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For Precision Control
HarmonicDrive
CSF-3 Series
● Thank you very much for your purchasing our HarmonicDrive
CSF-3 series.
● Be sure to use sufficient safety measures when installing and
operating the equipment so as to prevent an accident resulting in
a serious physical injury damaged by a malfunction or improper
operation.
● Product specifications are subject to change without notice for
improvement purposes.
● Keep this manual in a convenient location and refer to it
whenever necessary in operating or maintaining the units.
● The end user of the driver should have a copy of this manual.
Speed Reducer
Manual
ISO14001
ISO9001
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Table of Contents
Related Manuals for Harmonic Drive CSF-3 Series
Summary of Contents for Harmonic Drive CSF-3 Series
- Page 1 For Precision Control HarmonicDrive Speed Reducer CSF-3 Series Manual ● Thank you very much for your purchasing our HarmonicDrive CSF-3 series. ● Be sure to use sufficient safety measures when installing and operating the equipment so as to prevent an accident resulting in a serious physical injury damaged by a malfunction or improper operation.
- Page 2 SAFETY GUIDE SYSTEMS For HarmonicDrive® component and unit Read this manual thoroughly before designing the application, installation, maintenance or inspection of the actuator. Indicates a potentially hazardous situation, Indicates a potentially hazardous situation, which, if which, if not avoided, could result in death not avoided, may result in minor or moderate personal or serious personal injury.
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Page 3: Table Of Contents
CSF-3 series manual Contents Chapter 1 Outlines of CSF-3 series ..................... 1 Model and sign.......................... 1 Model ............................1 External drawing ........................2 Chapter 2 Installing of Motor........................ 3 Checking procedure ........................3 Main bearing specification ......................3 How to obtain the maximum load moment load................ 4 How to obtain the average load .................... - Page 4 CSF-3 series manual Memo - Contents 2 -...
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Page 5: Chapter 1 Outlines Of Csf-3 Series
This supplementary technical data incorporates technical data that is not included in our CSF-3 Series Catalog. Please use this data hand in hand with the CSF-3 Series Catalog when you study the use of Harmonic Drive products in the design of your products. -
Page 6: External Drawing
Chapter 1 Outlines of CSF-3 series 1-3 External drawing ■Double-shaft unit type【CSF-3-XX-1U】 Unit: mm 4-M1.6 tap 3.2 evenly spaced Maximum diameter of rotation part Mass: 13.7ｇ ■Gear head type【CSF-3-XX-1U-CC】 Unit: mm 4-M1.6 tap 3.2 4-M1.4 tap 2.8 evenly spaced evenly spaced Maximum diameter of rotation part Mass: 11.4ｇ... -
Page 7: Chapter 2 Installing Of Motor
Chapter 2 Installing of Motor Chapter 2 Installing of Motor A precision cross roller bearing is built in the unit type and the gear head type to directly support the external load (output flange) (precision 4-point contact ball bearing for the CSF-mini series). Check the maximum load moment load, life of the bearing and static safety coefficient to fully bring out the performance of the unit type. -
Page 8: How To Obtain The Maximum Load Moment Load
Chapter 2 Installing of Motor How to obtain the maximum load moment load How to obtain the maximum load moment load is shown below. Check Mmax <=Mc. ● Formula (1) Figure 1External load influence diagram Mmax＝Frmax(Lr+R)+Famax･La Radial load Fr Symbol of Formula (1) Maximum radial See Figure 1. -
Page 9: How To Obtain The Radial Load Coefficient (X) And Axial Load Coefficient (Y)
Chapter 2 Installing of Motor How to obtain the radial load coefficient (X) and axial load coefficient (Y) ● Formula (5) Table 2 Ｘ Ｙ ≤ 0.45 ⋅ La)/dp > 0.67 0.67 ⋅ La)/dp Symbol of Formula (5) Average radial load See “Average load.”... -
Page 10: How To Obtain The Life Under Oscillating Movement
Chapter 2 Installing of Motor How to obtain the life under oscillating movement Obtain the life of the bearing under oscillating movement by Formula (8). ● Formula (8) Figure 2 Oscillating movement × ( × × θ • Symbols of Formula (8) Rated life under oscillating hour movement... -
Page 11: Chapter 3 Efficiency Characteristics
Chapter 3 Efficiency characteristics Chapter 3 Efficiency characteristics The efficiency varies depending on the following conditions. ●Reduction ratio ●Input rotational speed ●Load torque ●Temperature ●Lubrication condition (type and quantity of lubricant) ●Measuring condition The rated torque shown in the ratings Load torque (see the corresponding pages on each series) Grease lubrication... -
Page 12: Gear Head Type (1U-Cc)
Chapter 3 Efficiency characteristics ●Reduction ratio: 100 100% 500r/min 1000r/min 2000r/min 3500r/min 5000r/min 10000r/min Temperature(°C) 温度 （℃） 3-2 Gear head type (1U-CC) ●Reduction ratio: 30 100% 500r/min 1000r/min 2000r/min 3500r/min 5000r/min 10000r/min Temperature(°C) 温度 （℃）... - Page 13 Chapter 3 Efficiency characteristics ●Reduction ratio: 50 100% 500r/min 1000r/min 2000r/min 3500r/min 5000r/min 10000r/min Temperature(°C) 温度 （℃） ●Reduction ratio: 100 100% 500r/min 1000r/min 2000r/min 3500r/min 5000r/min 10000r/min Temperature(°C) 温度 （℃）...
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Page 14: Chapter 4 No-Load Running Torque
The torque value is the value after a trial run of at two hours at an input of 2000 r/min. ● Correction amount by reduction ratio No-load running torques of Harmonic Drive vary in accordance with the reduction ratio. The values in Graph 1 below are the values for the gear head type (1U-CC, reduction ratio 1/100). Other reduction ratios can be calculated by adding correction amounts shown in Table 1. -
Page 15: Chapter 5 Starting Torque And Overdrive Starting Torque
Chapter 5 Starting torque and Overdrive starting torque Chapter 5 Starting torque and Overdrive starting torque ●Starting torque Starting torque means the instantaneous “starting torque” that the output side (low-speed side) starts rotation when a torque is applied on the input side (high-speed side) Double axial unit type(1U) Unit: cNｍ... -
Page 16: Chapter 6 Ratcheting Torque And Buckling Torque
Chapter 6 Starting torque and Overdrive starting torque Chapter 6 Ratcheting torque and Buckling torque ●Ratcheting torque When excess impact torque is applied during operation, the engagement of the teeth between the circular saline and the flexspline may be put momentarily out of alignment instead of damaging the flexspline.This phenomenon is called ratcheting, and the torque is called ratcheting torque (see values on the corresponding page of each series).0peraling the drive without fixing ratcheting will result in earlier abrasion of the teeth and shorter lifespan of the wave generator bearing due to the effect of the... -
Page 17: Chapter 7 Angle Transmission Accuracy
θ θer …………… Angle transmission error θ …………… Input rotating angle θ …………… Actual output rotating angle Ｒ …………… Reduction ratio of Harmonic Drive (i=1:R) Angle transmission accuracy (Full speed ratio) Angle transmission Unit accuracy (Full speed ratio) ×10 arc min... -
Page 18: Chapter 8 Vibration
Harmonic Drive. Observe Chapter 9 Design and Precautions on assembly. Two angle transmission error elements of Harmonic Drive correspond to a cycle of the input shaft from the mechanical viewpoint of Harmonic Drive. Therefore, the frequency is double the input frequency as it is the main element of the error. -
Page 19: Chapter 9 Rigidity
B’ in the “Torque – torsional angle diagram” is represented as the spring constant for the rigidity of Harmonic Drive (unit: Nm/rad). As shown in Figure 020-2, this “Torque – torsional angle diagram” is divided into 3 partitions, and the spring constants in the area are A’... - Page 20 Chapter 9 Rigidity Hysteresis loss As shown in Figure 020-1, when the torque is applied up to the rated value and is brought back to [zero], the torsional angle does not become absolutely [zero] and a small amount remains. This is called hysteresis loss.
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Page 21: Chapter 10 Design And Precautions On Assembly
10-1 Embedding accuracy of gear head type (1U-CC) Maintain the recommended case accuracy shown below in design for embedding to ensure that excellent performance of Harmonic Drive is fully demonstrated. Recommended accuracy for case embedding Case mating face Recommended tolerance for socket and spigot joint h6... -
Page 22: Tolerable Load Of Input Shaft Of Double-Shaft Unit Type (1U)
Chapter 10 Design and Precautions on assembly 10-2 Tolerable load of input shaft of double-shaft unit type (1U) The input part of the double-shaft unit type is supported by two single row deep groove bearings. Check the load applied to the input part to ensure that the performance of the double-shaft unit type is fully demonstrated. -
Page 23: Mounting In System
Chapter 10 Design and Precautions on assembly 10-3 Mounting in system When mounting the CSF-3 series in a system, check flatness of the mounting surface and burrs in the tap part. Then clamp the mounting flange (Part A in the diagram) by bolting. -
Page 24: Mechanical Accuracy
Squareness of the mounting face 10-5 Lubricant The standard lubricating method for the CSF-3 series is greasing of Harmonic Grease SK-2 developed specially for compact precision equipment. The CSF-3 series products are greased during preshipment inspection. No greasing or grease coating is needed when mounting them in systems. - Page 25 Chapter 10 Design and Precautions on assembly Memo...
- Page 26 (2)Disassembling, modification or repair by others than Harmonic Drive Systems, Inc. (3)Imperfection caused by the other than the products. (4)Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc. Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc.
- Page 27 〒399-8305 Harmonic Drive SE : Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn, Germany TEL+49-6431-5008-0 FAX+49-6431-5008-119 Harmonic Drive L.L.C. : 42 Dunham Ridge, Beverly, Massachusetts 01915, U.S.A. TEL+1- 978-532-1800 FAX+1- 978-532-9406 "HarmonicDrive ® " is a trademark of Harmonic Drive Systems, Inc.