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Harmonic Drive HFUS-2A Series Engineering Data

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Summary of Contents for Harmonic Drive HFUS-2A Series

  • Page 1 Engineering Data HFUS-2A Component Sets QUICKLINK www.harmonicdrive.de/3050...

  • Page 2: Table Of Contents

    3.3.3 Minimum Housing Clearance............................. 15 3.3.4 Accuracy ..................................15 3.3.5 Torsional Stiffness ..............................15 Actuator Selection Procedure ......................16 Selecting Harmonic Drive® Gears ............................18 4.1.1 Torque Based Dimensioning ............................19 4.1.2 Life of the Wave Generator Bearing.......................... 21 4.1.3 Stiffness Based Dimensioning ..........................22 Calculation of the Torsion Angle ............................

  • Page 3: General

    For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents. Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website. www.harmonicdrive.de Third-party systems Documentation for parts supplied by third party suppliers, associated with Harmonic Drive®...

  • Page 4: Description Of Safety Alert Symbols

    1.1 Description of Safety Alert Symbols Symbol Meaning Indicates an imminent hazardous situation. If this is not avoided, death or DANGER serious injury could occur. Indicates a possible hazard. Care should be taken or death or serious injury WARNING may result. ATTENTION Indicates a possible hazard.

  • Page 5: Safety And Installation Instructions

    2. Safety and Installation Instructions Please take note of the information and instructions in this document. Specialy designed models may differ in technical detail. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and serial number for clarification.

  • Page 6: Intended Purpose

    2.2 Intended Purpose The Harmonic Drive® products are intended for industrial or commercial applications. They comply with the relevant parts of the harmonised EN 60034 standards series. Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines.

  • Page 7: Declaration Of Conformity

    2.4 Declaration of Conformity Harmonic Drive® gears are components for installation in machines as defined by the machine directive 89/392/EWG. Commissioning is prohibited until such time as the end product has been proved to conform to the provisions of this directive.

  • Page 8: Technical Description

    Compact with largest hollow shaft HFUS-2A Series Component Sets are available in nine sizes with gear ratios of 30, 50, 80, 100, 120 and 160:1 offering repeatable peak torques from 9 to 1840 Nm and a power density of up to 384 Nm/kg.

  • Page 9: Ordering Code

    3.2 Ordering Code Table 9.1 Series Size Ratio Version Special design 2A-R HFUS According to customer requirements 2A-GR Ordering code HFUS 2A-GR The ratios shown here are for a standard driving configuration with the circular spline fixed, the Wave Generator used for the input and the Flexspline attached to the output.

  • Page 10: Technical Data

    3.3 Technical Data 3.3.1 General Technical Data Table 10.1 Unit HFUS-14-2A HFUS-17-2A Ratio i [ ] Repeatable peak torque [Nm] Average torque [Nm] Rated torque [Nm] Momentary peak torque [Nm] Maximum input speed (Oil Lubrication) [rpm] 14000 10000 in (max) Maximum input speed (Grease Lubrication) [rpm] 8500...

  • Page 11: Dimensions

    3.3.2 Dimensions HFUS-14-2A HFUS-17-2A [mm] Illustration 11.1 [mm] Illustration 11.2 HFUS-20-2A HFUS-25-2A Illustration 11.3 [mm] Illustration 11.4 [mm] QUICKLINK www.harmonicdrive.de/CAD3050 1019658 11/2014...
  • Page 12 Table 12.1 Unit HFUS-32-2A HFUS-40-2A Ratio i [ ] Repeatable peak torque [Nm] Average torque [Nm] Rated torque [Nm] Momentary peak torque [Nm] 1080 1180 1180 Maximum input speed (Oil Lubrication) [rpm] 7000 5600 in (max) Maximum input speed (Grease Lubrication) [rpm] 4800 4000...
  • Page 13 HFUS-32-2A HFUS-40-2A Illustration 13.1 [mm] Illustration 13.2 [mm] HFUS-45-2A HFUS-50-2A Illustration 13.3 [mm] Illustration 13.4 [mm] QUICKLINK www.harmonicdrive.de/CAD3050 1019658 11/2014...
  • Page 14 Table 14.1 Unit HFUS-58-2A Ratio i [ ] Repeatable peak torque [Nm] 1020 1480 1590 1720 1840 Average torque [Nm] 1060 1190 1210 Rated torque [Nm] Momentary peak torque [Nm] 1960 2450 3180 3330 3430 Maximum input speed (Oil Lubrication) [rpm] 4000 in (max)

  • Page 15: Minimum Housing Clearance

    3.3.3 Minimum Housing Clearance Table 15.1 [mm] Size ØW 24.5 27.5 30.5 35.5 43.5 53.0 59.0 65.0 75.5 ØZ Illustration 15.2 3.3.4 Accuracy Table 15.3 [arcmin] Size ≥20 Ratio ≥50 ≥50 ≥50 Transmission accuracy <2 <1.5 <1.5 <1.5 <1.5 <1 Hysteresis loss <3 <1...

  • Page 16: Actuator Selection Procedure

    16.2. Illustration 16.2 The values for ratios of Harmonic Drive® gears refer to the standard input and output arrangement (example 1 in the table below). Other arrangements are possible, and also shown in the table.
  • Page 17 Ratio Reduction gearing Reduction gearing Reduction gearing Fixed Fixed Fixed Input Input Input Output Output Output Equation 17.1 Equation 17.2 Equation 17.3 i +1 i +1 Ratio = Ratio = Ratio = - Input and output rotate in opposite directions. Input and output rotate in same direction.

  • Page 18: Selecting Harmonic Drive® Gears

    4.1 Selecting Harmonic Drive® Gears When choosing a gear, both torque as well as stiffness requirements should be take into account. In robot applications, for example, the necessary torque is the more crucial factor for the gear size, while the torsional stiffness is often decisive in machine tool applications.

  • Page 19: Torque Based Dimensioning

    4.1.1 Torque Based Dimensioning Output Data Illustration 19.1 Torques ...T [Nm] during the load phases ...t during the pause time and output speeds ...n [rpm] Time Emergency stop/momentary peak torque [Nm] at output speed [rpm] Time and duration Equation 19.2 Load limit 1, Calculation of the average output torque T ·...
  • Page 20 Output Data = 400 Nm = 0.3 s 7 rpm = 320 Nm = 3.0 s = 14 rpm = 200 Nm = 0.4 s 7 rpm = 500 Nm = 0.15 s 14 rpm = 0.2 s 0 rpm Ratio i = 120 Life L = 30000 h (required)

  • Page 21: Life Of The Wave Generator Bearing

    4.1.2 Life of the Wave Generator Bearing Given that the Harmonic Drive® Gear is rated to provide infinite fatigue life for the Flexspline, the life expectancy is based on the average life of the Wave Generator bearing. The rated torque at the rated speed given in the rating table is based on the mean L bearing life.

  • Page 22: Stiffness Based Dimensioning

    ≥ 50 surface quality* Milling heads for metal machining with very high requirements regarding surface quality* ≥ 60 * Depending on the application, a secondary gear stage may be useful. Please contact Harmonic Drive AG for more information. 1019658 11/2014...
  • Page 23 J = Load moment of inertia [kgm allows the calculation of the resonance frequency at the gear output from the given torsional stiffness, K1, of the Harmonic Drive® gear and the load‘s moment of inertia. The calculated frequency should correspond with the value provided in table 22.1. The higher the load‘s moment of inertia, the more influence the application has on the gear selection.

  • Page 24: Calculation Of The Torsion Angle

    Information concerning the Oldham coupling can be found in section 5.5. In the region of tooth engagement Harmonic Drive® gears have no backlash. If an Oldham coupling is used for the compen- sation of eccentricity errors of the motor shaft, a small backlash in the range of a few seconds of arc can occur at the output shaft, as listed in table 24.5.

  • Page 25: Efficiency Versus Load

    4.4 Efficiency Versus Load Efficiency for Harmonic Drive® Gears varies depending on the output torque. The efficiency curves are for gears operating at rated output torque. Efficiency for a gear operating at a load below the rated torque may be estimated using a compensation curve and equation as shown on the next page.

  • Page 26: Efficiency Tables

    4.4.2 Efficiency Tables Tables Oil Efficiency for oil lubrication at rated torque. Illustration 26.1 Ratio = 30, 50, 80 Ratio = 100 500 rpm 500 rpm 1000 rpm 1000 rpm 2000 rpm 2000 rpm 3500 rpm 3500 rpm Temperature [°C] Temperature [°C] Ratio = 160 Ratio = 120...
  • Page 27 Tables Grease Efficiency for grease lubrication at rated torque Harmonic Drive® Grease. Size 14 Illustration 27.1 Ratio = 30 Ratio = 50, 80 500 rpm 500 rpm 1000 rpm 1000 rpm 2000 rpm 2000 rpm 3500 rpm 3500 rpm Temperature [°C] Temperature [°C]...
  • Page 28 Size 17 - 58 Illustration 28.1 Ratio = 30 Ratio = 50 500 rpm 500 rpm 1000 rpm 1000 rpm 2000 rpm 2000 rpm 3500 rpm 3500 rpm Temperature [°C] Temperature [°C] Ratio = 80, 100 Ratio = 120 500 rpm 500 rpm 1000 rpm 1000 rpm...

  • Page 29: No Load Starting-, Back Driving- And Running Torque

    In no case should the values given be regarded as a margin in a system that must hold an external load. Where back driving is not permissible a brake must be fitted. The following curves are valid for: Harmonic Drive® grease, standard lubricant quantity Gear ratio i = 100 For other ratios please apply the compensation values below.

  • Page 30: No Load Starting Torque

    Compensation Values for No Load Running Torque When using gears with ratios other than i ≠ 100 please apply the compensation values from the table to the values taken from the curves. Table 30.1 [Ncm] Size Ratio – – – –...

  • Page 31: Lubrication

    Harmonic Drive® products achieve the specified ratings and characteristics in the standard ambient temperature range (0° C to 40° C) when they are used with the lubricants named in the catalogue. Harmonic Drive AG can guarantee for the data specified in the catalogue only if a Harmonic Drive® grease or a mineral oil qualified for the specific product used. Lubricants and lubricant quantities other than recommended by Harmonic Drive AG should be qualified by means of prototype tests, as necessary.
  • Page 32 Notes: = Good +/− = May be critical depending on design / mounting position / application, please contact Harmonic Drive AG Safety data sheets or technical data sheets for the Harmonic Drive® lubricants are available from Harmonic Drive AG. 1019658...

  • Page 33: Oil Lubrication

    User specific prototype tests recommended Applicability confirmed for all Harmonic Drive® catalogue products with cup type Flexspline for size 14 and up. 1 kg bundles available at HDAG NSF-H1 certification. Applicability confirmed for HFUC-XX, CPU-XX, HFUS-XX, CPL-XX, CHA-XX with i=100 at full usage of the catalogue performance data.

  • Page 34: Axial Forces At The Wave Generator

    4.7 Axial Forces at the Wave Generator When a Harmonic Drive® Gear is used as a speed reducer (torque input via Wave Generator), the deflection of the Flexspline leads to an axial force acting on the Wave Generator. This axial force acts in the direction of the Flexspline diaphragm.

  • Page 35: Installation And Operation

    5. Installation and Operation 5.1 Transport and Storage Gears should be transported in the original packaging. If the gear is not put into service immediately on receipt, it should be stored in a dry area in the original packaging. The permissible storage temperature range is -20° C to +60° C. 5.2 Gear Condition at Delivery The gears are generally delivered according to the dimensions indicated in the confirmation drawing.

  • Page 36: Assembly Instructions

    5.3 Assembly Instructions The relative perpendicularity and concentricity of the three basic Harmonic Drive® elements have an important influence on accuracy and service life. Misalignments will adversely affect performance and reliability. Compliance with recommended assembly tolerances is essential in order for the advantages of Harmonic Drive® gearing to be fully exploited.
  • Page 37 Illustration 37.1 Screw Connections The high torque capacity combined with the compact design of the Harmonic Drive® Gear demands a secure connection of both Flexspline and Circular Spline. To ensure that the screw connection is adequate please observe the following general guidelines: •...
  • Page 38 Assembly During assembly the following general points should be considered: The gear components have to be centred accurately within and relative to the housing. First of all, the Flexspline and Circular Spline must be fixed. To ensure a centred position of the Circular Spline, the fastening screws should be tightened crosswise using successively increased torque.
  • Page 39 Correct assembly of component sets may be checked in one of four ways: Illustration 39.1 Flexspline deflection concentric Right Flexspline deflection 1 Revolution (Input) dedoidal Wrong • By visual observation, if the tooth mesh is exposed. • In case the gearing is not visible, the input shaft can be rotated by hand. Uneven rotation suggests dedoidal tooth mesh. •...

  • Page 40: Recommended Tolerances For Assembly

    5.4 Recommended Tolerances for Assembly In order for the new features of Harmonic Drive® Units to be exploited fully, it is essential that the tolerances according to table 40.1 are observed for the input assembly. Illustration 40.1 Recommended shaft tolerances h6 or H6...

  • Page 41: Wave Generator Components

    5.5 Wave Generator Components Illustration 41.1 shows a standard Wave Generator with Oldham Coupling. Illustration 41.1 1) Ball Separator 2) Wave Generator bearing 3) Wave Generator plug 4) Insert 5) Thrust washers 6) Snap ring 7) Wave Generator hub Wave Generator Modifications HFUS component sets have to compensate for runout of the motor shaft by default an Oldham coupling, see illustration 41.2.

  • Page 42: Lubrication

    At the time of delivery, the gears are conserved with preservation oil. The characteristics of the lubricating grease and oil types approved by Harmonic Drive® are not changed by mixing with the preservation oil. It is therefore not necessary to remove the preservation oil completely from the gear components.
  • Page 43 Illustration 43.1 shows the areas to be lubricated, see also table 44.1. During operation, the 4BNo.2 grease becomes relatively liquid. Therefore the gear must be sealed as for oil lubrication, when this grease is used. If required, please ask Harmonic Drive®...

  • Page 44: Grease Reservoir

    5.7.2 Grease Reservoir For assembly please ensure that the grease reservoir is filled up with grease (dimension c and ø d in table 44.1 and illustration 44.2). Table 44.1 Size ø a 14.6 16.4 17.8 19.8 23.2 28.6 31.9 34.2 40.1 ø...

  • Page 45: Gears With Oil Lubrication

    5.7.4 Gears with Oil Lubrication Harmonic Drive® Units with oil lubrication are generally customer-specific solutions. Please follow the notes given on the confirmation drawing and refer to table 33.2 for allowed oil types. The oil temperature during operation must not exceed 90°...

  • Page 46: Lubrication Holes

    5.7.5 Lubrication Holes Example of pressure compensation design for vertical installation with Wave Generator up. Illustration 46.1 5.8 Preparation for Assembly Assembly Preparation The gear assembly must be carried out very carefully and within a clean environment. Please make sure that during the assembly procedure no foreign particles enter the gear.

  • Page 47: Assembly

    The Wave Generator (WG) should be shifted at last into the pre-mounted components Flexspline/Circular Spline. If the assembling sequence described above cannot be observed please ask Harmonic Drive® whether in the concrete case another sequence is admissible.

  • Page 48: Assembly Of The Circular Spline

    5.9.1 Assembly of the Circular Spline The Circular Spline must not be bended during the assembly. Therefore it is particularly important that the mounting base of the Circular Splineis absolutely even and that the mounting base centering causes neither clamping strength nor radial clearance.

  • Page 49: Flexspline Screws

    5.9.3 Flexspline Screws The connection of the Flexspline to the output is normally realised with screws or in case of higher torques with screws and pins. If the load is below the limit for repeated peak torque the connection is carried out with screws as shown in table 49.1. Flexspline Screws Table 49.1 Size...

  • Page 50: Assembly Of The Wave Generator To The Input Shaft

    5.9.4 Assembly of the Wave Generator to the Input Shaft Before or after the assembly to the input shaft the Wave Generator is to be lubricated according to section 5.7. During the assembly the axial mounting position indicated on the catalogue/confirmation drawing is to be considered. When a clamping element is used please thighten the clamping element screws crosswise and in five steps up to the torque indicated on the drawing (alternatively: manufacturer information), see also illustration 50.1.

  • Page 51: Glossary

    6. Glossary 6.1 Technical Data AC Voltage constant k / 1000 rpm] Effective value of the induced motor voltage measured at the motor terminals at a speed of 1000 rpm and an operating temperature of 20° C. Ambient operating temperature [°C] The intended operating temperature for the operation of the drive.
  • Page 52 [Nm] In the event of an emergency stop or collision, the Harmonic Drive® Gearing may be subjected to a brief collision torque. The magnitude and frequency of this collision torque should be kept tom a minimum and under no circumstances should the collision torque occur during the normal operating cycle.
  • Page 53 [Nm] In the event of an emergency stop or collision, the Harmonic Drive® Gearing may be subjected to a brief collision torque. The magnitude and frequency of this collision torque should be kept tom a minimum and under no circumstances should the momentary peak torque occur during the normal operating cycle.
  • Page 54 The ratio is the reduction of input speed to the output speed. Note for Harmonic Drive® transmission: The standard version of the wave is generating the drive element, the output element of the flexspline and the circular Spline is fixed to the housing. Since the direction of rotation of the drive (Wave Generator) to output reverses (Flexspline), a negative ratio for results Calculations in which the direction of rotation must be considered.
  • Page 55 Winding resistance measured between two conductors at a winding temperature of 20° C. Size 1) Actuators / Gears with Harmonic Drive® gears or Harmonic Planetary gears The frame size is derived from the pitch circle diameter of the gear teeth in inches multiplied by 10.
  • Page 56 Torsional stiffness (Harmonic Drive® Gears) K [Nm/rad] Torsion φ The amount of elastic rotation at the output for a given torque and the Wave Generator blocked. The torsional stiffness K describes the stiffness above a defined reference torque where the stiffness is almost linear. Values below φ2...

  • Page 57: Labelling, Guidelines And Regulations

    6.2 Labelling, Guidelines and Regulations CE-Marking With the CE marking, the manufacturer or EU importer declares in accordance with EU regulation, that by affixing the CE mark the product meets the applicable requirements in the harmonization legislation established the Community. REACH Regulation REACH is a European Community Regulation on chemicals.
  • Page 58 Deutschland Harmonic Drive AG T +49 6431 5008-0 info@harmonicdrive.de Subject to technical changes. Hoenbergstraße 14 www.harmonicdrive.de F +49 6431 5008-119 65555 Limburg/Lahn...

This manual is also suitable for:

Hfus-14-2aHfus-17-2aHfus-20-2aHfus-25-2aHfus-32-2aHfus-40-2a ... Show all

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