Related Manuals for Harmonic Drive CSD-2A Component Sets
Summary of Contents for Harmonic Drive CSD-2A Component Sets
- Page 1 Engineering Data CSD-2A Component Sets QUICKLINK www.harmonicdrive.de/3060 1019659 11/2014...
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Page 2: Table Of Contents
3.3.3 Minimum Housing Clearance............................14 3.3.4 Accuracy ..................................14 3.3.5 Torsional Stiffness ................................14 Actuator Selection Procedure .........................15 Selecting Harmonic Drive® Gears ............................. 17 4.1.1 Torque Based Dimensioning ............................18 4.1.2 Life of the Wave Generator Bearing..........................20 4.1.3 Stiffness Based Dimensioning ............................. 21 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
3. Technical Description 3.1 Product Description The short series CSD-2A Series Component Sets are available in seven sizes with gear ratios of 50, 100 and 160:1 offering repeatable peak torques from 12 to 823 Nm and a power density of up to 512 Nm/kg. If required, the Component Sets are available as specific configurations tailoredto your application. -
Page 9: Ordering Code
3.2 Ordering Code Table 9.1 Series Size Ratio Version Flexsplinetype Special design 2A-R According to customer requirements 2A-GR Ordering code 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. Other configurations are possible. -
Page 10: Technical Data
3.3 Technical Data 3.3.1 General Technical Data Table 10.1 Unit CSD-14-2A CSD-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 CSD-14-2A CSD-17-2A Illustration 11.1 [mm] Illustration 11.2 [mm] CSD-20-2A CSD-25-2A Illustration 11.3 [mm] Illustration 11.4 [mm] QUICKLINK www.harmonicdrive.de/CAD3060 1019659 11/2014... - Page 12 Table 12.1 Unit CSD-32-2A CSD-40-2A Ratio i [ ] Repeatable peak torque [Nm] Average torque [Nm] Rated torque [Nm] Momentary peak torque standard [Nm] Momentary peak torque with enlarged Flexspline bore (BB) [Nm] Maximum input speed (oil lubrication) [rpm] 7000 5600 in (max) Maximum input speed (grease lubrication)
- Page 13 CSD-32-2A CSD-40-2A Illustration 13.1 [mm] Illustration 13.2 [mm] CSD-50-2A Illustration 13.3 [mm] QUICKLINK www.harmonicdrive.de/CAD3060 1019659 11/2014...
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Page 14: Minimum Housing Clearance
3.3.3 Minimum Housing Clearance Table 14.1 [mm] Size 13.5 15.5 18.5 29.5 36.5 Øz Illustration 14.2 3.3.4 Accuracy Table 14.3 Size 14. 17 ≥ 20 Transmission accuracy < 1.5 < 1 Hysteresis loss < 2 < 2 Lost Motion < 1 <... -
Page 15: Actuator Selection Procedure
15.2. Illustration 15.2 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 16 Ratio Reduction gearing Reduction gearing Reduction gearing Fixed Fixed Fixed Input Input Input Output Output Output Equation 16.1 Equation 16.2 Equation 16.3 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 17: Selecting Harmonic Drive® Gears
4.1 Selecting Harmonic Drive® Gears When choosing a gear, you should take into account both torque as well as stiffness requirements. In robot applications, for example, the necessary torque is the more crucial factor for the gear size, while the process related torsional stiffness is often decisive in machine tool manufacture. -
Page 18: Torque Based Dimensioning
4.1.1 Torque Based Dimensioning Output Data Illustration 18.1 Torques ...T [Nm] during the load phases ...t during the pause time and output speeds ...n [rpm] Time Emergency stop/ [Nm] momentary peak torque at output speed [rpm] Time and duration Equation 18.2 Load limit 1, Calculation of the Average Output Torque T ·... - Page 19 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 Operating life L = 30000 h (required)
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Page 20: 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 21: Stiffness Based Dimensioning
≥ 50 regarding 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. 1019659 11/2014... - Page 22 = Load moment of inertia [kgm allows you to calculate 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 21.1. The higher the load‘s moment of inertia, the more influence the application has on the gear selection.
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Page 23: Calculation Of The Torsion Angle
4.2 Calculation of the Torsion Angle Calculation of the Torsion Angle φ at Torque T: Equation 23.1 Equation 23.2 Equation 23.3 < – T ≤T < T - T T - T φ = φ = φ = φ = Angle [rad] T = Torque [Nm] K = Stiffness [Nm/rad] Example: HFUC-32-100-2UH... -
Page 24: Efficiency Versus Load
4.3 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 25: Efficiency Tables
4.3.2 Efficiency Tables Efficiency for Grease Lubrication at Rated Torque Harmonic Drive® Grease. Illustration 25.1 Untersetzung / Ratio = 50 Untersetzung / Ratio = 50 # 14 # 17, 20 Ratio = 50, Size 14 Ratio = 50, Size 17, 20... -
Page 26: Free Load Torques
Where back driving is not permissible a brake must be fitted. The curves in illustration 26.1 are valid for: Harmonic Drive® grease, standard lubricant quantity Gear ratio i = 100 For other ratios please apply the compensation values given in table 27.1. -
Page 27: 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 27.1 [Ncm] Size Ratio 0.56 0.95 18.0 –... -
Page 28: 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 named in the specific product chapter is used. Others than the lubricants and lubricant quantities recommended from Harmonic Drive AG should be qualified by means of prototype tests, if necessary. - Page 29 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. 1019659...
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Page 30: 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 R=100 at full usage of the catalogue performance data. -
Page 31: Axial Forces At The Wave Generator
4.6 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 32: 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 33: 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 essen- tial in order for the advantages of Harmonic Drive® gearing to be fully exploited. - Page 34 Illustration 34.1 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 35 Assembly Two recommended sequences of assembly of the Harmonic Drive® Component Set are illustrated in illustration 35.1. During assembly the following general points, which are also valid for Units and Gearboxes, should be observed: Illustration 35.1 • The gear components, input and output shaft have to be centred accurately within and relative to the housing.
- Page 36 Correct assembly of component sets may be checked in one of four ways: Illustration 36.1 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. •...
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Page 37: 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 37.1 are observed for the input assembly. Illustration 37.1 Recommended shaft Recommended... -
Page 38: 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 39 Illustration 39.1 Flexspline teeth Circular Spline teeth Flexspline bore Wave Generator bearing The required grease quantity is dependent on the gear size and the operating position. The following operating positions “Wave Generator above” or “Wave Generator below” refer to the position of the Wave Generator in relative to the Flexspline flange, see illustration 39.2.
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Page 40: Grease Reservoir
5.5.2 Grease Reservoir For assembly please ensure that the grease reservoir is filled up with grease (dimension c and ø d in illustration 40.2). Table 40.1 Size ø a 19.5 ø d c* Horizontal and vertical – Wave Generator down c** Vertical –... -
Page 41: Oil Lubrication
Size When the Harmonic Drive® gear is to be used vertically with the Wave Generator placed at the bottom or on top, special conside- ration must be given because even small changes of the oil level affect the churning losses. For horizontal installation a mini- mum oil level according to dimension A in illustration 41.1 / table 41.3 and a minimum oil volume according to the specification... -
Page 42: Preparation
5.6 Preparation Assembly Preparation The gear assembly must be carried out very carefully and within a clean environment. Please make sure that during the as- sembly procedure no foreign particles enter the gear. General information Clean, degrease and dry all mating surfaces to ensure an adequate coefficient of friction. The values given in table 8 are valid for 12.9 quality screws which must be tightened by means of a torque wrench. -
Page 43: 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 44: Assembly Of The Flexspline (Fs)
Circular Spline screw connections Table 44.1 Size Number of screws Size of screws Pitch circle diameter [mm] Screw tightening torque [Nm] 15.3 Torque transmitting capacity [Nm] 1434 - Friction coefficient µ = 0.15 - To obtain good friction between the mating surfaces, clean and degrease the surfaces thoroughly. -
Page 45: Assembly Of The Wave Generator (Wg) To The Input Shaft
5.7.3 Assembly of the Wave Generator (WG) to the Input Shaft Before or after the assembly to the input shaft the Wave Generator is to be lubricated according to section 5.5. 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, see also illustration 45.1. - Page 46 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 47 Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts. Lost Motion (Harmonic Drive® Gearing) [arcmin] Harmonic Drive® Gearing exhibits zero backlash in the teeth. Lost motion is the term used to characterise the torsional Torsion stiffness in the low torque region.
- Page 48 [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 49 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 50 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 51 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 this φ2...
- Page 52 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 53 Deutschland Harmonic Drive AG T +49 6431 5008-0 info@harmonicdrive.de Subject to technical changes Hoenbergstraße 14 F +49 6431 5008-119 www.harmonicdrive.de 65555 Limburg/Lahn 1019659 11/2014...