Technical Data; General Technical Data - Harmonic Drive CSD-2A Component Sets Engineering Data

3.3 Technical Data

3.3.1 General Technical Data

Table 10.1
Ratio
Repeatable peak torque
Average torque
Rated torque
Momentary peak torque
Maximum input speed (oil lubrication)
Maximum input speed (grease lubrication)
Average input speed (oil lubrication)
Average input speed (grease lubrication)
Moment of inertia
Weight
Table 10.2
Ratio
Repeatable peak torque
Average torque
Rated torque
Momentary peak torque standard
Momentary peak torque with enlarged Flexspline bore (BB)
Maximum input speed (oil lubrication)
Maximum input speed (grease lubrication)
Average input speed (oil lubrication)
Average input speed (grease lubrication)
Moment of inertia
Weight
10
Unit CSD-14-2A
i [ ] 50
T [Nm] 12
R
T [Nm] 4.8
A
T [Nm] 3.7
N
T [Nm] 24
M
n [rpm] 14000
in (max)
n [rpm] 8500
in (max)
n [rpm] 6500
av (max)
n [rpm] 3500
av (max)
J [x10 kgm²] 0.021
-4
in
m [kg] 0.06
Unit CSD-20-2A
i [ ] 50 100
T [Nm] 39
R
T [Nm] 24
A
T [Nm] 17
N
T [Nm] 69
M
T [Nm] 64
M
n [rpm] 10000
in (max)
6500
n [rpm]
in (max)
6500
n [rpm]
av (max)
n [rpm] 3500
av (max)
J [x10 kgm²] 0.090
-4
in
m [kg] 0.13
CSD-17-2A
100 50
19 23
7.7 18
5.4 11
31 48
10000
7300
6500
3500
0.054
0.1
CSD-25-2A
160 50 100
57 64 69 110
34 34 38 75
28 28 27 47
76 76 127 152
64 64 127 135
7500
5600
5600
3500
0.282
0.24
1019659
100
37
27
16
55
160
123
75
47
152
135
11/2014