Harmonic Drive CSD-2A Component Sets Engineering Data page 12

Table 12.1
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
Table 12.2
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
12
Unit CSD-32-2A
i [ ] 50 100
T [Nm] 151 233
R
T [Nm] 75 151
A
T [Nm] 53
N
T [Nm] 268 359
M
T [Nm] 268 331
M
n [rpm] 7000
in (max)
n [rpm] 4800
in (max)
n [rpm] 4600
av (max)
n [rpm] 3500
av (max)
J [x10 kgm²] 1.09
-4
in
m [kg] 0.51
Unit
i [ ] 50
T [Nm] 500
R
T [Nm] 247
A
T [Nm] 172
N
T [Nm] 1000
M
T [Nm] 1000
M
n [rpm]
in (max)
n [rpm]
in (max)
n [rpm]
av (max)
n [rpm]
av (max)
J [x10 kgm²]
-4
in
m [kg]
CSD-40-2A
160 50 100
261 281 398
151 137 260
96 96 96 185
359 480 696
331 480 578
5600
4000
3600
3000
2.85
0.92
CSD-50-2A
100
868
466
329
1440
1320
4500
3500
3000
2500
8.61
1.9
1019659
160
453
316
206
696
578
160
823
590
370
1560
1320
11/2014