Table of Contents
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Contents
1.
General .................................................................................................................................................. 4
1.1
Description of Safety Alert Symbols ....................................................................................................................................5
1.2
Disclaimer and Copyright ......................................................................................................................................................5
2.
Safety and Installation Instructions .................................................................................................... 6
2.1
Hazards ..................................................................................................................................................................................6
2.2
Intended Purpose .................................................................................................................................................................. 7
2.3
Non Intended Purpose .......................................................................................................................................................... 7
2.4
Use in Special Application Areas ......................................................................................................................................... 8
2.5
Declaration of Conformity .................................................................................................................................................... 8
2.5.1
Gears .......................................................................................................................................................................... 8
2.5.2 Servo Actuators and Motors .................................................................................................................................... 8
3.
Technical Description ............................................................................................................................ 9
3.1
Product Description ...............................................................................................................................................................9
3.2
Ordering Code ...................................................................................................................................................................... 10
3.3
Technical Data ....................................................................................................................................................................... 11
3.3.1
General Technical Data ............................................................................................................................................. 11
3.3.2 Dimensions .............................................................................................................................................................. 12
3.3.3 Minimum Housing Dimensions SHG-2SO and SHG-2SH ....................................................................................... 21
3.3.4 Accuracy ................................................................................................................................................................... 21
3.3.5 Torsional Stiffness ...................................................................................................................................................22
3.3.6 Bearings ....................................................................................................................................................................23
3.3.7. Housing Materials and Surfaces .............................................................................................................................26
4.
Actuator Selection ...............................................................................................................................27
4.1
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
4.2
Calculation of the Torsion Angle .........................................................................................................................................35
4.3
Accuracy of the Oldham Coupling SHG-2SO ......................................................................................................................35
4.4
Efficiency Calculation SHG-2UH .........................................................................................................................................36
4.4.1
Efficiency Calculation Scheme ................................................................................................................................36
4.4.2 Efficiency Correction factor ..................................................................................................................................... 37
4.4.3 Efficiency Correction Value ...................................................................................................................................... 37
4.4.4 Efficiency Tables ..................................................................................................................................................... 38
4.5
No Load Torque values SHG-2UH ...................................................................................................................................... 38
4.5.1
No Load Running Torque .........................................................................................................................................39
4.5.2 No Load Starting Torque ........................................................................................................................................ 40
4.5.3 No Load Back Driving Torque .................................................................................................................................. 40
4.6
Continuous Operation SHG-2UH ......................................................................................................................................... 41
4.7
Output Bearing Operating Life ...........................................................................................................................................42
4.7.1
Output Bearing at Oscillating Motion .................................................................................................................... 44
4.8
Permissible Static Tilting Moment .................................................................................................................................... 45
4.9
Angle of Inclination ............................................................................................................................................................ 45
4.10
Lubrication .......................................................................................................................................................................... 46
4.10.1 Grease Lubrication .................................................................................................................................................. 46
4.10.2 Oil Lubrication ......................................................................................................................................................... 48
4.11
Axial Forces at the Wave Generator SHG-2SO and SHG-2SH .......................................................................................... 49
2
1021387
12/2018
V02
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