Table Of Contents - Harmonic Drive CSD-2A Component Sets Engineering Data

Contents
1. General ....................................................................................................................................................03
1.1 Description of Safety Alert Symbols ......................................................................................................................................04
1.2 Disclaimer and Copyright ........................................................................................................................................................04
2. Safety and Installation Instructions ......................................................................................................05
2.1 Hazards .................................................................................................................................................................................... 05
2.2 Intended Purpose ....................................................................................................................................................................06
2.3 Non Intended Purpose .............................................................................................................................................................06
2.4 Declaration of Conformity ....................................................................................................................................................... 07
3. Technical Description ..............................................................................................................................08
3.1 Product Description .................................................................................................................................................................08
3.2 Ordering Code ..........................................................................................................................................................................09
3.3 Technical Data ...........................................................................................................................................................................10
3.3.1 General Technical Data ..................................................................................................................................................10
3.3.2 Dimensions .....................................................................................................................................................................11
3.3.3 Minimum Housing Clearance........................................................................................................................................14
3.3.4 Accuracy .........................................................................................................................................................................14
3.3.5 Torsional Stiffness ........................................................................................................................................................14
4. Actuator Selection Procedure .................................................................................................................15
4.1 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
4.2 Calculation of the Torsion Angle ............................................................................................................................................. 23
4.3 Efficiency Versus Load ............................................................................................................................................................ 24
4.3.1 Efficiency Calculations ................................................................................................................................................. 24
4.3.2 Efficiency Tables........................................................................................................................................................... 25
4.4 Free Load Torques ................................................................................................................................................................... 26
4.4.1 No Load Running Torque ............................................................................................................................................. 26
4.4.2 No Load Starting Torque ...............................................................................................................................................27
4.4.3 No Load Back Driving Torque ........................................................................................................................................27
4.5 Lubrication ............................................................................................................................................................................... 28
4.5.1 Grease Lubrication ....................................................................................................................................................... 28
4.5.2 Oil Lubrication .............................................................................................................................................................. 30
4.6 Axial Forces at the Wave Generator ........................................................................................................................................ 31
5. Installation and Operation ..................................................................................................................... 32
5.1 Transportation and Storage .................................................................................................................................................... 32
5.2 Gear Conditions at Delivery ..................................................................................................................................................... 32
5.3 Assembly Instructions ............................................................................................................................................................. 33
5.4 Recommended Tolerances for Assembly ................................................................................................................................37
5.5 Lubrication ............................................................................................................................................................................... 38
5.5.1 Grease Lubrication ....................................................................................................................................................... 38
5.5.2 Grease Reservoir ..........................................................................................................................................................40
5.5.3 Grease Change ..............................................................................................................................................................40
5.5.4 Oil Lubrication ...............................................................................................................................................................41
5.6 Preparation .............................................................................................................................................................................. 42
5.7 Assembly .................................................................................................................................................................................. 43
5.7.1 Assembly of the Circular Spline (CS) ........................................................................................................................... 43
5.7.2 Assembly of the Flexspline (FS) ..................................................................................................................................44
5.7.3 Assembly of the Wave Generator (WG) to the Input Shaft ...................................................................................... 45
5.7.4 Check before Assembly of the Wave Generator ......................................................................................................... 45
5.7.5 Assembly of the Wave Generator (WG) into the Flexspline (FS) .............................................................................. 45
5.7.6 Assembly Control ......................................................................................................................................................... 45
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