Engineering Data CSD-2UF/2UH Units

Transcription

1 Engineering Data CSD-2UF/2UH Units QUICKLINK

2 Contents 1. General Description of Safety Al.ert Symbol.s Discl.aimer and Copyright Safety and Instal.l.ation Instructions Hazards Intended Purpose Non Intended Purpose Decl.aration of Conformity Technical. Description Product Description Ordering Code Technical. Data General. Technical. Data Dimensions Minimum Housing Cl.earance Accuracy Torsional. Stiffness Bearing Actuator Sel.ection Procedure Sel.ecting Harmonic Drive Gears Torque Based Dimensioning Life of the Wave Generator Bearing Stiffness Based Dimensioning Cal.cul.ation of the Torsion Angl.e Efficiency Versus Load Efficiency Cal.cul.ations Efficiency Tabl.es Free Load Torques No Load Running Torque No Load Starting Torque No Load Back Driving Torque Life for Continuous Operation Output Bearing at Oscil.l.ating Motion Permissibl.e Static Til.ting Moment Angl.e of Incl.ination Lubrication Grease Lubrication Oil. Lubrication Axial. Forces at the Wave Generator Instal.l.ation and Operation Transportation and Storage Gear Conditions at Del.ivery Assembl.y Information Recommended Tol.erances for Assembl.y Lubrication Grease Reservoir Grease Change Preparation /2014

3 5.7 Assembl.y Motor Assembl.y Assembl.y of the Wave Generator Check before Assembl.y of the Wave Generator (WG) Assembl.y Control Output Fl.ange Assembl.y Housing Fl.ange Assembl.y Gl.ossary Technical. Data Label.l.ing, Guidel.ines and Regul.ations General. About this documentation This document contains safety instructions, technical. data and operation rul.es for products of Harmonic Drive AG. The documentation is aimed at pl.anners, project engineers, commissioning engineers and machine manufacturers, offering support during sel.ection and cal.cul.ation of the servo actuators, servo motors and accessories. Rules for storage Pl.ease keep this document for the entire l.ife of the product, up to its disposal.. Pl.ease hand over the documentation when re-sel.l.ing 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 al.l. products offered by Harmonic Drive AG and can be found in pdf format on the website. Third-party systems Documentation for parts suppl.ied by third party suppl.iers, associated with Harmonic Drive components, is not incl.uded in our standard documentation and shoul.d be requested directl.y from the manufacturers. Before commissioning products from Harmonic Drive AG with servo drives, we advise you to obtain the rel.evant documents for each device. Your feedback Your experiences are important to us. Pl.ease send suggestions and comments about the products and documentation to: Harmonic Drive AG Marketing and Communications Hoenbergstraße Limburg / Lahn Germany .: info@harmonicdrive.de /2014 3

4 1.1 Description of Safety Al.ert Symbol.s Symbol Meaning DANGER WARNING ATTENTION ADVICE INFORMATION Indicates an imminent hazardous situation. If this is not avoided, death or serious injury coul.d occur. Indicates a possibl.e hazard. Care shoul.d be taken or death or serious injury may resul.t. Indicates a possibl.e hazard. Care shoul.d be taken or sl.ight or minor injury may resul.t. Describes a possibl.y harmful. situation. Care shoul.d 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 el.ectrical. vol.tage and its effects. Beware of hot surfaces. Beware of suspended l.oads. Precautions when handl.ing el.ectrostatic sensitive components. 1.2 Discl.aimer and Copyright The contents, images and graphics contained in this document are predected by copyright. In addition to the copyright, l.ogos, fonts, company and product names can al.so be predected by brand l.aw or trademark l.aw. The use of text, extracts or graphics requires the permission of the publ.isher or rights hol.der. We have checked the contents of this document. Since errors cannot be rul.ed out entirel.y, we do not accept l.iabil.ity for mistakes which may have occurred. Notification of any mistake or suggestions for improvements wil.l. be grateful.l.y received and any necessary correction wil.l. be incl.uded in subsequent editions /2014

5 2. Safety and Instal.l.ation Instructions Pl.ease take note of the information and instructions in this document. Special.y designed model.s may differ in technical. detail.. If in doubt, we strong recommend that you contact the manufacturer, giving the type designation and serial. number for cl.arification. 2.1 Hazards DANGER El.ectric products have dangerous l.ive and redating parts. Al.l. work during connection, operation, repair and disposal. must be carried out by qual.ified personnel. as described in the standards EN and IEC 60364! Before starting any work, and especial.l.y before opening covers, the actuator must be properl.y isol.ated. In addition to the main circuits, the user al.so has to pay attention to any auxil.l.iary circuits. Observing the five safety rules: Disconnect mains Prevent reconnection Test for absence of harmful. vol.tages Ground and short circuit Cover or cl.ose off nearby l.ive parts The measures taken above must onl.y be withdrawn when the work has been compl.eted and the device is ful.l.y assembl.ed. Improper handl.ing can cause damage to persons and property. The respective national., l.ocal. and factory specific regul.ations must be adhered to. DANGER El.ectric, magnetic and el.ectromagnetic fiel.ds are dangerous, in particul.ar for persons with pacemakers, impl.ants or simil.iar. Vul.nerabl.e groups must not be in the immediate vicinity of the products themsel.ves. DANGER Buil.t-in hol.ding brakes al.one are not functional. safe. Particul.arl.y with unsupported vertical. axes, the functional. safety and security can onl.y be achieved with additional., external. mechanical. brakes. WARNING The successful. and safe operation of gears, products requires proper transport, storage and assembl.y as wel.l. as correct operation and maintenance. ATTENTION The surface temperature of gears, motors and actuators can exceed 55 degrees Cel.sius. The hot surfaces shoul.d not be touched /2014 5

6 ADVICE Movement and l.ifting of products with a mass > 20 Kg shoul.d onl.y be carried out with suitabl.e l.ifting gear. ADVICE Cabl.es must not come into direct contact with hot surfaces. INFORMATION Special. versions of drive systems and motors may have differing specifications. Pl.ease consider al.l. data sheet, catal.ogues and offers etc. sent concerning these special. versions. 2.2 Intended Purpose The Harmonic Drive products are intended for industrial. or commercial. appl.ications. They compl.y with the rel.evant parts of the harmonised EN standards series. Typical. areas of appl.ication are robotics and handl.ing, machine tool.s, packaging and food machines and simil.ar machines. The products may onl.y be operated within the operating ranges and environmental. conditions shown in the documentation (al.titude, degree of predection, temperature range etc). Before pl.ant and machinery which have Harmonic Drive products buil.t into them are commissioned, the compl.iance must be establ.ished with the Machinery Directive, Low Vol.tage Directive and EMC guidel.ines. Pl.ant and machinery with inverter driven motors must satisfy the predection requirements in the EMC guidel.ines. It is the responsibil.ity of the instal.l.er to ensure that instal.l.ation is undertaken correctl.y. Signal. and power l.ines must be shiel.ded. The EMC instructions from the inverter manufacturer must be observed in order that instal.l.ation meets the EMC regul.ations. 2.3 Non Intended Purpose The use of products outside the areas of appl.ication mentioned above or, inter al.ia, other than in the operating areas or environmental. conditions described in the documentation is considered as non-intended purpose. ADVICE The fol.l.owing areas of appl.ication are, inter al.ia, those considered as non-intended purpose: Aerospace Areas at risk of expl.osion Machines special.l.y constructed or used for a nucl.ear purpose whose breakdown might l.ead 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 l.ifting peopl.e Special. devices for use in annual. markets or l.eisure parks /2014

7 2.4 Decl.aration of Conformity Harmonic Drive gears are components for instal.l.ation 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. heal.th and safety requirements were considered in the design and manufacture of these gear component sets. This simpl.ifies the impl.ementation of the machinery directive by the end user for the machinery or the partl.y compl.eted machinery. Commissioning of the machine or partl.y compl.eted machine is prohibited until. the final. product conforms to the EC Machinery Directive /2014 7

8 3. Technical. Descriptions 3.1 Product Description The compact series CSD Series Units are avail.abl.e in seven sizes with gear ratios of 50, 100 and 160:1 offering repeatabl.e peak torques from 12 to 823 Nm. The output bearing with high til.ting rigidity enabl.es the direct introduction of high payl.oads without further support and thus permits simpl.e and space saving design instal.l.ations. The CSD Series is characterised by its very short overal.l. l.ength and l.ow weight. The CSD-2UF Unit is avail.abl.e with hol.l.ow shaft to feed through suppl.y l.ines or services for further axes and with a high capacity output bearing that can withstand heavy payl.oads. The CSD-2UH Unit easil.y enabl.es compact motor attachment for any standard servo motors. Unit and motor form a compact, l.ightweight assembl.y, which can quickl.y withstand heavy l.oads. Due to the Units positioning accuracy, stabl.e machine properties with short cycl.e times are guaranteed /2014

9 3.2 Ordering Code Tabl.e 9.1 Series Size Ratio 1) Version Special design UH CSD UF According to customer requirements Ordering code CSD UH - SP 1) The ratios shown here are for a standard driving configuration with the circul.ar spl.ine fixed, the Wave Generator used for the input and the Fl.exspl.ine attached to the output. Other configurations are possibl.e. Pl.ease consul.t the chapter 4 Ratio. Tabl.e 9.2 Version Ordering code Description 2UH Units (Size 14-50) 2UF Units with hol.l.ow shaft and increased capacity output bearing (Size 14-40) Expl.anation of the technical. data can be found in the Gl.ossary /2014 9

10 3.3 Technical. Data General. Technical. Data Tabl.e 10.1 Unit CSD-14-2UH CSD-17-2UH Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] Tabl.e 10.2 Unit CSD-20-2UH CSD-25-2UH Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] /2014

11 3.3.2 Dimensions CSD-14-2UH Il.l.ustration 11.1 [mm] Il.l.ustration 11.2 CSD-17-2UH [mm] CSD-20-2UH Il.l.ustration 11.3 [mm] Il.l.ustration 11.4 CSD-25-2UH [mm] QUICKLINK /

12 Tabl.e 12.1 Unit CSD-32-2UH CSD-40-2UH Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] Tabl.e 12.2 Unit CSD-50-2UH Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] 3500 Average input speed (grease l.ubrication) n av (max) [rpm] 2500 Moment of inertia J in [x10-4 kgm²] 8.61 Weight m [kg] /2014

13 CSD-32-2UH Il.l.ustration 13.1 [mm] Il.l.ustration 13.2 CSD-40-2UH [mm] Il.l.ustration 13.3 CSD-50-2UH [mm] QUICKLINK /

14 Tabl.e 14.1 Unit CSD-14-2UF CSD-17-2UF Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] Tabl.e 14.2 Unit CSD-20-2UF CSD-25-2UF Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] /2014

15 CSD-14-2UF Il.l.ustration 15.1 [mm] Il.l.ustration 15.2 CSD-17-2UF [mm] CSD-20-2UF Il.l.ustration 15.3 [mm] Il.l.ustration 15.4 CSD-25-2UF [mm] QUICKLINK /

16 Tabl.e 16.1 Unit CSD-32-2UF CSD-40-2UF Ratio i [ ] Repeatabl.e peak torque T R [Nm] Average torque T A [Nm] Rated torque T N [Nm] Momentary peak torque T M [Nm] Maximum input speed (grease l.ubrication) n in (max) [rpm] Average input speed (grease l.ubrication) n av (max) [rpm] Moment of inertia J in [x10-4 kgm²] Weight m [kg] CSD-32-2UF CSD-40-2UF Il.l.ustration 16.1 [mm] Il.l.ustration 16.2 [mm] QUICKLINK /2014

17 3.3.3 Minimum Housing Cl.earance The correct function of these units is guaranteed when the minimum cl.earance between the unit and the fl.ange is achieved. Pl.ease consul.t the confirmation drawing Accuracy Tabl.e 17.1 [arcmin] Size CSD-2UH/-2UF Torsional. Stiffness Tabl.e 17.2 Size i = 50 i > T 1 [Nm] T 2 [Nm] K 1 [x10 4 Nm/rad] K 2 [x10 4 Nm/rad] K 3 [x10 4 Nm/rad] K 1 [x10 4 Nm/rad] K 2 [x10 4 Nm/rad] K 3 [x10 4 Nm/rad] /

18 3.3.6 Bearing Output Bearing CSD units incorporate a high stiffness cross rol.l.er bearing to support output l.oads. This special.l.y devel.oped bearing can withstand high axial. and radial. forces as wel.l. as high til.ting moments. The reduction gear is thus protected from external. l.oads, so guaranteeing a l.ong l.ife and constant performance. The integration of an output bearing al.so serves to reduce subsequent design, production and assembl.y cost, by removing the need for additional. output bearings in many appl.ications. However, in some appl.ications the machine el.ement to be driven requires additional. bearing support. In this case, pl.ease take care to avoid overdetermination of the bearing arrangement. The cross rol.l.er bearing of the unit shoul.d be used as the fixed bearing, whil.st the additional. support bearing shoul.d be floating, if possibl.e. Tabl.e xxx l.ists ratings and important dimensions for the output bearings. Tabl.e 18.1 Series Size Pitch circl.e ø 3) Offset 4) Dynamic l.oad rating Stating l.oad rating Permissibl.e dynamic til.ting moment 1) Til.ting moment stiffness 5) Permissibl.e axial. l.oad 3) Permissibl.e radial. l.oad 2) CSD-2UH d p [mm] CSD-2UF CSD-2UH R [mm] CSD-2UF CSD-2UH C [N] CSD-2UF CSD-2UH C 0 [N] CSD-2UF CSD-2UH M [Nm] CSD-2UF CSD-2UH K B [Nm/arcmin] CSD-2UF CSD-2UH F a [N] CSD-2UF CSD-2UH F r [N] CSD-2UF Normal.l.y, the gear l.ife is determined by the l.ife of the Wave Generator bearing. Depending on the specific l.oad conditions the output bearing can al.so be determinant for the unit l.ife. 1) These val.ues are val.id for moving gears. They are not based on the equation for l.ifetime cal.cul.ation of the output bearing but on the maximum al.l.owabl.e deflection of the Harmonic Drive component set. The val.ues indicated in the tabl.e must not be exceeded even if the l.ifetime equation of the bearing permits higher val.ues. 2) These data are val.id for fw = 1,3; n = 15 rpm and L10 = h. 3) The pitch circl.e diameter can vary sl.ightl.y depending on the bearing suppl.ier. 4) Average val.ue 1)2) These data are onl.y val.id if the fol.l.owing conditions are ful.fil.l.ed: For: M : Fa = 0, Fr = 0 Fa : M = 0, Fr = 0 Fr : M = 0, Fa = /2014

19 Output Bearing and Housing Tol.erances The fol.l.owing data are val.id for a rotating output fl.ange. CSD-2UH Il.l.ustration 19.1 CSD-2UF Il.l.ustration 19.2 Tabl.e 19.3 [mm] CSD-2UH Size a b c d e Tabl.e 19.4 [mm] CSD-2UF Size a b c d e /

20 4. Actuator Sel.ection Procedure A variety of different driving arrangements are possibl.e with Harmonic Drive gears. Equation 20.1 Ratio i = Input speed Output speed Overview Harmonic Drive Products The three main components of the Harmonic Drive units, Circul.ar Spl.ine (CS), Fl.exspl.ine (FS) and Wave Generator (WG) can be seen in the il.l.ustration Il.l.ustration 20.2 The val.ues for ratios of Harmonic Drive gears refer to the standard input and output arrangement (exampl.e 1 in the tabl.e bel.ow). Other arrangements are possibl.e, and al.so shown in the tabl.e /2014

21 Ratio 1) 2) 3) FS CS WG Reduction gearing CS Fixed WG Input FS Output Reduction gearing FS Fixed WG Input CS Output Reduction gearing WG Fixed FS Input CS Output Equation 21.1 Equation 21.2 Equation 21.3 Ratio = - i 1 Ratio = i +1 1 Ratio = i +1 1 Input and output rotate in opposite directions. Input and output rotate in same direction. Input and output rotate in same direction. 4) 5) 6) Speed increaser gearing WG Fixed CS Input FS Output Speed increaser gearing CS Fixed FS Input WG Output Speed increaser gearing FS Fixed CS Input WG Output Equation 21.4 Equation 21.5 Equation 21.6 Ratio = i i +1 Ratio = - 1 i Ratio = 1 i +1 Input and output rotate in same direction. Input and output rotate in opposite directions. Input and output rotate in same direction. 7) Differential gear WG Control. input CS Main drive input FS Main drive output Numerous differential. functions can be obtained by combinations of the speed and rotational. direction of the three basic el.ements. Pl.ease refer to our broshure Differential. Appl.ications avail.abl.e to downl.oad from our website /

22 4.1 Sel.ecting Harmonic Drive Gears When choosing a gear, both torque as wel.l. as stiffness requirements shoul.d be take into account. In robot appl.ications, for exampl.e, the necessary torque is the more crucial. factor for the gear size, whil.e the torsional. stiffness is often decisive in machine tool. appl.ications. We therefore recommend that you al.ways take both criteria into account according to the fol.l.owing procedures. Appl.ication Gear presel.ection Torque based dimensioning according to sel.ection procedure on page 23 Sel.ection of a bigger size Yes Gear size sufficient? No Stiffness based dimensioning according to sel.ection procedure on page 26 Sel.ection of a bigger size Yes Gear size sufficient? No End of gear sel.ection /2014

23 4.1.1 Torque Based Dimensioning Output Data Il.l.ustration 23.1 Torques T 1...T n [Nm] n 2 during the l.oad phases t 1...t n [s] during the pause time t p [s] and output speeds n 1...n n [rpm] Emergency stop/momentary peak torque T k [Nm] Torque Speed n 1 t 1 T 1 t 2 T 2 t 3 n 3 n 1 n p t p t 1 T 1 Time at output speed n k [rpm] and duration t k [s] T 3 Time Equation 23.2 Load limit 1, Cal.cul.ation of the average output torque T av T av = 3 n 1 T 13 t 1 + n 2 T 2 3 t nn Tn3 t n n 1 t 1 + n 2 t nn tn Equation 23.3 Val.ues for T A see rating tabl.es T av T A No Sel.ection of a bigger size Equation 23.4 Equation 23.5 Cal.cul.ation of the average output speed n out av = n 1 t 1 + n 2 t n n t n t 1 + t t n + t p Average input speed n in av = i n out av Equation 23.6 Equation 23.7 Permissibl.e maximum input speed n in max = n out max i Maximum input speed (see rating tabl.e) Permissibl.e average input speed n in av Limit for average input speed (see rating tabl.e) Equation 23.8 Equation 23.9 Equation Al.l.owabl.e number of momentary peak torques Load limit 2, T R T max T R Load limit 3, T M T k T M N k max = n k 60 i t k < 10 4 Equation Operating l.ife L 50 = L n * Rated input speed ( Rated torque ) TN 3 n in av T av Val.ues for L n see tabl.e /

24 Output Data T 1 = 400 Nm t 1 = 0.3 s n 1 = 7 rpm T 2 = 320 Nm t 2 = 3.0 s n 2 = 14 rpm T 3 = 200 Nm t 3 = 0.4 s n 3 = 7 rpm T = k 500 Nm t k = 0.15 s n k = 14 rpm t p = 0.2 s n p = 0 rpm Ratio i = 120 Life L 50 = h (required) Load limit 1, cal.cul.ation of the average output torque T av T av = 3 7 rpm (400 Nm) s + 14 rpm (320 Nm) 3 3 s + 7 rpm (200 Nm) s 7 rpm 0.3 s + 14 rpm 3 s + 7 rpm 0.4 s T av = 319 Nm T A = 451 Nm Sel.ected size HFUC A-GR Cal.cul.ation of the average output speed n out av = 7 rpm 0.3 s + 14 rpm 3 s + 7 rpm 0.4 s =12.0 rpm 0.3 s + 3 s s s Average input speed n in av = rpm = 1440 rpm Permissibl.e maximum input speed n in max = 14 rpm 120 = 1680 rpm 4000 rpm Permissibl.e average input speed n in av = 1440 rpm 3000 rpm Load limit 2, T R Load limit 3, T M Al.l.owabl.e number of momentary peak torques T max = 400 Nm T R = 617 Nm T k = 500 Nm T M = 1180 Nm N 10 4 k max = = 1190 < ,15 Operating l.ife HFUC A-GR: L 50 = h 2000 rpm ( 294 Nm ) rpm 319 Nm L 50 = h > h /2014

25 4.1.2 Life of the Wave Generator Bearing Given that the Harmonic Drive Gear is rated to provide infinite fatigue l.ife for the Fl.exspl.ine, the l.ife expectancy is based on the average l.ife of the Wave Generator bearing. The rated torque at the rated speed given in the rating tabl.e is based on the mean L 50 bearing l.ife. The l.ife expectancy of a component set or an unit operating at an input speed n (rpm) and output torque T (Nm) may be estimated from equation Tabl.e 25.1 [h] Harmonic Drive series L n Cobal.tLine, CSG, SHG HFUC, HFUS, CSD, CPU, CSF, SHD PMG gearbox Equation 25.2 L 50 = L n n N n in av T N T av ( ) 3 Equation 25.3 L L50 n N = Rated input speed [rpm] n in av = Average input speed [rpm] (equation 23.5) T N = Rated output torque at rated speed [Nm] T av = Average output torque [Nm] (equation 23.2) L n = See tabl.e /

26 4.1.3 Stiffness Based Dimensioning In addition to the Torque Based Dimensioning stated on page 23, we recommend that you carry out a sel.ection based on stiffness. For this, the val.ues provided in tabl.e 26.1 for the individual. resonance frequencies recommended for each appl.ication shoul.d be taken into account. Tabl.e 26.1 [Hz] Application f n Sl.owl.y rotating turntabl.es, base axes of sl.ow moving wel.ding robots (not l.aser wel.ding), sl.owl.y rotating wel.ding and swinging tabl.es, gantry robot axes 4 Base axes of revol.ute robots, hand axes of revol.ute robots with l.ow requirements regarding dynamic perfomance, tool. revol.vers, tool. magazines, swivel.l.ing and positioning axes in medical. and measuring devices 8 Standard appl.ications in general. mechanical. engineering, til.ting axes, pal.ette changers, highl.y dynamic tool. changers, revol.vers and magazines, hand axes of robots, scara robots, gantry robots, pol.ishing robots, dynamic wel.ding manipuators, base axes of wel.ding robots (l.aser wel.ding), swivel.l.ing and positioning axes of medical. equipment 15 B/C axes in 5 axis grinding machines, hand axes of wel.ding robots (l.aser wel.ding), mil.l.ing heads for pl.astics machining 20 C axes in turning machines, mil.l.ing heads for l.ight metal. machining,mil.l.ing heads for woodworking (chipboards etc.) 25 Mil.l.ing heads for woodworking (hardwood etc.) 30 C axes in turning machines* 35 Mil.l.ing heads for metal. machining*, B axes in turning mil.l.ing centers for metal. machining 40 Mil.l.ing heads for metal. machining*, B axes in turning mil.l.ing centers for metal. machining with high requirements regarding surface qual.ity* 50 Mil.l.ing heads for metal. machining with very high requirements regarding surface qual.ity* 60 * Depending on the appl.ication, a secondary gear stage may be useful.. Pl.ease contact Harmonic Drive AG for more information /2014

27 Selection Example: Stiffness Based Dimensioning Resonance Frequency (Gear Output) The formula Equation 27.1 f n = 1 2 K 1 J [Hz] fn = Resonance frequency [Hz] K1 = Gear torsional stiffness K1 [Nm/rad] J = Load moment of inertia [kgm 2 ] allows the calculation of the resonance frequency at the gear output from the given torsional stiffness, K1, of the Harmonic Drive gear and the load s moment of inertia. The calculated frequency should correspond with the value provided in table The higher the load s moment of inertia, the more influence the application has on the gear selection. If the moment of inertia = 0, the selected application has no numerical influence on the selection result. Resonance Speed (Gear Input) The resonance speed nn on the input side (motor side) can be calculated using the formula n n = f n *30 [rpm] During operation, we recommend that you 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 A-GR preselected from Selection Procedure on page 24. Intended application: milling head for woodworking Moment of inertia at the gear output: 7 kgm 2. Recommended resonance frequency from table 26.1: 30 Hz. Resonance frequency using the preselected gear HFUC A-GR: f n = = 22 [Hz] 2 7 According to stiffness based dimensioning, this gear size is too small for the application. The larger gear HFUC A-GR results in a resonance frequency of: f n = = 30 [Hz] 2 7 Based on stiffness based dimensioning, the gear HFUC A-GR is recommended. The resonance speed at the input (motor) amounts to: n n = 30*30 = 900 [rpm] Either, this speed should be passed without stopping when accelerating / braking, or it should lie beyond the utilised speed range /

28 4.2 Cal.cul.ation of the Torsion Angl.e Cal.cul.ation of the Torsion Angl.e φ at Torque T: Equation 28.1 Equation 28.2 Equation 28.3 T < T 1 φ = T K 1 T 1 < T T 2 T 1 T - T 1 φ = K + 1 K 2 T T 2 < T 1 T 2 - T 1 T - T 2 φ = K K 2 K 3 φ = Angl.e [rad] T = Torque [Nm] K = Stiffness [Nm/rad] Exampl.e: HFUC UH T = 60 Nm T 1 = 29 Nm K 1 = Nm/rad K 2 = Nm/rad φ = 29 Nm Nm/rad + φ = rad φ = 2.5 arc min 60 Nm - 29 Nm Nm/rad T 2 = 108 Nm K 3 = Nm/rad Equation 28.4 φ [arc min] = φ [rad] /2014