Harmonic Drive HFUS-2A Series, Engineering Data

Page 1: ...HFUS 2A Component Sets Engineering Data QUICKLINK www harmonicdrive de 3050 ...

Page 2: ... Calculation of the Torsion Angle 24 4 3 Accuracy of the Oldham Coupling 24 4 4 Efficiency Versus Load 25 4 4 1 Efficiency Calculations 25 4 4 2 Efficiency Tables 26 4 5 No Load Starting Back Driving and Running Torque 29 4 5 1 No Load Running Torque 29 4 5 2 No Load Starting Torque 30 4 5 3 No Load Back Driving Torque 30 4 6 Lubrication 31 4 6 1 Grease Lubrication 31 4 6 2 Oil Lubrication 33 4 7 ...

Page 3: ...ument for the entire life of the product up to its disposal Please hand over the documentation when re selling the product Additional documentation 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 ...

Page 4: ...erous electrical voltage and its effects Beware of hot surfaces Beware of suspended loads Precautions when handling electrostatic sensitive components 1 2 Disclaimer and Copyright The contents images and graphics contained in this document are predected by copyright In addition to the copyright logos fonts company and product names can also be predected by brand law or trademark law The use of tex...

Page 5: ...oltages Ground and short circuit Cover or close off nearby live parts The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled Improper handling can cause damage to persons and property The respective national local and factory specific regulations must be adhered to Electric magnetic and electromagnetic fields are dangerous in particular f...

Page 6: ...verter manufacturer must be observed in order that installation meets the EMC regulations 2 3 Non Intended Purpose The use of products outside the areas of application mentioned above or inter alia other than in the operating areas or environmental conditions described in the documentation is considered as non intended purpose The following areas of application are inter alia those considered as n...

Page 7: ...proved to conform to the provisions of this directive Essential health and safety requirements were considered in the design and manufacture of these gear component sets This simplifies the implementation of the machinery directive by the end user for the machinery or the partly completed machinery Commissioning of the machine or partly completed machine is prohibited until the final product confo...

Page 8: ...If required the Component Sets are available as specific configurations tailored to your application including special lubricants for extended temperature ranges or special materials for extreme ambient conditions Consisting of just three individual components they are very lightweight and compact The enlarged hollow shaft can be used to feed through supply lines shafts or cables for further axes ...

Page 9: ... 2A GR 25 30 50 80 100 120 160 32 30 50 80 100 120 160 40 50 80 100 120 160 45 50 80 100 120 160 50 50 80 100 120 160 58 50 80 100 120 160 Ordering code HFUS 25 100 2A GR SP Version Ordering code Description 2A R Component Set 2A GR 1 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 th...

Page 10: ... Grease Lubrication nav max rpm 3500 3500 Moment of inertia Jin x10 4 kgm 0 033 0 079 Weight m kg 0 11 0 18 Table 10 2 Unit HFUS 20 2A HFUS 25 2A Ratio i 30 50 80 100 120 160 30 50 80 100 120 160 Repeatable peak torque TR Nm 27 56 74 82 87 92 50 98 137 157 167 176 Average torque TA Nm 20 34 47 49 49 49 38 55 87 108 108 108 Rated torque TN Nm 15 25 34 40 40 40 27 39 63 67 67 67 Momentary peak torqu...

Page 11: ...11 1019658 11 2014 3 3 2 Dimensions Illustration 11 1 Illustration 11 2 mm mm HFUS 14 2A HFUS 17 2A Illustration 11 3 Illustration 11 4 mm mm HFUS 20 2A HFUS 25 2A QUICKLINK www harmonicdrive de CAD3050 ...

Page 12: ...ertia Jin x10 4 kgm 1 69 4 5 Weight m kg 0 97 1 86 Table 12 2 Unit HFUS 45 2A HFUS 50 2A Ratio i 50 80 100 120 160 501 80 100 120 160 Repeatable peak torque TR Nm 500 706 755 823 882 715 941 980 1080 1180 Average torque TA Nm 265 390 500 620 630 350 519 666 813 843 Rated torque TN Nm 176 313 353 402 402 245 372 470 529 529 Momentary peak torque TM Nm 950 1270 1570 1760 1910 1430 1860 2060 2060 245...

Page 13: ...13 1019658 11 2014 Illustration 13 1 Illustration 13 2 mm mm HFUS 32 2A HFUS 40 2A Illustration 13 3 Illustration 13 4 mm mm HFUS 45 2A HFUS 50 2A QUICKLINK www harmonicdrive de CAD3050 ...

Page 14: ...ue TA Nm 520 770 1060 1190 1210 Rated torque TN Nm 353 549 696 745 745 Momentary peak torque TM Nm 1960 2450 3180 3330 3430 Maximum input speed Oil Lubrication nin max rpm 4000 Maximum input speed Grease Lubrication nin max rpm 3000 Average input speed Oil Lubrication nav max rpm 2700 Average input speed Grease Lubrication nav max rpm 2200 Moment of inertia Jin x10 4 kgm 27 3 Weight m kg 5 17 Illu...

Page 15: ... 113 131 x 24 5 27 5 30 5 35 5 43 5 53 0 59 0 65 0 75 5 y 2 9 3 6 3 7 4 2 4 8 5 4 6 1 6 8 7 9 ØZ 38 45 53 66 86 106 119 133 154 Size 14 17 20 25 32 40 45 50 58 T1 Nm 2 3 9 7 14 29 54 76 108 168 T2 Nm 6 9 12 25 48 108 196 275 382 598 i 30 K3 x10 Nm rad 3 4 6 7 11 21 49 K2 x10 Nm rad 2 4 4 4 7 1 13 30 K1 x10 Nm rad 1 9 3 4 5 7 10 24 i 50 K3 x10 Nm rad 5 7 13 23 44 98 180 260 340 540 K2 x10 Nm rad 4 ...

Page 16: ...ponents of the Harmonic Drive units Circular Spline CS Flexspline FS and Wave Generator WG can be seen in the illustration 16 2 Ratio i Input speed Output speed Equation 16 1 Illustration 16 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 17: ...tions available to download from our website Input and output rotate in opposite directions Input and output rotate in same direction Input and output rotate in same direction Equation 17 1 Equation 17 4 1 2 3 Equation 17 2 Equation 17 5 Equation 17 3 Equation 17 6 Speed increaser gearing WG Fixed CS Input FS Output Speed increaser gearing CS Fixed FS Input WG Output Speed increaser gearing FS Fix...

Page 18: ...stiffness is often decisive in machine tool applications We therefore recommend that you always take both criteria into account according to the following procedures Gear preselection Application Gear size sufficient Gear size sufficient Selection of a bigger size Yes Yes No No Selection of a bigger size End of gear selection Torque based dimensioning according to selection procedure on page 19 St...

Page 19: ...d input speed Rated torque TN 3 nin av Tav nout av n1 t1 n2 t2 nn tn t1 t2 tn tp Equation 19 4 Equation 19 6 Equation 19 8 Equation 19 11 Equation 19 9 Equation 19 10 Equation 19 5 Equation 19 7 Selection of a bigger size No Equation 19 3 Load limit 3 TM Tk TM Allowable number of momentary peak torques Nk max 104 2 nk i tk 60 Permissible average input speed nin av Limit for average input speed see...

Page 20: ...v 120 12 0 rpm 1440 rpm nout av 7 rpm 0 3 s 14 rpm 3 s 7 rpm 0 4 s 12 0 rpm 0 3 s 3 s 0 4 s 0 2 s Permissible maximum input speed nin max 14 rpm 120 1680 rpm 4000 rpm Permissible average input speed nin av 1440 rpm 3000 rpm Load limit 2 TR Load limit 3 TM Allowable number of momentary peak torques Tmax 400 Nm TR 617 Nm Tk 500 Nm TM 1180 Nm 104 14 120 2 60 0 15 Operating life HFUC 40 120 2A GR L50 ...

Page 21: ...Ln See table 21 1 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 L50 bearing life The life expectancy of a component set or an unit operating at an ...

Page 22: ...nd positioning axes of medical equipment 15 B C axes in 5 axis grinding machines hand axes of welding robots laser welding milling heads for plastics machining 20 C axes in turning machines milling heads for light metal machining milling heads for woodworking chipboards etc 25 Milling heads for woodworking hardwood etc 30 C axes in turning machines 35 Milling heads for metal machining B axes in tu...

Page 23: ...ou pass the resonance speed rapidly This can be achieved by selecting a suitable gear ratio Another possibility is to select suitable gear stiffness such that the resonance speed lies beyond the required speed range Selection Example HFUC 40 120 2A GR preselected from Selection Procedure on page 20 Intended application milling head for woodworking Moment of inertia at the gear output 7 kgm2 Recomm...

Page 24: ...of arc can occur at the output shaft as listed in table 24 5 φ Angle rad T Torque Nm K Stiffness Nm rad φ 60 Nm 29 Nm 11 104 Nm rad 29 Nm 6 7 104 Nm rad φ 7 15 10 4 rad φ 2 5 arc min 180 60 φ arc min φ rad Example HFUC 32 100 2UH T 60 Nm K1 6 7 104 Nm rad T1 29 Nm K2 1 1 105 Nm rad T2 108 Nm K3 1 2 105 Nm rad T T1 T K1 φ φ T T1 K2 T1 K1 T1 T T2 T T2 φ T2 T1 K2 T1 K1 T T2 K3 Equation 24 1 Equation ...

Page 25: ...Procedure Example Efficiency of HFUC 20 80 2A GR with input speed n 1000 rpm output torque T 19 6 Nm at 20 C ambient temperature Lubrication Oil The efficiency may be determined using the efficiency graphs From matching chart η 78 Calculate the torque factor V With Tav Average torque TN Rated torque at rated speed Tav 19 6 Nm TN 34 0 Nm K depending on gear type and V see illustration 25 4 Efficien...

Page 26: ...0 70 60 50 40 30 20 Illustration 26 1 Ratio 30 50 80 Temperature C 0 10 20 30 40 100 90 80 70 60 50 40 30 20 Efficiency 100 90 80 70 60 50 40 30 20 Temperature C 0 10 20 30 40 Ratio 120 100 90 80 70 60 50 40 30 20 Efficiency Efficiency Efficiency 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm ...

Page 27: ...10 0 10 20 30 40 Ratio 30 100 90 80 70 60 50 40 30 20 Efficiency Temperature C 10 0 10 20 30 40 Ratio 100 100 90 80 70 60 50 40 30 20 Efficiency 10 0 10 20 30 40 Temperature C Ratio 50 80 100 90 80 70 60 50 40 30 20 Efficiency 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm Size 14 ...

Page 28: ... 70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 100 90 80 70 60 50 40 30 20 Efficiency Efficiency Temperature C 10 0 10 20 30 40 Ratio 160 100 90 80 70 60 50 40 30 20 Efficiency Efficiency Efficiency 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rpm 500 rpm 1000 rpm 2000 rpm 3500 rp...

Page 29: ...fined input speed with no load applied to the output No Load Starting Torque The no load starting torque is the quasistatic torque required to commence rotation of the input element high speed side with no load applied to the output element low speed side No Load Back Driving Torque The no load back driving torque is the torque required to commence rotation of the output element low speed side wit...

Page 30: ...4 5 8 8 4 13 25 43 56 75 107 80 0 1 0 1 0 2 0 3 0 7 1 2 1 7 2 3 3 4 120 0 1 0 1 0 2 0 5 0 9 1 3 1 7 2 5 160 0 3 0 6 1 2 2 2 3 0 4 0 6 1 Ratio Size 14 17 20 25 32 40 45 50 58 30 2 0 3 2 5 5 10 21 50 1 4 2 5 4 0 7 5 16 28 37 52 80 80 1 4 2 5 4 2 7 7 16 28 39 53 81 100 1 7 2 8 4 5 8 4 18 31 42 57 88 120 3 1 4 9 9 2 19 34 47 63 97 160 5 8 11 23 40 57 77 120 Ratio Size 14 17 20 25 32 40 45 50 58 30 4 3...

Page 31: ...of Harmonic Drive Lubricating Grease Depending on product size and if necessary ratio the matching Harmonic Drive grease should be selected We recommend the application of the Harmonic Drive lubricating greases according to the data in the tables 31 1 and 31 2 Caution The Harmonic Drive high performance 4BNo 2 grease becomes relatively thin fluid during operation Therefore the design must be oil t...

Page 32: ...g greases Type Standard Special SK 1A SK 2 Flexolub A1 4BNo 2 Operating temperature range 0 C 80 C 0 C 80 C 40 C 120 C 10 C 110 C Base oil Mineral oil Mineral oil PAO Ester oil Synthetic oil Thickener Lithium soap Lithium soap Lithium soap Urea Consistency class NLGI 2 2 1 1 2 Base oil viscosity 40 C 100 C 37 5 9 mm2 St 37 5 9 mm2 St 25 5 2 mm2 St 50 12 mm2 St Drop point 197 C 198 C 180 C 247 C Co...

Page 33: ...urer Designation Operating temperature range 1 Broadband temperature range Grease Harmonic Drive Flexolub A1 40 C 120 C 3 Low temperature Grease Oil Harmonic Drive Flexolub M0 50 C 120 C 2 5 High temperature Grease Oil Mobil Mobil Grease 28 Mobil Mobil SHC 626 55 C 160 C 2 15 C 140 C 2 Food pharmaceutical industry Grease Bechem Berulub FG H 2 SL 40 C 120 C 2 4 Special Operating Demands Table 33 1 ...

Page 34: ...motor shaft The Wave Generator thus needs to be fixed on the input shaft in the axial direction In closed Harmonic Drive Units and gearboxes the axial force is absorbed internally Ratio 30 FAX 2 T _ D µ tan 32 Equation 34 3 50 FAX 2 T _ D µ tan 30 2µPF Equation 34 4 80 160 FAX 2 T _ D µ tan 20 2µPF Equation 34 5 Table 34 2 Sizes 14 17 20 25 32 40 50 2µPF N for CSD and SHD 2 1 4 1 5 6 9 8 16 24 39 ...

Page 35: ...he gears are generally delivered according to the dimensions indicated in the confirmation drawing The three basic components of the gear the Flexspline Wave Generator and Circular Spline are matched and labelled in the factory Depending on the product they are either greased or prepared with preservation oil Then the individual components are assembled If you receive several units please be caref...

Page 36: ...Axial location of Flexspline 8 Air vent depending on the application 9 Flexspline and Circular Spline must be located in parallel and perpendicular to the output shaft 10 Axial location of Wave Generator 11 Oil input also enables assembly check 12 Double bearing support for input shaft Illustration 36 1 5 3 Assembly Instructions The relative perpendicularity and concentricity of the three basic Ha...

Page 37: ...demands a secure connection of both Flexspline and Circular Spline To ensure that the screw connection is adequate please observe the following general guidelines Base the calculation of torque transmitting capability on the VDI 2230 guideline Use 12 9 quality screws Do not use unsuitable locking devices such as spring washers or toothed discs Ensure that the strength of the output shaft material ...

Page 38: ...ould be tightened crosswise using successively increased torque Only then should the Wave Generator be inserted into the Flexspline as shown in illustration 38 1 Caution The assembly of the Wave Generator must be executed in the direction of the arrow During the insertion of the Wave Generator into the Flexspline the Flexspline adopts the elliptical shape of the Wave Generator Illustration 38 1 Th...

Page 39: ...f the Wave Generator is connected to a motor an unusually high motor current indicates dedoidal tooth mesh A dial gauge can be inserted through an access hole near the Circular Spline to touch the surface of the Flexspline A quasi sinusoidal deflection during one revolution of the Flexspline indicates correct assembly as shown in illustration 39 1 Right Flexspline deflection concentric 1 Revolutio...

Page 40: ...42 0 048 0 053 0 057 0 062 c 0 015 0 018 0 019 0 022 0 022 0 024 0 027 0 030 0 032 d 0 011 0 015 0 017 0 024 0 026 0 026 0 027 0 028 0 031 e 0 011 0 015 0 017 0 024 0 026 0 026 0 027 0 028 0 031 f 0 017 0 008 0 020 0 010 0 024 0 012 0 024 0 012 0 024 0 012 0 032 0 012 0 032 0 013 0 032 0 015 0 032 0 015 g 0 030 0 016 0 034 0 018 0 044 0 019 0 047 0 022 0 050 0 022 0 063 0 024 0 065 0 027 0 066 0 0...

Page 41: ...the so called Solid Wave Generator configuration The Wave Generator bore may be enlarged or splined to accept a hollow shaft or a splined shaft The maximum allowable bore diameter with or without keyway or splines is given in table 42 2 Use of a Solid Wave Generator demands tighter tolerances for the motor shaft and housing as described in the section Design Guidelines Assembly Tolerances for the ...

Page 42: ...e If in doubt please contact the Harmonic Drive AG Ordering code Available packaging Special grease SK 1A SK 2 0 5 2 5 16 Special grease 4BNo 2 0 5 2 16 Table 42 3 Table 42 4 Size 8 11 14 17 20 25 32 40 45 50 58 65 80 90 100 Standard grease quantity ca g 1 8 3 5 5 5 10 16 40 60 130 180 260 360 440 850 990 1200 ca cm3 2 4 6 11 18 44 66 143 198 286 396 484 935 1089 1320 Additionally required grease ...

Page 43: ...g position of the gear The operating positions Wave Generator above or Wave Generator below refer to the relative position of the Wave Generator to Flexspline flange see illustration 43 2 Operation mainly with Wave Generator in vertical position or below The supplied grease quantity is calculated for a Unit operating mainly with Wave Generator in vertical position or below See table 44 1 Operation...

Page 44: ...sh grease should be applied generously to the inside of the Flexspline the Wave Generator bearing the Oldham coupling and the teeth of the Circular Spline and Flexspline In illustration 44 3 the grease change interval depending on the grease temperature is given The number of allowable revolu tions of the input shaft which represents the grease change interval can be estimated as shown in the exam...

Page 45: ...le 45 3 Operating Positions Wave Generator above Wave Generator perpendicular Wave Generator below B Oil level B Oil level Illustration 45 1 A Oil level Table 45 2 The required oil quantity is dependent on the design Therefore the quantity specified in the drawing service manual of the machine is decisive for the oil quantity to fill in Please also consider illustration 45 1 and table 45 3 The def...

Page 46: ...mend the application of the following auxiliary materials or the use of those with similar characteristics Please pay attention to the application guidelines given by the manufacturer Auxiliary materials must not enter the gear Surface sealing Loctite 5203 Loxeal 28 10 Recommended for all mating surfaces if the use of o ring seals is not intended Screw fixing Loctite 243 This adhesive ensures that...

Page 47: ...should to be mounted and screwed down The assembly of these two components can take place in any order 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 Note Before the Wave Generator is set in p...

Page 48: ...ance with illustration 43 1 For the correct mounting please also see illustration 39 1 Circular Spline Screws Table 48 1 5 9 2 Assembly of the Flexspline Care must be taken that the heads of clamping bolts washers nuts or clamping rings do not interfere with local flexing of the Flexspline Otherwise eventual failure will result For this reason fastening elements must not enter the region which is ...

Page 49: ...ze of screws M3 M3 M3 M4 M5 M6 M6 M8 M8 Pitch circle diameter 1 mm 64 74 84 102 132 158 180 200 226 Pitch circle diameter 2 mm 54 66 76 96 124 152 170 190 218 Screw tightening torque Nm 2 0 2 0 2 0 4 5 9 0 15 3 15 3 37 37 Transmittable torque 1 Nm 104 176 206 427 897 1507 2573 3486 5262 Transmittable torque 2 Nm 88 157 186 402 843 1450 2430 3312 5076 1 Modified version 2 Standard version with comp...

Page 50: ...d fill in the prescribed oil quantity 5 9 6 Final Check of Position of the Wave Generator When the Wave Generator is assembled into the Flexspline please consider that the parts must not be tilted during assembly By parallel assembly it is ensured that the teeth of Flexspline and Circular Spline mesh symmetrically Alternatively the assembly can be executed during slowly rotation of the input shaft...

Page 51: ... TA limit Backlash Harmonic Planetary gears arcmin When subjected to the rated torque Harmonic Planetary gears display characteristics shown in the hysteresis curve When a torque is applied to the output shaft of the gear with the input shaft locked the torque torsion relationship can be measured at the output Starting from point 0 the graph follows successive points A B A B A A where the value B ...

Page 52: ...g rotating this is the maximum allowable radial load with no additional axial forces or tilting moments applied Dynamic tilting moment Mdyn max Nm With the bearing rotating this is the maximum allowable tilting moment with no additional axial forces or radial forces applied Electrical time constant τe s The electrical time constant is the time required for the current to reach 63 of its final valu...

Page 53: ... Tmax Nm Specifies the maximum allowable acceleration and deceleration torques For highly dynamic processes this is the maximum torque available for a short period The maximum torque can be parameterized by the control unit where the maximum current can be limited The maximum torque can be applied as often as desired as long as the average torque is within the permissible continuous operation calc...

Page 54: ... rpm The output speed which can be continuously maintained when driven at rated torque TN when mounted on a suitably dimensioned heat sink Rated torque TN Nm Servo The output torque which can be continuously transmitted when driven at rated input speed when mounted on a suitably dimensioned heat sink Rated torque TN Nm Mechanic The rated torque is a reference torque for the calculation of the gear...

Page 55: ...ircle diameter of the gear teeth in inches multiplied by 10 2 CHM Servo motor series The size of the CHM servo motors is derived from the stall torque in Ncm 3 Direct drives from the TorkDrive series The size of the TorkDrive series is the outer diameter of theiron core of the stator Static load rating C0 N Maximum static load that can be absorbed by the output bearing before permanent damage may ...

Page 56: ...of the Harmonic Planetary gear describes the rotation of the gear above a reference torque of 15 of the rated torque In this area the torsional stiffness is almost linear Transmission accuracy arcmin The transmission accuracy of the gear represents a linearity error between input and output angle The transmission ac curacy is measured for one complete output revolution using a high resolution meas...

Page 57: ... the applicable requirements in the harmonization legislation established the Community REACH Regulation REACH is a European Community Regulation on chemicals REACH stands for Registration Evaluation Authorization and Restriction of Chemicals RoHS EU Directive The RoHS EU Directive on the restriction of the use of certain hazardous substances in electrical and electronic equipment REACH Verordnung...

Page 58: ...Deutschland Harmonic Drive AG Hoenbergstraße 14 65555 Limburg Lahn info harmonicdrive de www harmonicdrive de Subject to technical changes T 49 6431 5008 0 F 49 6431 5008 119 11 2014 1019658 ...