Table of Contents
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Contents
1.
General ................................................................................................................................................. 03
1.1
Description of Safety Alert Symbols ...................................................................................................................................04
1.2
Disclaimer and Copyright .....................................................................................................................................................04
2.
Safety and Installation Instructions ................................................................................................... 05
2.1
Hazards ................................................................................................................................................................................. 05
2.2
Intended Purpose .................................................................................................................................................................06
2.3
Non Intended Purpose ..........................................................................................................................................................06
2.4
Declaration of Conformity .................................................................................................................................................... 07
3.
Technical Description ........................................................................................................................... 08
3.1
Product Description ..............................................................................................................................................................08
3.2
Ordering Code ....................................................................................................................................................................... 09
3.3
Technical Data ........................................................................................................................................................................10
3.3.1
General Technical Data ...............................................................................................................................................10
3.3.2 Dimensions ..................................................................................................................................................................11
3.3.3 Minimum Housing Clearance..................................................................................................................................... 15
3.3.4 Accuracy ...................................................................................................................................................................... 15
3.3.5 Torsional Stiffness ..................................................................................................................................................... 15
4.
Actuator Selection Procedure .............................................................................................................. 16
4.1
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
4.2
Calculation of the Torsion Angle .......................................................................................................................................... 24
4.3
Accuracy of the Oldham Coupling ........................................................................................................................................ 24
4.4
Efficiency Versus Load ......................................................................................................................................................... 25
4.4.1 Efficiency Calculations .............................................................................................................................................. 25
4.4.2 Efficiency Tables........................................................................................................................................................ 26
4.5
No Load Starting-, Back Driving- and Running Torque ...................................................................................................... 29
4.5.1 No Load Running Torque .......................................................................................................................................... 29
4.5.2 No Load Starting Torque ........................................................................................................................................... 30
4.5.3 No Load Back Driving Torque .................................................................................................................................... 30
4.6
Lubrication ............................................................................................................................................................................. 31
4.6.1 Grease Lubrication ..................................................................................................................................................... 31
4.6.2 Oil Lubrication ........................................................................................................................................................... 33
4.7
Axial Forces at the Wave Generator .................................................................................................................................... 34
5.
Installation and Operation ...................................................................................................................35
5.1
Transportation and Storage ................................................................................................................................................. 35
5.2
Gear Conditions at Delivery .................................................................................................................................................. 35
5.3
Assembly Instructions .......................................................................................................................................................... 36
5.4
Recommended Tolerances for Assembly ............................................................................................................................40
5.5
Wave Generator Components ...............................................................................................................................................41
5.6
Bore Diameter for Solid Wave Generators ...........................................................................................................................41
5.7
Lubrication ............................................................................................................................................................................ 42
5.7.1
Grease Lubrication .................................................................................................................................................... 42
5.7.2 Grease Reservoir .......................................................................................................................................................44
5.7.3 Grease Change ...........................................................................................................................................................44
5.7.4 Gears with Oil Lubrication ........................................................................................................................................ 45
5.7.5 Lubrication Holes ...................................................................................................................................................... 46
5.8
Preparation for Assembly .................................................................................................................................................... 46
2
1019658
11/2014
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Table of Contents
