Harmonic Drive CSD-2A Component Sets Guida alle dimensioni

11019659 11/2014

QUICKLINK

www.harmonicdrive.de/3060

Engineering Data

CSD-2A Component Sets

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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 Stiness ........................................................................................................................................................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 Stiness Based Dimensioning.....................................................................................................................................21

4.2 Calculation of the Torsion Angle............................................................................................................................................. 23

4.3 Eciency Versus Load ............................................................................................................................................................ 24

4.3.1 Eciency Calculations................................................................................................................................................. 24

4.3.2 Eciency 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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1. General

About this documentation

This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of

Harmonic Drive AG.

The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, oering

support during selection and calculation of the servo actuators, servo motors and accessories.

Rules for storage

Please keep this document 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 oered 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® components, is not included in

our standard documentation and should be requested directly from the manufacturers.

Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain

the relevant documents for each device.

Your feedback

Your experiences are important to us. Please send suggestions and comments about the products and documentation to:

Harmonic Drive AG

Marketing and Communications

Hoenbergstraße 14

65555 Limburg / Lahn

Germany

E-Mail: info@harmonicdrive.de

6. Glossary...................................................................................................................................................46

6.1 Technical Data..........................................................................................................................................................................46

6.2 Labelling, Guidelines and Regulations ................................................................................................................................... 52

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1.1 Description of Safety Alert Symbols

Symbol Meaning

Indicates an imminent hazardous situation. If this is not avoided, death or

serious injury could occur.

Indicates a possible hazard. Care should be taken or death or serious injury

may result.

Indicates a possible hazard. Care should be taken or slight or minor injury

may result.

Describes a possibly harmful situation. Care should be taken to avoid damage

to the system and surroundings.

This is not a safety symbol. This symbol indicates important information.

Warning of a general hazard. The type of hazard is determined by the

speciﬁc warning text.

Warning of dangerous electrical voltage and its eects.

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 protected by copyright. In addition to the copyright, logos,

fonts, company and product names can also be protected by brand law or trademark law. The use of text, extracts or graphics

requires the permission of the publisher or rights holder.

We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mis-

takes which may have occurred. Notiﬁcation of any mistake or suggestions for improvements will be gratefully received and

any necessary correction will be included in subsequent editions.

DANGER

WARNING

ATTENTION

INFORMATION

ADVICE

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2. Safety and Installation Instructions

Please take note of the information and instructions in this document. Specialy designed models may dier in technical

detail. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and serial number

for clariﬁcation.

2.1 Hazards

Electric products have dangerous live and redating parts. All work during connection, operation, repair and disposal must

be carried out by qualiﬁed personnel as described in the standards EN50110-1 and IEC 60364! Before starting any work, and

especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the user also has to

pay attention to any auxilliary circuits.

Observing the ﬁve safety rules:

• Disconnect mains

• Prevent reconnection

• Test for absence of harmful voltages

• Ground and short circuit

• Cover or close o 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 for persons with pacemakers, implants or similiar.

Vulnerable groups must not be in the immediate vicinity of the products themselves.

Built-in holding brakes alone are not functional safe. Particularly with unsupported vertical axes, the functional safety and

security can only be achieved with additional, external mechanical brakes.

The successful and safe operation of gears, products requires proper transport, storage and assembly as well as correct

operation and maintenance.

The surface temperature of gears, motors and actuators can exceed 55 degrees Celsius. The hot surfaces should not be touched.

DANGER

ATTENTION

WARNING

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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.

The products may only be operated within the operating ranges and environmental conditions shown in the documentation

(altitude, degree of predection, temperature range etc).

Before plant and machinery which have Harmonic Drive® products built into them are commissioned, the compliance must be

established with the Machinery Directive, Low Voltage Directive and EMC guidelines.

Plant and machinery with inverter driven motors must satisfy the predection requirements in the EMC guidelines. It is the

responsibility of the installer to ensure that installation is undertaken correctly.

Signal and power lines must be shielded. The EMC instructions from the inverter 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 non-intended purpose:

• Aerospace

• Areas at risk of explosion

• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity

• Vacuum

• Machines for domestic use

• Medical equipment which comes into direct contact with the human body

• Machines or equipment for transporting or lifting people

• Special devices for use in annual markets or leisure parks

Movement and lifting of products with a mass > 20 Kg should only be carried out with suitable lifting gear.

Cables must not come into direct contact with hot surfaces.

Special versions of drive systems and motors may have diering speciﬁcations. Please consider all data sheet, catalogues and

oers etc. sent concerning these special versions.

ADVICE

INFORMATION

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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.

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 conforms to

the EC Machinery Directive.

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CSD-2A Series Component Sets are available in seven sizes with gear ratios of 50, 100 and 160:1 oering 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. Consisting of just three

individual components, they are very lightweight and the series with the shortest axial length. The hollow shaft can be used

to feed through supply lines, shafts or cables for further axes. Due to their positioning accuracy, stable machine properties

with short cycle times are guaranteed.

3. Technical Description

3.1 Product Description

The short series

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3.2 Ordering Code

Explanation of the technical data can be found in the Glossary.

Table 9.1

Table 9.2 Table 9.3

Series Size Ratio 1) Version Flexsplinetype Special design

CSD

14 50 100

2A-R

According to

customer requirements

17 50 100

20 50 100 160

2A-GR

25 50 100 160

32 50 100 160

40 50 100 160

50 50 100 160

Ordering code

CSD 25 100 2A-GR BB SP

- --- -

Flexsplinetype

Ordering code Description

- Standard

BB Flexspline with enlarged bore

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 the output.

Other conﬁgurations are possible. Please consult the chapter 4 “Ratio”.

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3.3 Technical Data

3.3.1 General Technical Data

Table 10.1

Unit CSD-14-2A CSD-17-2A

Ratio i [ ] 50 100 50 100

Repeatable peak torque TR[Nm] 12 19 23 37

Average torque TA [Nm] 4.8 7.7 18 27

Rated torque TN[Nm] 3.7 5.4 11 16

Momentary peak torque TM[Nm] 24 31 48 55

Maximum input speed (oil lubrication) nin (max) [rpm] 14000 10000

Maximum input speed (grease lubrication) nin (max) [rpm] 8500 7300

Average input speed (oil lubrication) nav (max) [rpm] 6500 6500

Average input speed (grease lubrication) nav (max) [rpm] 3500 3500

Moment of inertia Jin [x10-4 kgm²] 0.021 0.054

Weight m [kg] 0.06 0.1

Table 10.2

Unit CSD-20-2A CSD-25-2A

Ratio i [ ] 50 100 160 50 100 160

Repeatable peak torque TR[Nm] 39 57 64 69 110 123

Average torque TA [Nm] 24 34 34 38 75 75

Rated torque TN[Nm] 17 28 28 27 47 47

Momentary peak torque standard TM[Nm] 69 76 76 127 152 152

Momentary peak torque with enlarged Flexspline bore (BB) TM[Nm] 64 64 64 127 135 135

Maximum input speed (oil lubrication) nin (max) [rpm] 10000 7500

Maximum input speed (grease lubrication) nin (max) [rpm] 6500 5600

Average input speed (oil lubrication) nav (max) [rpm] 6500 5600

Average input speed (grease lubrication) nav (max) [rpm] 3500 3500

Moment of inertia Jin [x10-4 kgm²] 0.090 0.282

Weight m [kg] 0.13 0.24

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