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1 Zero Backlash High Torque PSA-G Precision Gearheads High Precision

2 When your applications require accurate positioning and precise motion control, Harmonic Drive Technologies offers the perfect solution. Offering zero backlash and high torque, PSA-G gearheads utilize precision, high load output bearings and harmonic drive gearing mounted in superior quality housings. Input options allow compatibility with most servo and stepper motors. FEATURES Zero Backlash High Precision High Overhung Load Capacity High Torque Motor Mounting Options LOADING ANALYSIS To select from the ratings table, it is necessary to construct or estimate a torque speed profile diagram as shown in Figures 1 and 2. Normal operating conditions exhibit momentary peak torques that are substantially higher than constant speed running torques. These peak torques must be carefully considered when selecting a Harmonic Drive gearhead. Maximum Repeated Output Torque T1 This is the torque required to accelerate the driven components from rest to normal continuous running speed. Normal Constant Speed Torque T2 Normal Deceleration Torque T3 Maximum Momentary Torque T4 This is the peak torque generated by sudden shock loads, such as emergency stops or crashes. Particularly severe conditions exist with high output inertia and stringent rapid stop requirements. These high levels of torque must be limited. GEARHEAD SELECTION Figure 1: Speed Profile INPUT SPEED Figure 2: Torque Profile OUTPUT TORQUE N 2 N 1 T 1 T 2 TIME t 1 t 2 t 2 ACCELERATION TIME OF CONSTANT SPEED DECELERATION TIME TIME T 4 N 3 T 3 Mean Torque T Calculate the mean torque. T= 3 t 1 N 1 T 13 +t 2 N 2 T 23 +t 3 N 3 T 3 3 t 1 N 1 +t 2 N 2 +t 3 N Mean Speed N Calculate the mean speed. N= t 1 N 1 +t 2 N 2 +t 3 N 3 t 1 +t 2 +t 3

3 GEARHEAD SPECIFICATIONS Rated Output Limited for Limited for Static Torque Maximum PSA Ratio Torque Repeated Output Momentary Limit Speed Input Inertia Torque Overload Torque lb in NM lb in NM lb in NM lb in NM RPM lb in 2 kg cm 2 lb kg NA NA NA NA Maximum Repeated Output Torque This is the maximum allowable torque that should be developed with dynamic torque at the input. Repetitive momentary or continuous running loads (T1, T2 and T3) should not exceed this rating. Backdriving Harmonic Drive gearing can easily be backdriven unless the input shaft is locked. Under no circumstances should a gearhead be used to support a load without a fail-safe device on the output if there is a risk of injury. Maximum Input Speed This is limited by the DN value of the wave generator bearing and the type of lubricant used. Maximum input speeds for each size unit using recommended grease are listed in the ratings table. Static Torque Limit This is the maximum allowable torque that should be applied to the output when the input is locked A typical example is the toque applied to the output during a work or machining operation when the Harmonic Drive is stationary. Rated Output Torque at Rated Speed Tn Assuming the maximum output torque (Tmax) is not exceeded, this is the maximum output torque which can be transmitted at the rated input speed (17 rpm) to achieve an average wave generator life of L=35,000 hours. The following formula is used to calculate the continuous torque rating at input speeds other than 17 rpm: T= x T N N T= permissible continuous torque N= required speed T N = rated torque (see chart) T must not exceed the limit for repeated output torque.

4 EFFICIENCIES 0 0 RPM Input* 0 00 RPM Input* RPM Input* :1, :1 & :1 0 RPM Input* 0:1 * At C The efficiency of a Harmonic Drive gearbox is dependent on speed, ratio, load and temperature. For convenience, the above graphs show efficiency against percentage of rated output torque. In applications where the output torque is very low compared to the ratings, or in extreme temperatures, consult our factory. TYPICAL APPLICATIONS Harmonic Drive Technologies gearheads and actuators provide the optimum solution for any high precision motion control application. Examples include: Precise Positioning Systems Index Tables Semiconductor Equipment Medical Equipment Robotics Laboratory Equipment Printing Registration Wafer Handling Laser Positioning Harmonic Drive Technologies has been providing quality motion control products to a variety of industries for over years. Our intention is to a offer a total solution to any motion control problem. We have a full engineering staff on hand to answer any questions, and all our manufacturing is done on-site at our Peabody, Massachusetts factory.

5 PSA-8G* PSA-G* PSA-14G* *Consult factory for motor mounting options.

6 Teijin Seiki Boston Inc. 247 Lynnfield Street Peabody, MA 019 Tel: Fax: Teijin Seiki Company Ltd , Nishishimbashi Minato-Ku Tokyo Japan Tel: Fax: Teijin Seiki Europe GmbH Klosterstraße Düsseldorf Germany Tel: Fax:

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