谐波齿轮减速器 CSF-CSG 系列

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谐波减速器原理

谐波减速器原理谐波减速器是一种新型的减速传动装置，它具有结构紧凑、传动比大、精度高、扭矩密度大等特点，因此在工业自动化领域得到了广泛的应用。

谐波减速器的原理是利用谐波振动的特性来实现减速传动，下面我们来详细介绍一下谐波减速器的原理。

谐波减速器由柔性轮、刚性轮和梅花轮组成。

柔性轮和刚性轮之间通过梅花轮连接，柔性轮和刚性轮之间的齿轮传动实现了减速作用。

柔性轮和刚性轮的齿数之比就是谐波减速器的传动比。

谐波减速器的原理是通过柔性轮和刚性轮之间的相对运动来实现减速传动。

当柔性轮和刚性轮之间存在相对运动时，由于柔性轮的弹性变形特性，会产生谐波振动。

谐波振动是一种特殊的振动形式，它具有频率高、振幅小的特点。

利用谐波振动的特性，谐波减速器可以实现高精度的减速传动。

谐波减速器的原理是利用柔性轮和刚性轮之间的相对运动产生的谐波振动来实现减速传动。

在实际应用中，通过控制柔性轮和刚性轮之间的相对运动，可以实现不同的传动比。

这使得谐波减速器具有了很大的灵活性，可以满足不同应用场合的需求。

谐波减速器的原理是利用谐波振动来实现减速传动，因此在设计和制造过程中需要考虑谐波振动的特性。

首先，需要对柔性轮和刚性轮的材料和结构进行合理设计，以确保在工作过程中能够产生稳定的谐波振动。

其次，需要对谐波减速器的传动比进行精确计算和控制，以满足实际应用的需求。

总的来说，谐波减速器是一种利用谐波振动来实现减速传动的新型传动装置，它具有结构紧凑、传动比大、精度高、扭矩密度大等特点。

谐波减速器的原理是利用柔性轮和刚性轮之间的相对运动产生的谐波振动来实现减速传动，通过合理设计和精确控制，可以满足不同应用场合的需求。

谐波减速器在工业自动化领域有着广泛的应用前景，将为工业生产带来更高效、更稳定的传动解决方案。

2024年谐波齿轮减速器市场发展现状

谐波齿轮减速器市场发展现状简介谐波齿轮减速器是一种常用的机械传动装置，具有结构紧凑、传动效率高、精度高、噪音低等优点，广泛应用于机械工程、汽车工业、电子设备等领域。

本文将介绍谐波齿轮减速器市场的发展现状。

市场规模分析谐波齿轮减速器市场在过去几年中取得了稳定增长。

根据市场调研数据显示，2019年全球谐波齿轮减速器市场规模达到XX亿美元，预计到2025年将达到XX亿美元，年均复合增长率为XX%。

市场规模扩大的主要驱动因素包括工业自动化的普及、机械制造领域对高精度传动装置的需求增加以及新兴领域对微型减速器的需求上升。

随着工业机器人市场规模扩大，对高精度、高可靠性的谐波齿轮减速器的需求也在逐渐增加。

市场细分谐波齿轮减速器市场可以根据减速比、尺寸和应用领域等进行细分。

减速比根据减速比的不同，谐波齿轮减速器可以分为单级和多级减速器。

多级减速器具有更高的减速比，适用于需要更大输出转矩的应用。

尺寸按照尺寸的大小，谐波齿轮减速器可以分为大型、中型和微型减速器。

微型减速器在电子设备和精密仪器等小型设备中得到广泛应用。

应用领域谐波齿轮减速器的应用领域非常广泛，包括： - 机械制造和装配行业 - 汽车工业 - 机床工业 - 电子设备和仪器仪表 - 包装机械和食品机械等竞争态势全球谐波齿轮减速器市场竞争激烈，主要厂商包括Harmonic Drive、Nabtesco、Sumitomo Drive Technologies等。

这些厂商通过不断研发新产品、提高产品性能和质量、拓展市场份额来保持竞争优势。

同时，市场还存在一些小型企业，它们通过提供个性化定制服务和低成本产品来满足特定需求。

发展趋势谐波齿轮减速器市场在未来几年仍然具有良好的发展前景。

以下是一些发展趋势值得关注：智能化和自动化随着人工智能和机器人技术的快速发展，谐波齿轮减速器将更广泛地应用于智能化和自动化设备中。

例如，在工业机器人领域，谐波齿轮减速器的高精度和高可靠性对于实现精准操作和高效生产至关重要。

谐波减速机选型手册

海外安全认证 International
Safety Standard
$& 6$& Fra bibliotek-ʵ $& $& $& 6-
ʵ
ʵ $& 6-
ʵ ʵ
功能丰富 Functional Versatility
˒˒˒ ˒˒ ˒˒ ˒˒˒ ˒˒˒ ˒˒˒ ˒˒˒ ˒˒˒ ˒˒˒ ˒˒ ˒˒
显示功能 Display Function
行程（mm） Stroke (mm)
̐̕
ʙ̌
̏̎̕
ʙ̌
定位精度 Repeatability
★★
★★
分辨率 Resolution
★★★
★★★
刚性 Stiffness
★★
★★
体积小巧 Compactness
★★★
轻型 Lightweight
刊载页 Page in Catalog
产品指南
Product Guide
传感器
Sensor
减速机
Speed reducer
控制器
Controller
电动机
Motor
其他系统元件 Other system
elements
驱动器
Driver
ISO14001 （穗高工厂）
ISO9001
产品系统图 Product Lineup
咨询热线１３６２２３５０８０９旋转伺服执行元件 Rotary Servo Actuators
SHG-2UH-LW
中空轴型
Hollow Shaft Type
SHF-2UH
中空轴轻型
SHF-2UH-LW
Hollow Shaft Type& Light weight Type

谐波齿轮参品手册

典型（cup type ）组装集合和封装集合Csf 和csg革命性的谐波齿轮精密的谐波齿轮能够特高相关表现性能和作用S 系列由于谐波齿轮追求力量和刚度，一种新的齿形被提出，即“s ”齿形。

它能够使得力矩刚度和使用寿命提高一倍Csf 系列在轴向上长度减少了近一半Csg 系列在承载力矩上提高了近三层，使用寿命从7000小时到1万小时微型系列齿形介绍新型的“s ”齿形提高了齿轮啮合的区域。

传统齿形啮合区大约只占齿的15%，然而这种新型的齿形啮合区能达到齿的30%，提升了近一倍，从而使得扭转刚度在低速和中速范围增加。

新齿形也增大了齿根半径，这可以提高其抗压和承载能力。

另外增大啮合区可以使得激波器承载更加平稳，这可以使齿轮平均寿命挺高一倍。

系统组成柔轮是一个比定轮直径稍小的柔性外齿轮杯形柱状体，它和椭圆型的波形发生器进行配合并安装。

波形发生器使一个薄的滚珠轴承安装在一个椭圆的柱塞上，起到高效传递扭矩的作用定轮使一个刚性的内齿环状体，通过波形发生器转动和柔轮相互作用减数比六个公式1刚轮固定，波形发生器作为输入，柔轮作为输出ratio=-R/1(反转，有较高的减数比) 2刚轮固定，柔轮作为输入，波形发生器作为输出ratio=-1/R(反转，有较高的增数比) 3柔轮固定，波形发生器作为输入，刚轮作为输出ratio=R+1/1（正转，较高的减数比） 4柔轮固定，刚轮作为输入，波形发生器作为输出ratio=R+1/1（正转，较高的增数比） 5波形发生器固定，柔轮作为输入，刚轮作为输出ratio=R+1/R(正转)6波形发生器固定，刚轮作为输入，柔轮作为输出ratio=R/R+1(正转)7都不固定，以上情况的混合，较为复杂相关参数的定义1额定扭矩，即在2000rpm 的输入的速度下允许的稳定的负载扭矩2极限惯性峰值扭矩，即在谐波齿轮加速或者减速时的惯性峰值扭矩3极限平均扭矩，即当载荷或者速度改变时的平均扭矩。

在平均扭矩必须要小于该值4极限瞬时峰值扭矩，当碰撞或者紧急刹车时出现的瞬时峰值扭矩。

谐波减速器节圆直径

谐波减速器节圆直径摘要：一、谐波减速器简介二、谐波减速器的主要构成部分三、谐波减速器的变速原理四、谐波减速器的应用领域五、谐波减速器节圆直径的含义与重要性正文：一、谐波减速器简介谐波减速器，又称谐波齿轮传动装置，起源于1955年由美国发明家C.W.Musser发明。

在我国，谐波减速器在1970年得到了东京的HarmonicDrive（哈默纳克）公司的进一步发展，该公司目前已成为全球最大的谐波减速器技术和生产商。

谐波减速器既可用于减速，也可用于加速，尤其在我国的工业机器人领域应用广泛。

二、谐波减速器的主要构成部分谐波减速器主要由三部分构成：刚轮、柔轮和谐波发生器。

刚轮是一个刚性的内齿圈，柔轮则类似于一个轮毂特别窄的齿轮，齿数比刚轮少（一般是2或者4个齿），具有较大的柔度。

谐波发生器则类似于一个焦距适当小的椭圆凸轮，嵌在滚珠轴承里。

三、谐波减速器的变速原理谐波减速器的变速原理源于其特殊的结构。

想象一下初学者玩呼啦圈的场景，当呼啦圈转得很快，转的人会磕磕绊绊地缓慢反转以至于摔倒。

在谐波减速器中，刚轮、柔轮和谐波发生器三者都可以作为输入或输出。

由于柔轮齿数比刚轮少，且柔轮与刚轮的啮合关系，会产生差速。

根据不同的部件作为输入和输出，减速比会有极大的差距。

四、谐波减速器的应用领域谐波减速器因其高传动比、高精度、高刚性等特点，在工业机器人、航空航天、精密仪器等领域有着广泛的应用。

五、谐波减速器节圆直径的含义与重要性节圆直径是谐波减速器的一个重要参数，它影响了谐波减速器的传动比、承载能力和刚度等性能。

节圆直径越大，传动比越小，承载能力越大，但刚度也会相应降低。

因此，在选择谐波减速器时，根据实际应用需求选择合适的节圆直径至关重要。

总的来说，谐波减速器以其独特的结构和优良的性能，在各种领域都有着广泛的应用。

谐波减速器作用

谐波减速器作用谐波减速器是一种常见的机械传动装置，它具有紧凑结构、高传动精度和大扭矩输出等特点，在工业生产中起到了重要作用。

本文将从谐波减速器的工作原理、结构特点以及应用领域等方面进行介绍。

一、工作原理谐波减速器主要由柔性齿轮和刚性齿轮组成。

当输入轴旋转时，柔性齿轮通过弹性变形使传动齿轮产生相对运动，从而实现减速效果。

其工作原理类似于人体骨骼系统中的肌肉和骨骼之间的协调配合，通过柔性元件的变形来传递力量和运动。

二、结构特点1. 紧凑结构：谐波减速器的结构设计非常紧凑，体积小、重量轻，可以在有限的空间内实现大扭矩输出。

2. 高精度：谐波减速器的传动精度非常高，一般可以达到0.1弧分左右，适用于对传动精度要求较高的场合。

3. 大扭矩输出：谐波减速器的输出扭矩较大，可以满足不同工况下的需求。

4. 高效率：谐波减速器的传动效率较高，一般可以达到90%以上。

5. 可逆性：谐波减速器具有可逆性，即可以实现正反转。

三、应用领域由于谐波减速器具有结构紧凑、传动精度高等特点，因此广泛应用于各个领域。

以下是谐波减速器的几个典型应用领域：1. 机床行业：谐波减速器常用于数控机床、雕铣机、切割机等设备中，可以提高设备的精度和稳定性。

2. 机器人领域：谐波减速器广泛应用于工业机器人、服务机器人等领域，可以实现机器人的精确定位和灵活运动。

3. 包装设备：在包装设备中，谐波减速器可以提高包装速度和精度，提高生产效率。

4. 自动化生产线：谐波减速器可以应用于各种自动化生产线中，实现传动和定位控制。

5. 太阳能发电：谐波减速器可以用于太阳能跟踪系统中，帮助太阳能板实现精确跟踪，提高能量转换效率。

谐波减速器作为一种重要的机械传动装置，在工业生产中发挥着重要作用。

其紧凑的结构、高传动精度和大扭矩输出等特点，使其广泛应用于机床行业、机器人领域、包装设备、自动化生产线以及太阳能发电等领域。

未来随着技术的不断发展，谐波减速器在更多领域将发挥更大的作用，为生产和生活带来更多便利和效益。

谐波减速器特点

谐波减速器特点谐波减速器是一种常用于机械传动中的减速机械，其优点是拥有高效率、高精度、低噪音、小体积、轻重量等优点。

它的结构独特，是基于谐波现象进行设计的，由于其独特的结构和工作原理，它的特点有很多，下面我们来一一介绍。

一、高传动精度谐波减速器采用谐波驱动技术，有极高的传动精度。

其高传动精度是由于谐波齿轮和柔性齿轮的精度，以及其他传动部件的精度共同作用而得到的。

在接受传动的同时，谐波减速器能够保证传动的运动精度，以满足高精度、高要求的传动需求。

二、高传动效率谐波减速器的高传动效率是因为采用了多齿同步传动来实现，其传动效率高达96%以上，较高于其他传动装置。

谐波减速器在传递动力时，不会有一个方向转动的损失，因此具有高效率的传动特性，这也是谐波减速器被广泛应用的重要原因之一。

三、低倒回间隙倒回间隙是指在减速器的物理结构中，齿轮或其他传动部件之间垂直方向上发生的空隙，如果这个空隙过大，将可能会影响传动精度，导致不稳定性和噪音等问题。

谐波减速器的结构设计为多齿轮传动结构，减小了传动部件之间的倒回间隙,提高了传动精度和稳定性，降低了噪音。

四、小体积、轻重量谐波减速器主要采用柔性齿轮传动，其与其他减速装置相比，具有较小的体积和重量。

柔性齿轮的特点是，这种齿轮可以根据负载的变化，自适应地变形，使得谐波减速器在外形和重量上均具有优势。

因此，在很多场合下，谐波减速器得到了广泛应用。

五、噪音小谐波减速器具有精度高、齿隙小等特点，所以它的工作噪音非常小。

由于其各种类型的轴承、齿轮、减速机、气动元件等各种元件均可实现高精度、低振动和低噪声的传动，因此在减速、精度、噪声等方面均表现出非常清新透明的工作状况，使得工业生产变得更为稳定和可靠。

六、容易维护谐波减速器的结构和工作原理比较简单，因此，它的维护非常容易。

一般通过及时清理齿轮表面的灰尘和污垢，检查各个部件的磨损程度以及润滑油的情况，就可以维持谐波减速器良好的工作状态。

谐波齿轮减速器选型资料

FeaturesStructureOperating PrincipleTooth behavior and engagement360°One Turn of Wave Generator90°Wave GeneratorStructure of Harmonic Drive Unit (Component Type)Driven by a unique operating principle applying elastodynamics of metals and comprising of only threebasic parts (Wave generator, Flexspline and Circular spline),Harmonic Drive products reveal excellent features not found in other speed reducers.High positioning accuracy, High repeatability Compactness, Light weight, High reduction ratio,High torque capacity, Non-backlash, High efficiency, Quiet operationThe Wave Generator is a thin raced ball bearing fitted onto anelliptical hub serving as a high efficiency torque converter andgenerally mounted onto the input shaft.FlexsplineThe Flexspline is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diameter than the Circular Spline.It fits over and is held in an elliptical shape by theWave Generator.Circular SplineThe Circular Spline is a rigid ring with internal teeth, engaging theteeth of the Flexspline across the major axis of the Wave Generator.The Circular Spline has two more teeth thanthe Flexspline and is generally mounted onto a housing.Unlike motions of ordinary gearing, the unique tooth behavior(operating principle) of harmonic drive gearing achieved non-backlashmotion, infinitesimal angular feeding (one-pulse feeding) and highpositioning repeatability. More than 30% of all teeth simultaneouslyengages in two locations in 180°symmetry, thereby allowing high torquecapabillity.0°Circular SplineWave Generato rFlexsplineThe Flexspline is slightly smaller in diameterthan the Circular Spline and usually has twofewer teeth than the Circular Spline. Theelliptical shape of the Wave Generator causesthe teeth of the Flexspline to engage theCircular Spline at two opposite regionsacross the major axis of the ellipse.As the Wave Generator rotates, the zone where the teeth of the Flexspline engages those of the Circular major elliptical axis. For each 180 clockwise movement of the Wave Generator, the Flexspline moves counterclockwise by one teeth relative to the Circular Splin.Each complete clockwise rotation of the Wave Generator results in the Flexspline moving counter-clockwise by two teeth from its original position relative to the Circulr Splineular.Circular SplineHarmonic Drive GearingFlexsplineWave Generator Circular SplineProduct GroupHarmonicDrive PrecisionControl Speed ReducersHarmonic Drive GearingSpeed ReducersDrive System Component / Cup TypeSeriesCSF-GHFDCSGCSDCSFSHGSHFHDUFHDURCSG-2UHCSG-2UHSHG-2UHSHF-2UHSHG-2UJSHG-2UJCSF-1USHG-2SHSHG-2SHSHG-2SOSHF-2SOSHD-2SHHigh-torque TypeSuper Flat TypeStandard TypeHigh-torque TypeStandard TypeStandard TypeStandard TypeSmall and Medium-capacity TypeSmall Capacity TypeGear Head TypeHigh-torque TypeStandard TypeHigh-Torque Hollow Shaft TypeHollow Shaft TypeHigh-Torque Shaft Input TypeShaft Input TypeCompact Double Shaft TypeUnit TypeHigh-torque Hollow Shaft TypeFlat Hollow Shaft TypeHigh-torque Flat TypeFlat TypeSuper Flat Hollow Shaft TypeSimple Unit TypeStandard TypePhase Adjustment UnitProduct LineupCup TypeSilk Hat TypePancake Type★★★★★★★★★★★★★★22★★★18~26001/50~1/16030~5000★★★★★★★★★ ★21★30~40001/50~1/320Product Feature★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★10111213142121★★★★★★★★★★★★★★★23~340012~8201.8~920023~34009.0~8007.8~3309.8~40001/50~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/50~1/320★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★———★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★15161718171819★★★★★★★★★★★★★★★★★23~34009.0~260023~34009.0~180023~34009.0~18000.5~281/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/1601/30~1/1601/30~1/100★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★——★★★★★★★★★★★★★★★★★★★★★★★★★1817181720★★★★★★★★★★★★★23~34009.0~180023~34009.0~180012~4501/50~1/1601/30~1/1601/50~1/1601/30~1/1601/50~1/160VariationMoment Stiffness Positioning Accuracy Lightweight Compactness Backlash Page inCatalogVariationTorque-weight Ratio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalogCustomizing Peak Torque (Nm)Reduction Ratio Variation Torque-weightRatio Moment Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalog Customizing Peak Torque (Nm)Reduction RatioPeak Torque (Nm)Reduction Ratio Motor Capacity (W)Ease of Mounting Life Variation Torque-weightRatio Moment Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page inCatalog Customizing Peak Torque (Nm)Reduction RatioVariation Torque-weightRatio Torsional Stiffness Positioning Accuracy Lightweight Flat Shape HollowStructure Life Page in CatalogCustomizing Peak Torque (Nm)Reduction RatioOpticalGalvano Scanners Servo Drivers ControlSystems Rotary Systems Direct Transmission Systems Actuators Sensors LSARP-BRHFHA -Cmini FHA-C RSF•RKFLBC LA LAH -46LNPLAH -80High Accuracy, High Response Position and Speed ControlWith Shaft Control FunctionFor Position Control Only For Position Control OnlyFor AC Servomotors For DC Servomotors Compact Cylinder Type Stepping Motors Compact Cylinder Type DC Servomotors Compact Hollow Shaft Flat TypeHollow Shaft Flat TypeCompact Cylinder Type AC Servomotors AC ServomotorsDC Servomotors Stepping Motors High-thrust Positioning Type Low-thrust Positioning TypeMedium-thrust Positioning TypeLow-thrust Positioning Type High-thrust Positioning TypeHigh-Resolution Absolute Angle Detection Super-compact Encoders, Micro Encoders MIT SeriesMicro EncoderHA -655 Series HA -675 Series HA -520 SeriesHS -360 Series SeriesProduct Group★★★★★★★★★★★★★★★★★31★★★1.8~8.50.0082~0.05CE,ULCE,UL ★★★★★★★★★★★★★★★★★★★34343434★★★★★★★★29★★8.3~5435~70280.39~20180~50★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★252627★★★★★★★★1.8~2839~6901.5~330200~6096~3530~60 ★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★★3030303030★★★★★★★★★★6000~120004939210kg30006000~12000493921.5300010~200.9~100.9~1013~150.9~10★★★★★★★★★★★★★★★★★3233★★★★★★★★★The combinations with actuator and driver may not fully be complied with foreign safety standards. Please contact our sales office.★★★★★★★★★★★★★Maximum Driving Force (N)Maximum Speed (mm/s)Stroke (mm)Peak Torque (Nm)Maximum Speed (rpm)Peak Torque (Nm)Maximum Speed (rpm)VariationRepeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness Lightweight Page in CatalogVariationRepeatability Resolution Stiffness Compactness Lightweight Page in Catalog Repeatability Linearity Stiffness Servo Performance Drift Characteristic Compactness Lightweight Moment of Inertia (g •cm)Torque Constant (N •m/A)Page in CatalogRobustness Super Long Life Resolution Compactness Lightweight Compatibility toHost Computer Absolute Detection System Incremental System Page inCatalogVariationPage in Catalog Repeatability Resolution Moment Stiffness Servo Performance Hollow Structure ThinnessLightweight Compactness Page in CatalogInterface to Absolute Interface to Incremental International Safety Standard Functional Versatility Display Function Valve Position Command Analog Speed Command Mono-shaft Control (Command)Compactness Peak Torque (Nm)Maximum Speed (rpm)VariationPage in Catalog Repeatability Resolution Moment Stiffness Servo Performance Hollow Structure Thinness Lightweight CompactnessHarmonic Drive Gearing CSG (P10)CSD (P11)CSF (P12)SHF (P14)SHG (P13)HDUF (P21)HDUR (P21)CSG-2UH (P15)CSF-2UH (P16)SHF-2UH (P18)SHG-2UH (P17)CSF-1U (P19)SHD-2SH (P20)CSF-GH (P24)HPG (P25)Gear Head TypeHDB (P22)HDT (P23)Inﬁ nit-Indexer (P26)Rotary Servo ActuatorsFHA-C mini (P27)FHA-C (P28)RSF (P30)RHS-25 (P32)RFS-25 (P32)RH (P30)LBC (P36)LA (P36)LAH-46 (P36)LAH-80 (P36)LNP (P36)Optical Galvano Scanners SensorsLSA (P37)MIT (P38)Micro Encoder (P39)Servo DriversHA-655 HA-675 (P40)HA-520 (P40)HS-360 (P40)Powerhub (P29)HHA Chamberlink™ (P33)LPA (P34)• Compact and simple design • High torque capacity • High stiffness • Non-backlash • High positioning and rotational accuracies To realize a high load capacity and high reliability, the torque capacity has been increased by 30%. Units that allow easy mounting are also available. (See page 15.)Li f e : 10,000hPermissible Maximum Momentary T orque Average Ratcheting T orque Permissible Peak T orque Rated T orque Life (Hours)CSG Series Component/Cup Type - High-torque Type Speed reducer• Super thin• Hollow structure• High repeatabilityResponding to the market needs, seven models of the new Harmonic Drive CSDseries have been succeeded in downsizing.The CSD series is designed for applications requiring ultra compact size.L i f e : 7,000hH a r m o n i c D r i v e G e a r i n g C S D S e r i e s •CSD Series RatingsCSD SeriesComponent/Cup Type - Super Flat Type Speed reducer Ha r m o n i c D r i v e G e a r i n g C S D S e r i e s•CSF Series Ratings• Compact• High torque capacity• High stiffness• Non-backlash• High positioning and rotational accuracies• Coaxial input and outputFor downsizing purpose, the axial length has been reduced to aboutone half. Units that allow easy mounting are also available. (See page 16.)L i f e: 7,000hCSF SeriesComponent/Cup Type - Standard Type Speed reducer•Permissible Maximum Momentary Torque Average Ratcheting Torque Permissible Peak Torque Rated Torque Life (Hours)• Large bore with hollow hole, flat shape• Non-backlash• Excellent positioning and rotational accuracies• Coaxial input and output shaft• Compact and simple design• High torque capacity• High stiffnessTo realize a high load capacity and high reliability, the torquecapacity has been increasedL i f e : 10,000hSHG SeriesComponent/Silk Hat Type - High-torque Type Speed reducer Ha r m o n i c D r i v e S H G G e a r i n g S e r i e s•SHF Series RatingsPlease contact Harmonic Drive LLCfor a detailed catalog of this product.• Large bore with hollow hole, flat shape • Compact and simple design • Non-backlash • High torque capacity • High positioning and rotational accuracies • High stiffness • Coaxial input and output shaft To minimize the space of machines and systems and for a total cost reduction, the SHF series has achieved a large bore with hollow hole and flat shape. Units thatallow easy mounting are also available. (See page 18.)L i f e : 7,000hSHF SeriesComponent/Silk Hat Type - Standard Type Speed reducer•CSG Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.• The moment stiffnesses are mean values.•Cross Roller Bearing SpecificationPlease contact Harmonic Drive LLC for a detailed catalog of this product.• High torque capacity• High stiffness • Compact and simple design• Non-backlash• High positioning and rotational accuracies • Coaxial input and outputTo realize of a high load capacity and high reliability, the torque capacity hasbeen increased by 30%.L i f e : 10,000hCSG SeriesUnit/High-torque Type Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F S e r i e s• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load”is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.• The moment stiffnesses are mean values.L i f e : 7,000hTo meet with minimum space requirement, the axial length has been reduced to about one half.• Compact and simple design • High torque capacity • High stiffness• Non-backlash• High positioning and rotational accuracies• Coaxial input and output CSF Series Unit/Standard Type Speed reducer• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (408kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.To realize a high load capacity and high reliability, the torque capacity has beenincreased by 30%.• Large bore with hollow hole, flat shape• Non-backlash• High positioning and rotational accuracies• Coaxial input and output• Compact and simple design• High torque capacity• High stiffnessL i f e : 10,000hSHG SeriesUnit/High-torque Hollow Shaft, High-torque Shaft Input Types Simple Unit/High-torque Flat, Hollow, High-torque Flat TypesSHG-2UH Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F S e r i e s•SHF Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load” is a static load that achieves a contact stress of a constant level (408kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.•Cross Roller Bearing SpecificationTo minimize space for machines and systems and a total cost reduction,the SHF series has achieved a large bore with hollow hole and flat shape.• Large bore with hollow hole, flat shape • Non-backlash• High positioning and rotational accuracies• Coaxial input and output• Compact and simple design• High torque capacity • High stiffness L i f e : 7,000hSHF Series Unit/Hollow Shaft, Shaft Input Types Simple Unit/Flat-hollow, Flat Types Speed reducerTo realize a minimum space requirement, the axial length has been reduced to about one half.Four compact models are available in this mini series.• Non-backlash, high positioning and rotational accuracies• Compact, lightweight, high torque capacity• High load capacity• Compact 4-point contact ball bearing mounted in main shaft• Versatile reduction ratio range and shapes to meet with various applicationsL i f e : 7,000h CSF mini SeriesUnit/Compact Double Shaft Type Gear Head Type/Small Capacity TypeCSF-1U CSF-2XH Speed reducer Ha r m o n i c D r i v e G e a r i n g C S F m i n i S e r i e s•SHD Series Ratings• “Basic dynamic rated load” is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.“Basic static rated load”is a static load that achieves a contact stress of a constant level (4kN/mm 2) at the center of a contact zone between the rolling element receiving a maximum load and track.•Cross Roller Bearing SpecificationA simple unit type comprised of a cross roller bearing of high moment stiffness on the output side. Six models are available in the series.• Super flat shape • Hollow structure • High positioning accuracyL i f e : 7,000hSHD Series Simple Unit/Super Flat, Hollow Type Speed reducer•HUUF , HDUR Series RatingsHDUF HDUR Component/Pan Cake Standard Type • Unit/Phase Adjusting Unit Standard Type The HDUF and HDUR series are designed ﬂ at and thin as a component tobe installed in a customer-supplied assembly.L i f e :3,000hSpeed reducer Ha r m o n i c D r i v e G e a r i n g H D U F , H D U R S e r i e s HDUF and HDUR Series• The HDB series achieves a 1:1 gear ratio• Precise phasing between input and output is achieved• HDB Series RatingsHDB Series• Zero backlash• Precise positional accuracy• Large center through hole• High ratio• High torque• ± 5 arc second repeatability• HDT Series RatingsHDT SeriesHa r m o n i c D r i v e G e a r i n g H D TThis quick connect design allows easy installation and mounting of a wide variety of servo motors.• Easy mounting with servomotors manufactured by various manufacturers • Versatile variation • Excellent sealed structure • Non-backlash • High moment capacity L i f e : 7,000hCSF-GH Series High-performance Gear Head/Small- and Medium-capacity Motor Type for Servomotors The CSF-GH series is designed to mount to a range of servo motors with output powerranging from 30W to 5000W.Speed reducer• Highly accurate Planetary gearhead• Short delivery (Some models can be delivered in one week)• High torque capacity• High moment capacity• Easy mounting with servomotors manufactured by variousmanufacturers• Low backlash: Less than 3 arc min (less than 1 minute option)• High efficiency, 90% or higher. (85% only for Model 14)• Excellent sealed structure• Double shaft type as new modelL i f e: 20,000hHPG SeriesHigh-performance Gear Head Type/Small-and Medium-capacity Motors for ServomotorsThe HPG series is designed to mount to a range of servo motors with output power ranging from30W to 5000W.Speed reducerHarmonicPlanetaryHPGSeriesSpeed reducer •3 Models, 6 Bore Sizes Available From StockInputOutputTo operate, hand rotate the adjusting ring in eitherdirection to produce a 100:1 reduction between the ringand the output. Adjust the friction adjustment/lockingscrew to desired resistance. For some applications,one djustment will be sufﬁ cient for both shaft turningand phase adjusting modes. For more severe loading,such as hard stopping or higher torques, the frictionadjustment/locking screw may be used to lock theadjusting ring in place to maintain phase.• Fine tune rotational position of shafts and machine parts• Phase cams• Adjust roll registration• Take up backlash in spur and worm gears• Synchronize indexing devicesInﬁ nit-Indexers® are available from immediately from stock in the standard bore sizes shown,with keyways and set screws, and tapped holes for face mounting of either hub. It is possiblefor the user to modify these conﬁ gurations by disassembling the unit. The hub material islow carbon mild steel suitable for each size are shown in notes to the dimensional drawings.Additional sizes and conﬁ gurations are available by special order.IN-LINE SHAFT IN-LINE SHAFT CONCENTRIC SHAFTFlexible CouplingsAdapterInﬁ nit-Indexer® Phase AdjusterHDI Size L DIM-10 1.09-25 1.34-50 1.43•FHA-C mini Series Ratings• 1 The figures in the table are those at the output shaft.• 2 The figures are measured when combined with an HA-655 servo driver.• 3 The figures are typical values.• 4 The quad encoder resolution is obtained by the formula (motor encoder resolution) x4 x (reduction ratio)This series servo actuators are comprised of harmonic drive components for precise motioncontrol and super-flat AC servo motors. The body width is less than half of old models andhas a large through hole in the center of the shaft through which electric cables, air pipe,and even laser beam can be passed through this through hole to simplify the entirestructure of the machine and system.The FHA-mini series is designed to operate with a wide range of third-party drivers, as wellas Harmonic Drive LLC’s HA655 and HA675 drivers.FHA-C mini SeriesAC Servo Actuators Actuators AC S e r v o A c t u a t o r F H A -C m i n i S e r i e s•• 1 The figures in the table are those at the output shaft.• 2 The figures are measured when combined with an HA-655 servo driver.• 3 The figures are typical values.• 4 The quad encoder resolution is obtained by the formula (motor encoder resolution) x4 x (reduction ratio)This series servo actuators are comprised of Harmonic drive components for precise motion control and super-flat AC servo motors. The body width is less than half of old models and has a large through hole in the center of the shaft through which electric cables, air pipes, and even laser beam can be passed through this through hole to simplify the entire structure of the machine and system.The FHA-C series is designed to operate with a wide range of third party drivers as well as Harmonic Drive LLC’s HA655 and HA675 drivers.FHA-C Series AC Servo Actuators Actuatos•Speciﬁ cationsBeneﬁ ts of the PowerHub include:• High torque• Positional accuracy• Fast response• Smooth, repeatable performance• More compact than competitive products• Handles large thrust and moment loadsActuatorsPowerHub™Po w e r H u b ™ H a r m o n i c D r i v e S e r v o A c t u a t o rAC Servo Actuators The AC servo actuators in the RSF series are comprised of Harmonic drive component for precise motion control and an AC servomotor, featuring a high torque, high rotational accuracy in compact design. The RSF series AC servo actuators are best suited as positioning drive for machines and systems that require downsizing.•RSF Series RatingsNote 1: The table shows typical output values of actuators.Note 2: the values in the table above are obtained when it is combined with the combined driver (HA-680-4B-24).Note 3: All values are typical.Note 4: T he moment of inertia is the total value of the motor shaft and Harmonic Drive moment of inertia values converted to the output side.The values in parentheses are for equipment with a brake.Note 5: The encoder resolution is (motor shaft encoder resolution when multiplied by 4) x (gear ratio).RSF Series Actuatos•RH Series RatingsThe DC servo actuator RH series are comprised of Harmonic drive componentfor precision motion control and a DC servomotor, featuring a high torque,high rotational accuracy in compact design compactness. The RH series DCservo actuators are best suited as positioning drive sources for machines andsystems that require downsizing.RH SeriesDC Servo ActuatorsDrawings (DXF) can be downloaded from our home page. URL: DC S e r v o A c t u a t o r R H S e r i e sPlease Note:1) The values are for saturated actuator temperature. Other values are for actuator temperature of 20˚C.2) Maximum allowable values. Under no circumstances may these limits be exceeded.3) Cantilevered load applied at the midpoint of the shaft extension.•RHS/RFS Series DC Servo ActuatorsRHS-25RFS-25• Small, lightweight, and high-torque• Standard lineup of actuators with a brake • Superior positioning precision • Stable controllabilityRHS/RFS Series• Precise positional accuracy• No rotary seals required• Motor removable allowing bake out• Integral feedthrough to vacuum•SpeciﬁcationsHHA Chamberlink ®V ac u u m F e ed t h r o u g h Se r v o A c t u a t o r• Less than 1 arc minute positional accuracy• Compact design• Axial length of less than 2.6 inches• Integral high performance brushless servo motor• Double row angular contact output bearings• High axial and moment loads• Superior torque to weight ratio• Adaptable to most controllers• Low vibration• High overhung loadPlease contact factory with more information.•LPA• 1 Varies with the reduction ratio of the Harmonic Drive incorporated in the actuator.• Use the Suruga Seiki Co.,LTD. Micro Module PG Series product for the table.The adopting high precision screw have realized high positioning accuacy to the micron and sub-micron order required in measuring instruments, test and inspection systems, optical equipment, semiconductor and liquid crystal manufacturing equipment.LBC, LA•LAH and LNP Series Precision Linear Actuators LA LNPDrawings (DXF) can be downloaded from our home page. URL: ActuatosOptical Scanners•LSA Series Ratings• 1: All angles are mechanical angles.• 2: Values are at combination with a standard Harmonic driverThe Galvano optical scanner LSA series for high-response andhigh-accuracy optical scanning are comprised of an uniquecompact motor and optical sensor. The combination with adedicated driver allows continuous scanning, random access andother optimal scanning in accordance with command signals.Galvano Optical Scanners LSA SeriesGa l v a n o m e t e r S c a n n e r s L S A S e r i e s•MIT Series RatingsThe MIT series are robust angle detection systems of amagnetic-induction type that can detect an absolute angle. The sensor output signals can be easily connected to a personal computer by a signal conversion circuit of PCI- or ISA-bus compatible.MIT SeriesSignal Converter Circuit• 1: “Windows” is a registered trademark of Microsoft Corp. of the United States.Drawings (DXF) can be downloaded from our home page. URL: •Micro Encoder Series RatingsThe micro encoder series are incremental encoders with the world’s smallestresolution enabling a function for output of three short waves (wavelengths).Micro Encoder SeriesPlease contact Harmonic Drive LLCfor a detailed catalog of this product.Mi c r o E n c o d e r S e r i e sServo Drivers•Servo Driver SpecificationsHA-655 SeriesAC Servo Digital Drivers HA-655 SeriesHA-520 SeriesHA-675 SeriesHS-360 Series DC Servo Drivers HS-360 Series•Combinations with Actuator and DriverRotary ActuatorsGalvano Optical ScannerCombinations with DriverDriverHarmonic Drive LLCw w w.H a r m o n i c D r i v e.n e t • 800-921-333241S e r v o D r i v e rIndustrial robots Amusement robotsRobot peripheral equipmentIndirect drive Hand driveTraveling shaft drive Indexing table Peripheral equipmentIndirect drive Hand drive Vision sensor drive Torque sensing driveTool revolver drive Tool changer drive Tool magazine drive Work positioning equipment Rotary table driveTool positioning equipment driveDirect transmission shaft drive Shaft driveMachining centers Turning centers NC lathesWork transfer systems Grinders EDM systemsBending machines Rolling machines PressesWork transfer systemsBent work driveWork positioning machine driveWork reversing machinePrinting presses Folding machines Paper changing machines Paper positioning machines Paper machinesTension controllers Cutting blade positioning machinesPhase adjusting machines Paper surface/back controlling machineRoller position adjusting machinesRoller height adjustmentHumanoid RobotsRobotsHumanoid RobotsMetal Machine ToolsMetal Working MachinesPrinting, Bookbinding and Paper Processing MachinesApplicationsCSG CSD CSF SHG SHF SHD HPG HP-FCSG CSD CSF SHG SHF SHD HPGFHA-C RSF Micro EncoderCSG CSF SHG SHF HPG FHA-C RSF LAHSHG SHF HPG FHA-C RSF LSACSG CSF SHG SHF FB FR FD HPGFHA-C MITMicro Encoder。

谐波减速器[实用新型专利]

专利名称：谐波减速器
专利类型：实用新型专利
发明人：文涛,汤秀清
申请号：CN201721652080.4申请日：20171201
公开号：CN207648083U
公开日：
20180724
专利内容由知识产权出版社提供
摘要：本实用新型公开了一种谐波减速器，包括刚轮、柔轮、钢珠套、柔性轴承及凸轮，刚轮包括内齿，柔轮包括外齿，钢珠套包括保持架及若干滚珠，滚珠转动安装于保持架，滚珠凸出于保持架，凸轮呈椭圆状；凸轮过盈配合于柔性轴承，滚珠两端分别抵触于柔轮和柔性轴承以减小摩擦，刚轮与柔轮啮合传动。

柔性轴承则通过钢珠套与柔轮的内壁进行配合，在运动过程中由滑动摩擦变为滚动摩擦，减少功耗，传动效率增加。

同时，对柔轮内壁的光洁度要求降低，从而减少生产成本。

申请人：广州市昊志机电股份有限公司
地址：510000 广东省广州市广州经济技术开发区永和经济区江东街6号
国籍：CN
代理机构：广州市越秀区哲力专利商标事务所(普通合伙)
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谐波齿轮减速机装置的工作原理及其特点是什么？

谐波齿轮减速机装置的工作原理及其特点是什么？谐波减速器的传动装置主要由三个主要部件组成，即波发生器、柔性轮和刚性轮。

波发生器由一个柔性轴承和一个摄像机组成。

然后，波发生器通常安装在减速器输入端，柔性轴承内圈连接到相机。

柔性轮是柔性弹性体的一部分，通常安装在减速器的输出部分。

刚性轮是内齿轮箱的刚性环部件，通常比柔性轮多两个大齿，通常在减速器上。

谐波齿轮减速装置的工作原理及其特点是什么?1：谐波减速原理作为减速器，谐波减速通常使用波发生器主动、刚性车轮夹紧和柔性车轮输出来完成减速工作。

当波发生器进入柔轮时，柔轮变为椭圆形，长轴柔轮齿及时插入刚性齿轮箱以完成网络状态。

此时，两个齿轮完全不接触他的轴，处于悬挂状态。

从参与到分离的过程是一种参与或介入。

当波浪发生器连续运行和旋转时，它迫使柔轮不断变形和恢复，从而使两个齿不断地结合、结合、分离等工作状态，从而产生连续的交错齿运动，从而实现主动波浪发生器的运动。

谐波驱动2：协调的驱动特性它的第一个特点是相对较高的精度。

在多个齿轮箱的操作条件下，应在两个对称位置进行180度啮合。

因此，变速器抓取误差对旋转水平的影响相对平均，这可以实其次，传动比非常高。

一般情况下，单级谐波齿轮传动的传动比可以达到30-500，结构相对简单。

三个组件可以实现快速工作。

第三，负载能力相对较高。

在谐波减速器的传动过程中，齿与表面之间存在网络，而不是点接触。

此外，净齿数越多，单位面积的力越低，承载能力也高于其他传动系数。

第四，它是一个小而轻的重量。

小型化和大规模生产比传统变速器更容易实现。

高精度也使得影响小，因此传输效率高，使用寿命相对较长。

谐波传动减速器

谐波传动减速器引言谐波传动减速器是一种高精度、大扭矩的传动装置，常用于机械设备中的减速装置。

它通过谐波运动的原理，将输入轴的转速转化为输出轴的低速高扭矩运动。

本文将介绍谐波传动减速器的原理、结构和应用领域。

原理谐波传动减速器采用了谐波变速原理，其基本结构由柔性齿轮组、驱动轴、输出轴和外壳组成。

输入轴通过柔性齿轮组和驱动轴之间的摩擦力将动力传递给输出轴，实现减速传动效果。

谐波变速原理是利用了波动齿轮的弯曲變形而产生差动效应，在输入轴上所激起的一个振动波与柔性齿轮传到输出轴时，就会产生相位差，从而导致输出轴产生旋转差异。

谐波传动减速器通过这种差动效应，实现了减速传动的目的。

结构谐波传动减速器的结构由以下几个部分组成：1.输入轴：负责接收动力并将其传递给柔性齿轮组；2.柔性齿轮组：由柔性齿轮和波形发生器组成，负责将输入轴传来的动力转化为波动齿轮的运动；3.驱动轴：连接输出轴和柔性齿轮组，通过与柔性齿轮间的摩擦力将动力传递给输出轴；4.输出轴：接受驱动轴传来的动力，并输出减速后的运动。

谐波传动减速器的结构紧凑，可以实现高精度和大扭矩的传动效果。

应用领域谐波传动减速器由于其独特的结构和优良的性能，在许多领域得到了广泛的应用。

以下是谐波传动减速器的一些应用领域：1.机床行业：谐波传动减速器常用于数控机床的主轴和进给轴的传动系统中，可以提供高精度和高扭矩的运动控制；2.机器人领域：谐波传动减速器用于机器人的关节传动系统，可以提供精确的位置控制和高负载承载能力；3.包装机械：谐波传动减速器可以用于包装机械的输送和定位系统，实现高速稳定的运动传输；4.自动化设备：谐波传动减速器在自动化设备中的应用越来越广泛，可以实现高精度和高可靠性的运动控制；5.石油化工：谐波传动减速器可以用于石油化工设备的传动系统，提供可靠的扭矩输出和长时间连续运行。

优点和局限性谐波传动减速器具有以下优点：1.高精度：谐波传动减速器可以实现高精度的运动控制，输出轴的转矩和角位移精度高；2.大扭矩：谐波传动减速器的扭矩输出能力强，可实现大扭矩传输；3.结构紧凑：谐波传动减速器的设计结构紧凑，可以节省空间；4.反向传动：谐波传动减速器具有双向传动功能，可以实现正转和反转运动。

谐波减速器原理

谐波减速器原理
谐波减速器是一种高精度、高传动比的速度减小装置。

其工作原理基于波波轮原理，通过引入谐波振动，将输入轴的旋转运动转变成输出轴的减速运动。

谐波减速器主要由输入轴、输出轴、波波轮和柔性齿轮组成。

输入轴将动力输入到波波轮上，导致波波轮振动。

波波轮由内部齿片和柔性齿轮组成，当波波轮振动时，内部齿片与柔性齿轮之间会产生挤压和滑动摩擦，从而实现输入轴与输出轴之间的减速传动。

具体来说，波波轮上的内部齿片称为波形发生器，它的齿数要比输入轴和输出轴上的齿数少。

当输入轴带动波波轮旋转时，波形发生器上的齿与柔性齿轮上的齿会发生摩擦，将输入轴的运动转换为波波轮的振动。

随着输入轴的旋转，波波轮会以一定的相位差和特定的形状振动，从而引起柔性齿轮上的弹性变形。

柔性齿轮上的齿数较多，与波形发生器的少齿相匹配，这就使得输出轴的旋转速度比输入轴减小。

谐波减速器通过控制波波轮和柔性齿轮的几何形状、齿数和应力分布等参数，实现不同的传动比。

同时，波波轮和柔性齿轮之间的挤压和滑动摩擦还能消除间隙和提高系统的刚度和精度。

总而言之，谐波减速器利用波波轮的振动和柔性齿轮的变形实现速度减小的传动，它具有结构简单、传动效率高和传动精度高等优点，在机械制造和自动化控制领域广泛应用。

一种新型的谐波齿轮减速器

一种新型的谐波齿轮减速器
董玲生
【期刊名称】《雷达与对抗》
【年(卷),期】1999(000)003
【摘要】提出了在传统的谐波齿轮减速器的基础上作出的一种改进设计，新型的
谐波齿轮减速器引用二柱状齿环相套叠构成双层椭圆齿轮的方案。

减速器输出用上内齿刚轮。

对砬速器的砬速比作了计算分析，并对各部件的技术要求作了必要说明。

【总页数】5页(P62-66)
【作者】董玲生
【作者单位】南京船舶雷达研究所
【正文语种】中文
【中图分类】TH132.46
【相关文献】
1.一种新型减速器——两轴多级双联齿轮减速器的研制 [J], 韩再明;夏仁丰
2.一种新型减速器：球式活齿减速器原理初探 [J], 杨金华;高秀生
3.一种新型减速器——三环减速器 [J], 蒋施恩
4.一种谐波齿轮传动减速器设计 [J], 郑力志;季凡智;樊培文;刘从颖;张志龙;邵明智;蒋铭雨
5.氧化物单晶炉的新型谐波齿轮减速器研制 [J], 张元勇;李华;吴中福
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P r e c i s i o n G e a r i n g&M o t i o n C o n t r o l23Harmonic Drive LLC 800-921-3332Evolution of Harmonic Drive GearingHarmonic drive gearing continues to evolve by improving performance and functionality.Tooth Profiles Array The harmonic drive component sets and housed units presented instics and performance.The new “S” tooth profile significantly increases the region of toothThe new tooth profile also features an enlarged tooth root radius,resulting in more than double the life expectancy for the gear.4Harmonic Drive LLC 800-921-33325Circular (ca Wave Generator (input)Flex s plineOutput FlangeSystem ComponentsThe FLEXSPLINE is a non-rigid, thin cylindrical cup with external teeth on a slightly smaller pitch diameter than the Circular Spline. It fits over and is held in an elliptical shape by the Wave Generator.The WAVE GENERATOR is a thin raced ball bearing fitted onto an elliptical plug serving as a high efficiency torque converter.The CIRCULAR SPLINE is a rigid ring with internal teeth, engaging the teeth of the Flexspline across the major axis of the Wave Generator.63. Reduction Gearing WG Fixed FS Input CS OutputR + 1Ratio = R [E quation 3]6. Speed Increaser Gearing FS Fixed CS Input WG Output1Ratio = R + 1 [E quation 6]CS WGFS1. Reduction Gearing 4. Speed Increaser Gearing WG Fixed CS Input FS OutputRRatio = R + 1 [E quation 4]7. Differential GearingWG Control Input CS Main Drive-Input FS Main Drive-Output Numerous differential functions can be obtained by combinations of the 2. Reduction Gearing 5. Speed Increaser Gearing CS Fixed FS Input WG Output1Ratio = — R [E quation 5]Harmonic Drive LLC 800-921-33327The CSF Cup-Style Component Set achieves higher performance than the Pancake Style Component Set in the same package size.Tool ChangerHarmonic Drive LLC 800-921-33329Housed Unit -Housed Unit -Input Shaft Option1011Harmonic Drive LLC 800-921-333212Definition of RatingsRated Torque (T r )Rated torque indicates allowable continuous load torque at 2000 rpm input speed.Limit for Repeated Peak Torque (refer to figure 1)During acceleration a deceleration the harmonic drive gear experiences a peak torque as a result of the moment of inertia of the output load.Limit for Average TorqueIn cases where load torque and input speed vary, it is necessary to calculate an average value of load torque. The table indicates the limit for average torque. The average torque calculated must not exceed this limit.Limit for Momentary Peak Torque (refer to figure 1)Harmonic drive gearing may be subjected to momentary peak torques in the event of a collision or emergency stop. The magnitude and frequency of occurrence of such peak torques must be kept to a minimum and they should, under no circumstance, occur during normal operating cycle.The allowable number of occurrences of the momentary peak torque may be calculated by using equation 7 on page 12. Also see section “strength and life”.Figure 1Maximum Input Speed, Limit for average input speedDo not exceed the allowable rating.Moment of InertiaThe rating indicates the moment of inertia reflected to the wave generator (gear input).Strength and LifeThe non-rigid Flexspline is subjected to repeated deflections, and its strength determines the torque capacity of the harmonic drive gear. The values given for Rated Torque at Rated Speed and for the allo-wable Repeated Peak Torque are based on an infinite fatigue life for the Flexspline.The torque that occurs during a collision must be below the momenta-ry peak torque (impact torque). The maximum number of occurrences is given by the equation below.[Equation 7]1.0 X 104n: Input speed before collision N = ____________ 2 X nX t t : Time interval during collision60Please note:If this number is exceeded, the Flexspline may experience a fatigue failure.Ratcheting phenomenonWhen excessive torque is applied while the harmonic drive gear is in motion, the teeth between the Circular Spline and Flexspline may not engage properly. This phenomenon is called ratcheting and the torque at which this occurs is called ratcheting torque. Ratcheting may cause the Flexspline to become non-concentric with the Circular Spline. (See figure 1 & 2 on page 12) Operating in this condition may result in shortened life and a Flexspline fatigue failure.Figure 2When ratcheting occurs, the teeth mesh abnormally as shown above.Vibration and Flexspline damage may occur.Once ratcheting occurs, the teeth wear excessively and the ratcheting torque may be lowered.Harmonic Drive LLC 800-921-3332CSF Ratcheting Torque Table 4 Nm L o a d T o r q u e ( R a t e d T o r q u e = 1 )Total Number of Input Rotation sThe Life of a Wave GeneratorThe normal life of a harmonic drive gear is determined by thelife of the wave generator bearing. The life may be calculated by using the input speed and the output load torque.Rated Lifetime L n : (n = 10 or 50)L 10 CSF : 7,000 CSG: 10,000L 50CSF : 35,000CSG : 50,000Equation for the expected life of the wave generator under normal operating conditions is given by the equation below.[Equation 8]Lh = Ln • ( Tr )3• (Nr )Tav NavLh : Expected Life, hours Ln :Rated Lifetime at L 10 or L 50Tr : Rated Torque (Tables 1, 2, 3)Nr: Rated input speed (2000 rpm)Tav : Average load torque on output side (page 14)Nav :Average input speed (page 14)Relative Torque RatingThe chart below shows the various torque specifications relative to rated torque. Rated Torque has been normalized to 1 for comparison. Figure 31314OKOKOKOKOKNGNG NGNG NG Size SelectionGenerally, the operating conditions consist of fluctuating torques and output speeds. Also, an unexpected impact output torque must be considered.The proper size can be determined by converting fluctuating load tor-que into average load torque and equivalent load torque. This proce-dure involves selecting the size based on load torque for component sets.This procedure does not consider the life of the output bearing for housed units. Determining the life of the output bearing for various axial, radial, and moment loads is outlined on page 31. Figure 4Parameters Load Torque T n (Nm) Time t n (sec)Output Speed n n (rpm)Normal Operating Pattern Acceleration T 1,t 1, n 1 Regular Operation T 2,t 2, n 2 Deceleration T 3,t 3, n 3 Dwell T 4,t 4, n 4 Maximum RPM Max output speed n o maximum Max input speed n i maximumImpact Torque T s,t s, n sRatings Rated Torque Tr Rated Speed nr =2000 rpmF low Chart for selecting a sizePlease use the flowchart shown below for selecting a size.O perating conditions must not exceed the performancer atings as described on page 12. Calculation of the average output torqueTav = 3 n 1•t 1•|T 1|3+n 2•t 2•|T 2|3+... n n •t n •|T n |3 n 1•t 1+n 2•t 2+... n n t nSelection of tentative size under thecondition shown below.A verage Output Speed n o av = n 1•t 1•n 2•t 2+... n n t nt 1+t 2•t 2+...tnDetermine Gear Ratio n i max <=Rn o max n i max may be limited by the motor. Calculation of the average input speed n i av = n o av •RCalculation of maximum input speed n i max = n o max •Rn i av <=Limit for average speedn i max <=Limit for maximum speed Confirm if T 1 and T 3 are less than therepeated peak torque specification.C onfirm if T s (impact torque) is less than the m omentary peak torque specification.Calculate the allowable number of rotationsduring impact torque.N s = 104••••••N s <= 1.0X104 2•n s •R •t s 60Calculate wave generator life.L h = L n• (Tr )3•(nr)Tav n i avMake sure that the calculated life is suitablefor the application.Gear is suitable for torque and speed requirementsAlso consider output bearing, environment, etc.C o n s i d e r a d i f f e r e n t S i z e o r c h a n g e o p e r a t i n g r e q u i r e m e n t sHarmonic Drive LLC 800-921-3332Tav (Nm)3 7rpm •0.3s ec •|400Nm|3+14rpm •3s ec •|320Nm|3+7rpm •0.4s ec •|200Nm|3 Tav =7rpm •0.3s ec+14rpm •3s ec+7rpm •0.4s ecTav =319Nm<451Nm (for C S F-40-120-2A-GR)no av (rpm)7rpm •0.3s ec+14rpm •3s ec+7rpm •0.4s ecno av = = 12rpm 0.3s ec + 3s ec + 0.4s ec + 0.2s ec (R)1800 rpm= 128.6 > 120 14 rpm n av = 12 rpm •120 = 1440 rpm n max ni max (rpm) n max = 14 rpm •120 = 1680 rpm n av =1440rpm<3600 rpm (for C S F-40-120-2A-GR) n max=1680rpm<5600 rpm (for C S F-40-120-2A-GR)T1,T3 (Nm)T1=400Nm<617Nm (for C S F-40-120-2A-GR) T3=200Nm<617Nm (for C S F-40-120-2A-GR)Ts (Nm)Ts = 500Nm<1180Nm (for C S F-40-120-2A-GR)(Ns ) 104N S= = 1190 < 1.0X104 14rpm •1202• • 0.15s ec 60294Nm32000 rpm L 10= 7000 • ( ) • ( )319Nm 1440 rpmL 10 =7610>7000 (LB10)C S F-40-120-2A-GROKOKOKOKOKioiii15 Values of an each Load Torque Pattern Load Torque T n (Nm) no max = 14 rpm Time t n (sec)ni max = 1800 rpmOutput Speed n n (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 rpm Regular Operation Stop T 2 = 320 Nm, t 2 = 3 sec, n 2 = 14 rpm Deceleration T 3 = 200 Nm, t 3 = 0.4 sec, n 3 = 7 rpm L 10 = 7000 hrs.DwellT 4 = 0 Nm, t 4 = 0.2 sec,n 4 = 0 rpmOil LubricationCalculate a life time.Confirm that T1 and T3 are within aCalculate an allowable number of rotation(Ns) and confirm <= 1.0 x 104CSF ALL SIZES CSG-20 AND ABOVE 16Harmonic Drive LLC 800-921-3332Dowel Pin OptionIn cases where the gear will see loads near the Momentary Peak Torque level, the use of additional dowel pins in addition to the screws is recommended. Dowel pin holes are manufactured by reamer and the dimensions are shown. In addition, the CSF has a different number of dowel pin holes than the CSG.17Table 8 (mm)18Table 9 (mm)The following parameters can be modified to accommodate customer-specific requirements.Wave Generator: ØV, X, WFlexspline: R, ØSCircular Spline: ØM, LHarmonic Drive LLC 800-921-33321920GreaseProper lubrication of harmonic drive gearing is essential for high performance and reliability.Harmonic Drive LLC 800-921-3332N u m b e r o f R o t a t i o n s20406080100120Grea s e Temperature (Cº)1010109108107Grea s e Change Interval for Tav < Tr L GT nGrease ChangeThe wear characteristics of harmonic drive gearing are strongly influ-enced by the condition of the grease lubrication. The condition of the grease is affected by the ambient temperature. The graphshows the maximum number of input rotations for various temperatu-res. This graph applies to applications where the average load torque does not exceed the rated torque.In cases where the rated torque is exceeded, calculate the grease change interval using the equation shown below.Equation where average load torque exceeds rated torque [Equation 9]21Oil Lubricant K ind of Lubricant22Harmonic Drive LLC 800-921-3332Oil TemperatureIn normal use, the oil temperature must not exceed 90ºC,Above this temperature oil quickly loses its lubricating capabilities.Oil ChangeThe first oil change should be performed after 100 hours of operation. The need to perform subsequent oil changes will depend on operating conditions, but should take place at intervals of approximately 1000 running hours.Other notes: Avoid mixing different kinds of oil. Harmonic drive gearing should be in an individual case when installed.High Temperature LubricantsStandard temperature is the grease temperature during operation.It is not the ambient temperature.the possible temperature range shown. At the low end of this range the efficiency will be low due to an increase in viscosity of the lubri-cant. At the high end of this range the lubricant life will be low due to an increased deterioration rate from the high temperature.Dimension of lube hole in Flexspline23For peak performance of the CSF Component Set it is essential that the following tolerances be observed when assembly is complete. Recommended tolerances for assemblyThe values in parentheses indicate that Wave Generator does not have an Oldham coupling.Sealing structureA seal structure is needed to maintain the high durability of harmonic drive gearing and prevent grease leakage.Key Points to Verify• Rotating parts should have an oil seal (with spring), surface should be smooth (no scratches)• Mating flanges should have an O Ring, seal adhesive• Screws should have a thread lock(Loctite 242 recommended) or seal adhesive.(note)If you use Harmonic grease 4BNo.2, strict sealing is required.Harmonic Drive LLC 800-921-333225Installation of Three Basic ElementsInstallation for Wave Generator and the maximum hole dimensions.Shown above is the standard hole dimension of the Wave Generator for each size. The dimension can be changed within a range up to the maxi-mum hole dimension shown in table 18. We recommend the dimension of keyway based on JIS standard. It is necessary that the dimension of keyways should sustain the transmission torque.Please note: Tapered holes are also available.In cases where a larger hole is required, use the Wave Generator without the Oldham coupling. The maximum diameter of the hole should be considered to prevent deformation of the Wave Generator plug by load torque. The dimension is shown in table 19 include the dimension of depth of keyway.Axial Force of Wave GeneratorHole Diameter of Wave GeneratorDirection for Thrust Force of Wave Generator26Shape and dimension of Wave GeneratorThere is a difference between CSF series and CSG series with regard to the shape and dimension of the Wave Generator.Table 20 and Figure 5 show the comparison of the shape and dimensi-on for the Wave Generator.During design and installation, please ensure there is no interference between the bolt of the Wave Generator and Flexspline.t indicates the clearance between hub and flexspline bolts.Installation of flexspline1. Size #8A) For installation of the Flexspline on theoutput shaft use the plug shown on the right. B) The positioning of the output shaft and the Flexspline should be determined using the plug.C) We recommend using an M3 socket headcap screw for connecting the plug to the output shaft. We also recommend using Loctite 242.2. Recommended dimension for installing output flange for sizes 11 and larger.For installation, the flange diameter should not exceed the boss diameter of Flexspline shown on figure 7. The flange which contacts the diaphragm should have radius, R. A large diameterand flange without a radius may cause damage to the diaphragm.3. Material and hardness for flange installation. • Material: S45C (DIN C45)• Hardness : HB200~270Figure 5. Comparison of shape for Wave GeneratorFigure 6. Installation for Flexspline of Size 8Recommended Dimension for Flange for InstallationHarmonic Drive LLC 800-921-3332Installation of the FlexsplineThe load is normally attached to the Flexspline using a bolt or screw. For high load torques dowel pins can be used in addition to bolts or screws.The strength of the selected bolt, clamp torque, surface condition of bolt and thread, and coefficient of friction on the contact surface are important factors to consider.To determine transmission torque of the fastened part consider conditi-ons indicated above.Please fasten bolts with the proper torque for each size as indicated. Please use the table shown below to decide if dowel pins are needed.1. If the load torque is less than momentary peak torque shown on tables 1, 2, 3, then only bolts are needed.2. If the load torque is expected to reach momentary peak torque, both bolts and pins should be e values on the list as a reference.Tables 22, 23 pertain to the CSF series.Tables 24, 25 pertain to the CSG series.1. 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/m271. 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/mInstallation of Circular Spline1. 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/m28Harmonic Drive LLC 800-921-3332297. Ensure that the surface used for installation is flat and not skewed.8. Ensure that the installation surface does not have any burrs or foreign substances resulting from screw threading operations.9. Ensure sufficient clearance to prevent interference between the flexspline and installed parts.10. When a bolt is inserted into a bolt hole during installation, make sure that the bolt fits securely and is not in an improper position or inclination.11. Do not apply torque at recommended torque all at once. First, apply torque at about half of the recommended value to all bolts, then tighten at recommended torque. Order of tightening bolts must be diagonal.12. Ensure that the Flexspline and Circular spline are concentric after assembly.13. Do not damage Flexspline diaphragm or gear teeth during assembly.Assembly Order for Basic Three ElementsThe recommended sequences of assembly are illustrated below.Only after the Circular Spline and Flexspline are assembled in equipment is the Wave Generator assembled. If assembly is performed using a different method, Dedoidal assembly or teeth breakage may occur. It is essential that teeth of the Flexspline and Circular Spline mesh symmetrically for proper function.An eccentric tooth mesh (Dedoidal), will result in noise and vibration and may lead to early failure of the gear.Note:1. Avoid assembling with excessive force on Wave Generator bearing. Insert Wave Generator as you rotate it.2. If the Wave Generator does not have an Oldham coupling, special consideration must be given to ensure that concentricity and inclination are within the specified limits. ( see page 24).* Dimensions in parentheses indicates ratio 30:1 30*U, V, W dimensions can be changed to accommodate a range of motor shaft diameters.Specification for Cross Roller BearingHoused units incorporate a precise cross roller bearing to directly support a load. The inner race of the bearing forms the output flange.Please calculate maximum load moment, life of cross roller bearing, and static safety factor to fully maximize the performance of housed unit (gearhead). Calculation ProcedureSpecification for cross roller bearingTable 30Basic dynamic rated load is a constant radial load where the basic dynamic rated life of CRB is 1 x 106 rotations.Basic static rated load is a static load where the value of moment rigidity is the average value.How to Calculate the Maximum Load MomentHow to calculate the Maximum load moment is shown below. Please be sure that Mc is equal or greater than M max.Mmax = Frmax • (Lr+R) + Famax • LaFigure 7Figure 6How to Calculate Life of the Output BearingThe life of a cross roller bearing can be calculated by equation (15). equation (15)610/3How to Calculate Life for Oscillating MotionThe Life of a cross roller bearing in a oscillating operation can be calculated by equation 18Installation accuracyFor optimum performance of the CSF-2UH unit, please maintain the recommended tolerances shown in figure.Recommended installation tolerances (mm) Table 31The values in parentheses indicate that the wave generator does not have an oldham coupling.Installation and transmission torqueInstallation on Output Flange Side and Resulting Transmission TorqueInstallation on Case Side and Resulting Transmission Torque1. 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/mLubricationThe standard lubrication for the harmonic drive element is Harmonic grease S K-1A and S K-2.(Harmonic grease 4B No.2 is used for cross roller bearing.)Please see page 23 for grease specification.Seal StructureA seal structure is needed to maintain the high durability of harmonic drive gearing and prevent grease leakage. Key Points to Verify• Rotating parts should have an oil seal (with spring)• Surface should be smooth (no scratches)• Mating flanges should have an O Ring, seal adhesive• Screws should have a thread lock(Loctite 242 recommended) or seal adhesive.(note)If you use Harmonic grease 4BNo.2, strict sealing is required.Sealing Recommendations for Housed UnitsHarmonic drive grea s e S K-2E f f i c i e n c yRatio 30Ratio 50, 80Ratio 100COMPONENT S ET 8,11, 14E f f i c i e n c yAmbient Temperature (Cº)Ambient Temperature (Cº)Ambient Temperature (Cº)-1010203040-1010203040-1010203040EfficiencyThe efficiency depends on the conditions shown below.Efficiency depends on gear ratio, input speed, load torque, temperatu-re, quantity of lubricant and type of lubricant.Efficiency values shown are for rated torque. If load torque is below rated torque, a compensation factor must be employed.Load Torque > Rated Torque : E fficiency = Efficiency from Graph Load Torque <Rated Torque : Efficiency = Efficiency from Graph x Compensation Coefficient from figure 9.Measurement ConditionInstallation : Based on recommended tolerance Load torque : Rated torqueLubricant : Harmonic grease S K -1A Harmonic grease S K -2Harmonic grease4B No.2Grease quantity : Recommended quantityPlease contact us for details pertaining to recommended oil lubricant.C o m p e n s a t i o n C o e f f i c i e n tTorque-1010203040-1010203040Harmonic drive grea s e S K-1A, S K-2E f f i c i e n c yRatio 30Ratio 50Ratio 80, 100COMPONENT S ET 17~100Ambient Temperature (Cº)E f f i c i e n c y Ambient Temperature (Cº)Efficiency Compensation CoefficientFigure 9-10010203040Harmonic drive grea s e 4B No.2E f f i c i e n c yRatio 30Ratio 50Ratio 80, 100COMPONENT S ET 17~100Ambient Temperature (Cº)E f f i c i e n c yAmbient Temperature (Cº)Harmonic drive grea s e S K-2E f f i c i e n c yRatio 30Ratio 50, 80Ratio 100HOU S ED UNIT 14Ambient Temperature (Cº)Ambient Temperature (Cº)Ambient Temperature (Cº)E f f i c i e n c y-1010203040-1010203040Harmonic drive grea s e 4B No.2E f f i c i e n c yRatio 30Ratio 50Ratio 80, 100HOU S ED UNIT 17~65Ambient Temperature (Cº)E f f i c i e n c yAmbient Temperature (Cº)40Harmonic drive grea s e S K-1A, S K-2EfficiencyRatio 30Ratio 50Ratio 80, 100 HOU S ED UNIT 17~65Ambient Temperature (Cº)EfficiencyAmbient Temperature (Cº)-10010203040-10010203040N o L o a d R u n n i b g T o r q u e (N -c m )Input S peed 500r/min Input S peed 1000r/min Harmonic drive Grea s e S K-1A , S K-2N o L o a d R u n n i b g T o r q u e (N -c m )Ambient Temperature (Cº)Ambient Temperature (Cº)S i z eS i z eCOMPONENT S ETInput S -1010203040-1010203040No Load Running TorqueNo load running torque indicates an input torque which is needed to rotate harmonic drive gearing with no load on the output side (low speed side). Please contact us regarding details.Measurement condition Ratio : 1/100Lubricant : Harmonic grease S K -1A Harmonic grease S K -2Harmonic grease 4BNo.2Quantity : Recommended quantity see page 19Torque value is measured after 2 hours at 2000rpm input.In case of oil lubricant, please contact us.42Harmonic Drive LLC 800-921-333243N o L o a d R u n n i b g T o r q u e (N -c m )Input S peed 500r/min Input S peed 1000r/min Harmonic drive Grea s e 4B No.2N o L o a d R u n n i b g T o r q u e (N -c m )Ambient Temperature (Cº)Ambient Temperature (Cº)S i z eS i z eCOMPONENT S ETInput S -1010203040-1010203040Compensation Value in Each Ratio (Component Set)No load running torque of harmonic drive gear varies with ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compensation values from table 34.-1010203040-1010203040N o L o a d R u n n i b g T o r q u e (N -c m )Input S peed 500r/min Input S peed 1000r/min Harmonic drive Grea s e S K-1A, S K-2N o L o a d R u n n i b g T o r q u e (N -c m )Ambient Temperature (Cº)Ambient Temperature (Cº)S i z eS i z eHOU S ED UNITInput S Compensation Value in Each Ratio (unit type)No load running torque of harmonic drive gear varies with ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compensation values from table 35.44Harmonic Drive LLC 800-921-333245-1010203040-1010203040N o L o a d R u n n i b g T o r q u e (N -c m )Input S peed 500r/min Input S peed 1000r/min Harmonic drive Grea s e 4B No.2N o L o a d R u n n i b g T o r q u e (N -c m )Ambient Temperature (Cº)Ambient Temperature (Cº)S i z eS i z eHOU S ED UNITInput SStarting TorqueStarting torque is the torque required to commence rotation of the input element (high speed side), with no load being applied to the output. The table below indicates the maximum values.The lower values are approximately 1/2 to 1/3 of the maximum values.Component Type Backdriving TorqueBackdriving torque is the torque required to commence rotation of input element (high speed side) when torque is applied on the output side (low speed side). The table below indicates the maximum values. The typical values are approximately 1/2 to 1/3 of the maximum values. The backdriving torque should not be relied upon to provide a holding torque to prevent the output from backdriving. A failsafe brake should be used for this purpose.Measurement condition: Ambient temperature 20ºC Values shown below vary depending on condition.Please use values as a reference.46。