Related Manuals for Harmonic Drive SHG Series
Summary of Contents for Harmonic Drive SHG Series
- Page 1 Engineering Data SHG-2UH / 2SO / 2SH Units More information on our units can be found HERE!
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Page 2: Table Of Contents
3.3.4 Accuracy ................................... 21 3.3.5 Torsional Stiffness ..............................22 3.3.6 Bearings ..................................23 3.3.7. Housing Materials and Surfaces ..........................26 Actuator Selection ..........................27 Selecting Harmonic Drive® Gears ............................29 4.1.1 Torque Based Dimensioning ........................... 30 4.1.2 Life of the Wave Generator Bearing ........................32 4.1.3 Stiffness Based Dimensioning ..........................33... - Page 3 Installation and Operation ......................... 50 Transport and Storage ................................ 50 Gear Condition at Delivery ..............................50 Assembly Information................................ 50 Recommended Tolerances for Assembly SHG-2SO and SHG-2SH ................... 51 Lubrication ...................................52 5.5.1 Grease lubrication SHG-2UH ..........................52 5.5.2 Grease Lubrication SHG-2SO and SHG-2SH ......................52 5.5.3 Additional Grease Package ............................53 5.5.4 Grease Change .................................53 5.5.5 Oil Lubrication .................................
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Page 4: 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 5: 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 may WARNING result. -
Page 6: Safety And Installation Instructions
2. Safety and Installation Instructions Please take note of the information and instructions in this document. Specially designed models may differ in technical detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for clarification. -
Page 7: Intended Purpose
The products may only be operated within the operating ranges and environmental conditions shown in the documentation (altitude, degree of predection, temperature range, etc). Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery Directive must be established. -
Page 8: Use In Special Application Areas
The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors are installed must be provided by the user before taking the device into operation. -
Page 9: Technical Description
3. Technical Description 3.1 Product Description Maximum torque capacity with largest hollow shaft The SHG-2UH Series Units are available in ten sizes with gear ratios of 50, 80, 100, 120 and 160:1 offering repeated peak torques from 23 to 3419 Nm. The integrated output bearing with high tilting capacity enables the direct attachment of heavy payloads without the need for further support, ensuring a simple and space-saving design. -
Page 10: Ordering Code
3.2 Ordering Code Table 10.1 Series Size Ratio Version Special design According to customer requirements Ordering code 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 11: Technical Data
3.3 Technical Data 3.3.1 General Technical Data Table 11.1 Symbol SHG-14 [Unit] Ratio i [ ] Repeated peak toque [Nm] Average torque [Nm] Rated torque [Nm] Momentary peak torque [Nm] Maximum input speed (oil lubrication) [rpm] 14000 in (max) Maximum input speed (grease lubrication) [rpm] 8500 in (max) -
Page 12: Dimensions
3.3.2 Dimensions SHG-14-2UH SHG-14-2SO SHG-14-2SH Illustration 12.1 [mm] Illustration 12.2 [mm] Illustration 12.3 [mm] SHG-17-2UH SHG-17-2SO SHG-17-2SH Illustration 12.4 [mm] Illustration 12.5 [mm] Illustration 12.6 [mm] 1021387 12/2018... - Page 13 Table 13.1 Symbol SHG-20 [Unit] Ratio i [ ] Repeated peak toque [Nm] Average torque [Nm] Rated torque [Nm] [Nm] Momentary peak torque 10000 Maximum input speed (oil lubrication) [rpm] in (max) Maximum input speed (grease lubrication) [rpm] 6500 in (max) 6500 / 1100 Average input speed (oil lubrication) [rpm]...
- Page 14 SHG-20-2UH SHG-20-2SO SHG-20-2SH Illustration 14.1 [mm] Illustration 14.2 [mm] Illustration 14.3 [mm] SHG-25-2UH SHG-25-2SO SHG-25-2SH Illustration 14.4 [mm] Illustration 14.5 [mm] Illustration 14.6 [mm] 1021387 12/2018...
- Page 15 Table 15.1 Symbol SHG-32 [Unit] Ratio i [ ] Repeated peak toque [Nm] Average torque [Nm] Rated torque [Nm] Momentary peak torque [Nm] Maximum input speed (oil lubrication) [rpm] 7000 in (max) Maximum input speed (grease lubrication) [rpm] 4800 in (max) Average input speed (oil lubrication) [rpm] 4600 / 1000...
- Page 16 SHG-32-2UH SHG-32-2SO SHG-32-2SH Illustration 16.1 [mm] Illustration 16.2 [mm] Illustration 16.3 [mm] SHG-40-2UH SHG-40-2SO SHG-40-2SH [mm] [mm] [mm] Illustration 16.4 Illustration 16.5 Illustration 16.6 1021387 12/2018...
- Page 17 Table 17.1 Symbol SHG-45 [Unit] Ratio i [ ] Repeated peak toque [Nm] 1070 1147 Average torque [Nm] Rated torque [Nm] 1235 1651 2041 2288 2483 Momentary peak torque [Nm] 5000 Maximum input speed (oil lubrication) [rpm] in (max) 3800 Maximum input speed (grease lubrication) [rpm] in (max)
- Page 18 SHG-45-2UH SHG-45-2SO SHG-45-2SH Illustration 18.1 [mm] Illustration 18.2 [mm] Illustration 18.3 [mm] SHG-50-2UH SHG-50-2SO SHG-50-2SH [mm] [mm] [mm] Illustration 18.4 Illustration 18.5 Illustration 18.6 1021387 12/2018...
- Page 19 Table 19.1 Symbol SHG-58 [Unit] Ratio i [ ] 1924 2067 2236 2392 Repeated peak toque [Nm] 1001 1378 1547 1573 Average torque [Nm] Rated torque [Nm] 3185 4134 4329 4459 Momentary peak torque [Nm] 4000 Maximum input speed (oil lubrication) [rpm] in (max) 3000...
- Page 20 SHG-58-2UH SHG-58-2SO SHG-58-2SH Illustration 20.1 [mm] Illustration 20.2 [mm] Illustration 20.3 [mm] SHG-65-2UH SHG-65-2SO SHG-65-2SH Illustration 20.4 [mm] Illustration 20.5 [mm] Illustration 20.6 [mm] 1021387 12/2018...
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Page 21: Minimum Housing Dimensions Shg-2So And Shg-2Sh
3.3.3 Minimum Housing Dimensions SHG-2SO and SHG-2SH Table 21.1 Size Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65 ∅ w [mm] [mm] [mm] ∅ z [mm] Illustration 21.2 3.3.4 Accuracy Table 21.3 Symbol SHG-14 SHG-17 SHG-20 [Unit] ≥... -
Page 22: Torsional Stiffness
3.3.5 Torsional Stiffness Table 22.1 Symbol SHG-14 SHG-17 SHG-20 [Unit] [Nm] Limit torque [Nm] ≥ 80 ≥ 80 ≥ 80 Ratio i [ ] [· 10 Nm/rad] Torsional Stiffness [· 10 Nm/rad] [· 10 Nm/rad] Table 22.2 Symbol SHG-25 SHG-32 SHG-40 [Unit] [Nm]... -
Page 23: Bearings
These values are valid for moving gears. They are not based on the equation for lifetime calculation of the output bearing but on the maximum allowable deflection of the Harmonic Drive® Component set. The values indicated in the table must not be exceeded even if the lifetime equation of the bearing permits higher values. - Page 24 Output Bearing and Housing Tolerances In the case of the SHG-2UH Unit the load is connected to the output bearing by means of a flange. Depending on the manner of fastening, either the flange which is connected to the outer ring, or the flange which is connected to the internal ring of the output bearing, can be used as output element (see illustration 24.1 and illustration 24.2).
- Page 25 Input Bearing SHG-2UH The hollow shaft incorporated in the SHG-2UH Unit is supported by two single row deep groove ball bearings. Illustration 25.2 shows the points of application of force of the maximum permissible radial and axial loads as indicated in illustrations 26.1 and 26.2.
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Page 26: Housing Materials And Surfaces
1500 2000 3.3.7. Housing Materials and Surfaces Materials: Housing: cast iron and bearing steel. Adapter flange, if supplied by Harmonic Drive AG: high tensile aluminium or steel. Surfaces: Screws: black phosphatized. Housing: Bright. Output bearing: corrosion protected (optional: browned). 1021387... -
Page 27: Actuator Selection
27.2. Illustration 27.2 WG (—2SO) WG (—2SH/2UH) The values for ratios of Harmonic Drive® Gears refer to the standard drive arrangement (example 1 in the table below). Other arrangements are possible, and also shown in the table. 1021387 12/2018... - Page 28 Ratio Reduction gearing Reduction gearing Reduction gearing Fixed Fixed Fixed Input Input Input Output Output Output Equation 28.1 Equation 28.2 Equation 28.3 i + 1 i + 1 Ratio = Ratio = Ratio = Input and output rotate in opposite directions. Input and output rotate in same direction.
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Page 29: Selecting Harmonic Drive® Gears
4.1 Selecting Harmonic Drive® Gears When choosing a gear, both torque as well as stiffness requirements should be taken 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 30: Torque Based Dimensioning
4.1.1 Torque Based Dimensioning Output Data Illustration 30.1 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 30.2 Load limit 1, Calculation of the average output torque T... - Page 31 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)
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Page 32: Life Of The Wave Generator Bearing
Life of the Wave Generator Bearing The life expectancy of a Harmonic Drive® Strain Wave Gear 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 nominal service life L of the Wave Generator Bearing. -
Page 33: 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.. 1021387 12/2018... - Page 34 Selection Example: Stiffness Based Dimensioning Resonance Frequency (Gear Output) The formula Equation 34.1 [Hz] 2� fn = Resonance frequency [Hz] K1 = Gear torsional stiffness [Nm/rad] J = Load moment of inertia [kgm allows the calculation of the resonance frequency at the gear output, from the given the torsional stiffness K of the Harmonic Drive®...
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Page 35: Calculation Of The Torsion Angle
Information concerning the Oldham coupling can be found in section 5.7.2. In the region of tooth engagement Harmonic Drive® Gears have no backlash. If an Oldham coupling is used for the compensa- tion of eccentricity errors of the motor shaft, a small backlash in the range of a few arcsec can occur at the output shaft, as listed in table 35.5. -
Page 36: Efficiency Calculation Shg-2Uh
4.4 Efficiency Calculation SHG-2UH The efficiency of Harmonic Drive® Gears varies depending on the following conditions • Ratio • Input speed • Load torque • Temperature • Lubrication condition (type of lubricant and the quantity) The efficiency curves are valid for gears operating at rated output torque. The efficiency of 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 37: Efficiency Correction Factor
4.4.2 Efficiency Correction factor The efficiency of a Harmonic Drive® Strain Wave Gear depends on the load torque. When the load torque is lower than the rated torque, the efficiency value decreases. The correction factor K can be determined with illustration 36.2. When the load... -
Page 38: Efficiency Tables
Where back driving is not permissible a brake must be fitted. The diagrams are valid for: Harmonic Drive® Grease, standard grease amount according to this engineering data and ratio i = 100. For other ratios the compensation values have to be applied. When oil lubrication is used please contact Harmonic Drive AG. 1021387... -
Page 39: No Load Running Torque
4.5.1 No Load Running Torque No Load Running Torque SHG-2UH Illustration 39.1 Eingangsdrehzahl / Input Speed = 500 rpm Eingangsdrehzahl / Input Speed = 1000 rpm Input Speed = 500 rpm Input Speed = 1000 rpm 10000 10000 10000 10000 Size Size 1000... -
Page 40: No Load Starting Torque
Compensation Values For No Load Running Torque SHG-2UH 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 40.1 Ratio Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40... -
Page 41: Continuous Operation Shg-2Uh
4.6 Continuous Operation SHG-2UH The friction of the rotary shaft seals at the input side can result in an increased temperature of the hollow shaft units during operation. Therefore the defined “Limit for average input speed” of these units is reduced. For continuous operation at rated speed the max. -
Page 42: Output Bearing Operating Life
4.7 Output Bearing Operating Life The operating life of the output bearing can be calculated using equation 42.1. Equation 42.1 60 . n with: = Operating life [rpm] = Average output speed (equation 42.2) C [N] = Dynamic load rating see section 3.3.6 = Dynamic equivalent load (equation 43.1) = Operating factor (table 42.3) = Bearing type (table 42.4) - Page 43 Dynamic Equivalent Load Equation 43.1 = x . F + y . F with: [N] = Radial force (equation 43.2) Radial load factor (table 43.4) [N] = Axial force (equation 43.3) Axial load factor (table 43.4) [m] = Pitch circle (see section 3.3.5) Tilting moment Equation 43.2 + ...
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Page 44: Output Bearing At Oscillating Motion
4.7.1 Output Bearing at Oscillating Motion Life for Oscillating Motion The operating life at oscillating motion can be calculated using equation 44.1 Equation 44.1 60 . n ϕ with: = Operating life for oscillating motion [cpm] = Number of oscillations/minute* C [N] = Dynamic load rating, see table “Output Bearing”... -
Page 45: Permissible Static Tilting Moment
4.8 Permissible Static Tilting Moment In case of static load, the bearing load capacity can be determined as follows: Equation 45.1 mit P and so Equation 45.2 2 . f = Static load safety factor = 1.5 ... 3) (table 45.3) = Static load rating = 0.44 = Static equivalent load (equation 43.1) -
Page 46: 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 47 Precautions 1) When greasing: The consistency of Harmonic Drive® Grease 4B No.2 when stored in the container is higher than during operation. However, please note that the consistency varies depending on the storage period. Before greasing please mix the grease to soften the consistency.
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Page 48: Oil Lubrication
NSF-H1 certification. Applicability confirmed for HFUC-XX, CPU-XX, SHG-XX, CPL-XX, CHA-XX with i=100 at full usage of the catalogue performance data. Please consult Harmonic Drive AG for i > 100 applications. For food / pharmaceutical compatibility, grease change is necessary for output- and support bearings. -
Page 49: Axial Forces At The Wave Generator Shg-2So And Shg-2Sh
4.11 Axial Forces at the Wave Generator SHG-2SO and SHG-2SH When a Harmonic Drive® Gear is used as a speed reducer (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 50: Installation And Operation
Gears with Oil Lubrication Harmonic Drive® Units with oil lubrication are generally customer-specific solutions. Please follow the notes given on the confirmation drawing. The oil temperature during operation must not exceed 90 °C. Oil must be filled into the unit by the customer as the standard delivery does not include any oil lubricant. -
Page 51: Recommended Tolerances For Assembly Shg-2So And Shg-2Sh
5.4 Recommended Tolerances for Assembly SHG-2SO and SHG-2SH In order to use the full performance of Harmonic Drive® Units, it is essential that the tolerances according to table 51.2 are observed for the input assembly. Illustration 51.1 Recommended housing tolerances H7 Recommended shaft tolerances h6 Table 51.2... -
Page 52: Lubrication
Harmonic Drive® SHG-2UH Units are delivered ready for immediate installation. They are supplied with lifetime lubricant which is a high performance grease that meets the specific requirements of the Harmonic Drive® Gears based on strain wave gear principle. It guarantees constant accuracy of the gears for their whole life. A re-lubrication of the Units is not necessary. -
Page 53: Additional Grease Package
If the application's average torque is higher than the rated torque, the grease change interval can be determined with equation 53.3. This means, that for a temperature of Harmonic Drive® Grease SK-1A or SK-2 of 40 °C a change should take place after approx. -
Page 54: Oil Lubrication
5.5.5 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 chapter 4.10.2 for allowed oil types. The oil temperature during operation must not exceed 90 °C. The minimum requirement is mineral oil CLP 68 (ISO VG 68) according to DIN 51517 T3. Oil must be filled into the unit by the customer as the standard delivery does not include any oil lubricant. -
Page 55: Assembly Of Shg-2So And Shg-2Sh Units
The assembling method of the gear depends strongly on the design details. Thus, this assembly manual only provides general guidelines. The assembly procedure may differ from those described herein in exceptional cases. If the described assembling sequence cannot be observed, please ask Harmonic Drive AG whether in the concrete case another sequence is permissible. -
Page 56: Motor Assembly Shg-2So
5.7.1 Motor Assembly SHG-2SO Assembly of the adapter flange to the motor For the planning of the assembly sequence it may be helpful to know the max. diameter of the Wave Generator, see illustration 56.1. In table 56.2 the diameters of the Wave Generator main axes are indicated. Illustration 56.1 Table 56.2 Unit... -
Page 57: Wave Generator Components Shg-2So
5.7.2 Wave Generator Components SHG-2SO Illustration 57.1 shows a standard Wave Generator with Oldham Coupling. Illustration 57.1 1) Ball Separator 2) Wave Generator Bearing 3) Wave Generator Plug 4) Insert 5) Thrust washers 6) Snap ring 7) Wave Generator Hub 5.7.3 Mounting the Wave Generator (WG) to the Motor Shaft The axial position of the Wave Generator in the gearbox is critical for the correct operation of the unit. -
Page 58: Check Before Assembly Of The Wave Generator (Wg)
5.7.4 Check before Assembly of the Wave Generator (WG) • Final check of position of the Wave Generator. For some clamping elements an axial movement may occur during tightening. Please take account of this effect when positioning the Wave Generator on the shaft. -
Page 59: Assembly Of The Output Flange
5.7.7 Assembly of the Output Flange In the case of these Units the load is connected to the output bearing by means of a flange. Depending on the manner of fastening, either the flange which is connected to the outer ring, or the flange which is connected to the internal ring of the output bearing, can be used as output element. -
Page 60: Decommissioning And Disposal
6. Decommissioning and Disposal The gears, servo actuators and motors from Harmonic Drive AG contain lubricants for bearings and gears as well as electronic components and printed circuit boards. Since lubricants (greases and oils) are considered hazardous substances in accordance with health and safety regulations, it is necessary to dispose of the products correctly. -
Page 61: Glossary
7. Glossary 7.1 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 tempera- ture of 20 °C. Ambient operating temperature [°C] The intended operating temperature for the operation of the drive. - Page 62 This value is not based on the equation for lifetime calculation of the output bearing but on the maximum allowable deflection of the Harmonic Drive® Component Set. This value must not be exceeded even if the lifetime calculation of the bearing permits higher values.
- Page 63 Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts. Lost Motion (Harmonic Drive® Gears) [arcmin] Harmonic Drive® Gears exhibit zero backlash in the teeth. Lost motion is the term used to characterise the torsional Torsion φ...
- Page 64 [Nm] In the event of an emergency stop or collision, the Harmonic Drive® Gear may be subjected to a brief momentary peak torque. The magnitude and frequency of this peak torque should be kept to a minimum and under no circumstances should the momentary peak torque occur during the normal operating cycle.
- Page 65 The ratio is the reduction of input speed to the output speed. Note for Harmonic Drive® Gears: In the standard drive arrangement, the Wave Generator is the drive element while the Flexspline is the driven element and the Circular Spline is fixed to the housing. Since the direction of rotation of the input (Wave Generator) is opposite to the output (Flexspline), a negative ratio must be considered.
- Page 66 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 67 Torsional stiffness (Harmonic Drive® Gears) K [Nm/rad] Torsion φ The amount of elastic rotation at the output for a given torque with the Wave Generator blocked. The torsional stiff- ness may be evaluated by dividing the torque-torsion curve into three regions. The torsional stiffness values K and K φ2...
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Page 68: Labelling, Guidelines And Regulations
7.2 Labelling, Guidelines and Regulations CE-Marking With the CE marking, the manufacturer or EU importer declares in accordance with EU regulation, that the product meets the applicable requirements of the EU harmonization legislation. REACH REACH Regulation REACH is a European Community Regulation on chemicals. REACH stands for Verordnung Registration, Evaluation, Authorization and Restriction of Chemicals. - Page 69 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...