-2Impact loads 2-3Symbols for EquationFrmax Max. radial load NFamax Max. axial load NMmax Max. moment load Nmdp Pitch diameter m36
RECOMMENDED TOLERANCES FOR ASSEMBLYUnit typesRecommended Tolerances for AssemblyFor peak performance of the SHF/SHG Unit type it is essential that the following tolerances be observed when assembly is complete.Recommended tolerances for assembly.A SideA SideB SideB SideSHF Series (A) Side-installation and Torque Transmission Capacity Table 29Size 14 17 20 25 32 40 45 50 58Number 8 12 12 12 12 12 18 12 16Size M3 M3 M3 M4 M5 M6 M6 M8 M8Pitch circle mm 64 74 84 102 132 158 180 200 226Clamp Torque Nm 2.0 2.0 2.0 4.5 9.0 15.3 15.3 37 37In-lb 18 18 18 40 80 135 135 327 327Torque Transmission Nm 108 186 206 431 892 1509 2578 3489 5236Capacity(bolt only) In-lb 956 1646 1823 3814 7894 13355 22815 30878 46578SHG Series (A) Side-installation and Torque Transmission Capacity Table 30Size 14 17 20 25 32 40 45 50 58 65Number 8 12 12 12 12 12 18 12 16 16Size M3 M3 M3 M4 M5 M6 M6 M8 M8 M10Pitch circle mm 64 74 84 102 132 158 180 200 226 258Clamp Torque Nm 2.4 2.4 2.4 5.4 10.8 18.4 18.4 44 44 74In-lb 21 21 21 48 96 163 163 389 389 655Torque Transmission Nm 128 222 252 516 1069 1813 3098 4163 6272 9546Capacity(bolt only) In-lb 1133 1965 4567 9461 16045 27417 36843 55507 84482 7476671. The material of the thread must withstand the clamp torque.2. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.93. Torque coefficient : K=0.24. Clamp coefficient A=1.45. Friction coefficient on the surface contacted: 0.156. Dowel Pin: parallel pin Material:S45C-Q Shear stress:-+30kgf/mHarmonic Drive LLC 800-921-333237
Page 2: 2SHF AND SHG HOUSED UNIT
Page 5 and 6: PRINCIPLE AND STRUCTURESystem Compo
Page 7 and 8: APPLICATION EXAMPLESSHF Series Appl
Page 9 and 10: APPLICATION EXAMPLESSHF Series Appl
Page 11 and 12: SHF SERIES RATING TABLETable 2Size
Page 13 and 14: TECHNICAL TERMSSHF Ratcheting Torqu
Page 15 and 16: SELECTION PROCEDUREValues of an eac
Page 17: EXTERNAL DIMENSIONSTable 7BGH 114 1
Page 20 and 21: LUBRICATIONGrease ChangeThe wear ch
Page 22 and 23: LUBRICATIONExample of Oil Channelin
Page 24 and 25: DIAMETERSHole Diameter of Wave gene
Page 26 and 27: INSTALLATION PROCEDUREInstallation
Page 28 and 29: UNIT 2UH EXTERNAL DIMENSIONSHollow
Page 30: UNIT 2SO DIMENSIONSSimple Unit Type
Page 33 and 34: EXTERNAL DIMENSIONSTable 26(mm)14 1
Page 35: OUTPUT BEARING RATINGHow to Calcula
Page 39 and 40: LUBRICATIONLubricationThe standard
Page 41 and 42: PERFORMANCE DATAPerformance Data fo
Page 43 and 44: EFFICIENCYEfficiency Compensation C
Page 45 and 46: EFFICIENCYUnit Type Hollow Shaft Ty
Page 47 and 48: ENGINEERING DATAEfficiency Compensa
Page 49 and 50: NO LOAD RUNNING TORQUECompensation
Page 51 and 52: PRINCIPLE AND STRUCTURECompensation
Page 53 and 54: PRINCIPLE AND STRUCTURECompensation
Page 55 and 56: POSITIONING ACCURACYPositioning Acc
Page 57 and 58: TORSIONAL STIFFNESSTorsional Stiffn
Page 59: Harmonic Drive LLCBoston247 Lynnfie

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