Specification For Crossroller Bearing Harmonic Drive
Specification for Crossroller Bearing Size Pitch Circle dp Offset R m m Basic Dynamic Load Rating C x10 2 N lb Basic Static Load Rating Co x10 2 N lb Allowable Moment Load Mc Nm Moment Stiffness Km lb-in x10 4 Nm/rad x10 4 lb-in/rad 14 0.035 0.0093 47.0 1,057 60.7 1,365 33.6 297 3.6 32 17 0.0425 0.0091 52.9 1,189 75.5 1,697 52.5 465 6.4 57 20 0.05 0.0098 57.8 1,299 90.0 2,023 74.6 660 10.5 93 25 0.064 0.0118 96.0 2,158 151 3,395 128 1,133 19.8 175 32 0.083 0.0133 150 3,372 250 5,620 257 2,275 44.2 391 40 0.096 0.0148 213 4,788 365 8,206 369 3,266 74.6 660 45 0.111 0.0158 230 5,171 426 9,577 563 4,983 116 1,027 50 0.119 0.0180 348 7,823 602 13,534 622 5,505 140 1,239 58 0.141 0.0205 518 11,645 904 20,323 838 7,417 201 1,779 65 0.16 0.0185 556 12,499 1,030 23,155 1,525 13,497 331 2,930 Installation and Transmission Torque 14 17 20 25 32 40 45 50 58 65 6 6 8 8 8 8 8 8 8 8 Size of screws M4 M5 M6 M8 M10 M10 M12 M14 M16 M16 Pitch circle diameter 23 27 32 42 55 68 82 84 100 110 5.4 10.8 18.4 45 89 89 154 246 383 383 48 96 163 398 788 788 1,363 2,177 3,390 3,390 58 109 245 580 1,220 1,510 2,624 3,690 5,981 6,579 513 965 2,168 5,133 10,798 13,365 23,224 32,659 52,936 58,229 Number of screws Screw Tightening Torque Torque transmitting capacity lb-in lb-in CSG-LW High Torque, Lightweight Gear Unit Harmonic Drive now offers a NEW lightweight version of our CSG-2UH Gear Units! 30% lighter than our standard CSG-2UH! 30% More Torque than the CSF Series! Using new lightweight materials and an optimized design, a 30% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface dimensions. This weight reduction, combined with the CSG's high torque ratings, results in an exceptional “Torque Density” making it ideally suited for many applications including Industrial Robots – allowing operation with higher acceleration rates and payload capacity Mobile Robots – allowing lower weight designs which improves battery life without sacrificing performance Bolt connection to output flange and resulting transmission torque Size Harmonic Drive Application Examples Robot Wrist SCARA Robot Arm Bolt connection to housing and resulting transmission torque Size 14 17 20 25 32 40 45 50 58 65 Number of screws 6 8 8 10 12 10 16 18 16 12 Size of screws M4 M4 M5 M5 M6 M8 M8 M8 M10 M12 Pitch circle diameter 65 71 82 96 125 144 164 174 206 236 3.2 3.2 6.4 6.4 10.8 26.5 26.5 26.5 51.9 90 28 28 57 57 96 235 235 235 459 797 98 143 261 382 842 1,488 2,712 3,237 5,350 6,649 867 1,266 2,310 3,381 7,452 13,170 24,003 28,650 47,351 58,849 Screw Tightening Torque 5 Torque transmitting capacity lb-in lb-in 1. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.9 2. Torque coefficient : K 0.2 3. Clamp coefficient A 1.4 4. Coefficient of friction: 0.15 5. Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. (Please contact a Sales Engineer for more information.) Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody, MA 01960 San Jose Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110 Group Companies Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan New York Sales Office 100 Motor Parkway Suite 116 Hauppauge, NY 11788 Chicago Sales Office 137 N. Oak Park Avenue Suite 410 Oak Park, IL 6030 Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany T: 800.921.3332 T: 978.532.1800 F: 978.532.9406 www.HarmonicDrive.net Harmonic Drive is a registered trademark of Harmonic Drive LLC. Rev 06 14 5th and 6th axis drive for the wrist of an Industrial Robot Drive for SCARA Robot Direct Connection to a Servo Motor
Ordering Code Dimension Table CSG Symbol SP Size φA B※ C D※ E F G Model Size Gear Ratio Type CSG Series 14 65 50:1 160:1 2UH (Gearhead) Lightweight Special (Custom Specification) leave blank for standard product H L M1 M2 0 N -0.1 φOh7 φP Rating Table Size Ratio Table 2-1 Rated Torque at 2000rpm Limit for Repeated Peak Torque lb-in 14 17 20 25 32 40 45 50 58 65 Limit for Average Torque lb-in Limit for MomentoryTorque lb-in lb-in Maximum Input Speed Max. Average Input Speed Oil Grease Oil Grease 14,000 8,500 6,500 3,500 Moment of Inertia φQ φR1H7 φR2H7 φS φTh7 φUH7 50 7.0 62 23 204 9 80 46 407 80 10 89 30 266 14 124 61 540 100 10 89 36 319 14 124 70 620 50 21 186 44 389 34 301 91 805 80 29 257 56 496 35 310 113 1,000 100 31 274 70 620 51 451 143 1,266 120 31 274 70 620 51 451 112 991 Z 50 33 292 73 646 44 389 127 1,124 80 44 389 96 850 61 540 165 1,460 a 100 52 460 107 947 64 566 191 1,690 120 52 460 113 1,000 64 566 191 1,690 160 52 460 120 1,062 64 566 191 1,690 50 51 451 127 1,124 72 637 242 2,142 80 82 726 178 1,575 113 1,000 332 2,938 100 87 770 204 1,806 140 1,239 369 3,266 120 87 770 217 1,921 140 1,239 382 3,496 160 87 770 229 2,027 140 1,239 382 3,611 0.033 0.034 V WJs9 10,000 10,000 7,300 6,500 6,500 6,500 3,500 3,500 0.079 0.193 0.081 0.197 φX Y φb c φd φe ｆ 7,500 5,600 5,600 3,500 0.413 0.421 g h i 50 99 876 281 2,487 140 1,239 497 4,399 80 153 1,354 395 3,496 217 1,921 738 6,532 100 178 1,575 433 3,832 281 2,487 841 7,443 120 178 1,575 459 4,062 281 2,487 842 7,895 160 178 1,575 484 4,284 281 2,487 842 7,895 ｔ※ 50 178 1,575 523 4,629 255 2,257 892 7,895 u※ 80 268 2,372 675 5,974 369 3,266 1,270 11,240 100 345 3,054 738 6,532 484 4,284 1,400 12,391 120 382 3,381 802 7,098 586 5,187 1,488 13,542 160 382 3,381 841 7,443 586 5,187 1,488 13,542 50 229 2,027 650 5,753 345 3,054 1,235 10,931 80 407 3,602 918 8,125 507 4,487 1,651 14,613 100 459 4,062 982 8,691 650 5,753 2,041 18,064 120 523 4,629 1,070 9,470 806 7,134 2,288 20,250 160 523 4,629 1,147 10,152 819 7,249 2,483 21,976 80 484 4,284 1,223 10,824 675 5,974 2,418 21,401 100 611 5,408 1,274 11,276 866 7,665 2,678 23,702 120 688 6,089 1,404 12,426 1,057 9,355 2,678 23,702 160 688 6,089 1,534 13,577 1,096 9,700 3,185 28,190 80 714 6,319 1,924 17,029 1,001 8,860 3,185 28,190 100 905 8,010 2,067 18,294 1,378 12,196 4,134 36,589 120 969 8,576 2,236 19,790 1,547 13,692 4,329 38,315 160 969 8,576 2,392 21,171 1,573 13,922 4,459 39,465 80 969 8,576 2,743 24,278 1,352 11,966 4,836 42,802 100 1,236 10,940 2,990 26,464 1,976 17,489 6,175 54,653 120 1,236 10,940 3,263 28,880 2,041 18,064 6,175 54,653 160 1,236 10,940 3,419 30,261 2,041 18,064 6,175 54,653 I 1/4GD2 φk 7,000 5,600 4,800 4,000 4,600 3,600 3,500 3,000 1.69 4.50 1.72 4.59 5,000 3,800 3,300 3,000 8.68 8.86 4,500 3,500 3,000 2,500 12.5 12.8 4,000 3,000 2,700 2,200 27.3 27.9 3,500 2,800 2,400 1,900 46.8 47.8 1. Moment of Inertia: 2. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure. φm r φy Weight（kg） Table 7-1 Unit: mm 14 17 20 25 32 40 45 50 58 65 73 79 93 107 138 160 180 190 226 260 0 41-0.9 0 45 -0.9 34 37 7 8 0 -0.4 0 45.5 -1.0 38 0 -0.4 7.5 0 -0.4 0 52 -1.0 0 62 -1.1 46 57 6 0 -0.5 5 0 -0.6 27 29 28 36 45 7 8 10 10 12 2 2 3 3 3 4 4 5 5 4.5 1.1 1.1 1.1 1.1 1.2 9.4 9.5 9 12 15 - - - - - 18.5 20.7 21.5 21.6 23.6 56 63 72 86 113 54.6 59.5 70 84.6 110 40.5 47.5 55.5 71 91.1 11 10 14 20 26 - - - - - 8 7 10 15 20 38 48 56 67（68） 90 6 8 12 14 14 - - 13.8 16.3 16.3 - - 4 23 27 32 42 0.1 0 55 66.5 0 -0.6 127 124.5 103 24 6 6 8 8 8 M5 10 M6 9 M8 12 M10 15 1 1 1.5 1.5 1.5 65 71 82 96 125 8 M10 15 2 144 10 8 M12 18 2 164 8 8 10 14 4.5 5.5 5.5 6.6 38 45 53 66 86 6 8 8 10 14 M4 M4 M5 M5 M6 M8 M8 29.0 0.50 34.5 0.80 40.64 1.14 53.28 0.99 S71 AS568-042 S100 S50 S56 S67 S80 31 38 45 58 10 10.5 15.5 20 21.4 23.5 23 29 1.1 0.8 1 1.4 5.1 5.8 6 7.4 14 18 21 26 0.32 0.46 0.64 1.1 S105 78 27 37 1.4 9.4 26 2.2 10 S125 90 34 39.5 3.3 13.3 32 3.5 22 24.8 6 6 0.1 0 6 106 38 156 19 4.5 9 - 21.8 6 82 46 32 19 0.1 0 155 135 21.8 5 186 183 - 25 14 38.3 40 124 16.3 - 130 - 110 10 155 32 - 1.5 158 123 32 6 34.8 143 16 9 119 16 S145 107 36 45.5 3.5 15.5 32 5.1 84 0 -0.6 5 - 148 97 7.5 20 8 30.5 0 104.5 -1.3 77 1 - 29.7 0 -0.6 6 6 - 5 4 1.6 5 85 16 6 1.6 0 90 -1.3 69 4 4.5 M4 8 0 -0.6 16 4 68 5.5 58 16 0.1 0 0 79.5 -1.2 74 6 50.5 5 5 0.1 0 0 72.5 -1.1 0.1 0 8 M14 21 2 174 18 9 133 18 M8 S105 S155 112 39 53 2.2 16.2 32 7.0 100 0.1 0 8 M16 24 2.5 206 16 11 154 0 115 -1.3 108.5 0 6.5 -0.6 84.5 24 5 6 1.5 10 4 44.6 212 208 180 52 142 44 177 24 27.3 8 110 0.2 0 8 M16 24 2.5 236 12 14 172 16 12 M10 M12 S125 S180 135 46 62.8 3.4 19.4 40 11.3 S135 S205 155 56 66.5 3.9 19.9 48 16.2 Note 1: Dimensions in parentheses indicates values for 30:1 gear ratio. Note 2: * Dimensions B, D, t and u indicate the location and tolerance of the wave generator flexspline and circular spline. Please strictly comply with these dimensions since it influences performance and strength of the gear. Weight Comparison Unit: kg Size CSG Series standard unit type CSG Series LW unit type Weight ratio 14 0.52 0.32 62 % 17 0.68 0.46 68 % 20 0.98 0.64 65 % 25 1.5 1.1 73 % 32 3.2 2.2 69 % 40 5.0 3.5 70 % 45 50 7.0 8.9 73 % 79 % 5.1 7.0 58 14.6 11.3 77 % 65 20.9 16.2 78 %
No Load Running Torque External Dimensions No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive gear with no load applied to the output. B※ C Measurement condition f-g i Ratio: 100 L Lubricant X φ φ b φT h7 φy φA No Load Running Torque (Ncm) Input Speed 500r/min 0 N -0.1 C E D※ F G H Input Speed 1000r/min a 3 (#17) Ambient Temperature (C ) 2-M3 4 (#14) 2-M3 6 (#17) Ambient Temperature (C ) Input Speed 3500r/min No Load Running Torque (Ncm) Detailed drawing for input side Size No key on WG hub for #14, #17 No Load Running Torque (Ncm) h7 φy φT φe Input Speed 2000r/min Size 2.5 (#14) Grease quantity Harmonic Grease SK-1A Harmonic Grease SK-2 Recommended quantity No Load Running Torque for Ratio 100 V t※ Name Size 0 -0.030 H7 φU φm φS H7 φR φk φQ φP φ0 h7 r Grease Unit: Ncm Ratio Torque value is measured after 2 hour run-in at 2000 rpm input. Please contact HDLLC if you are using oil lubricant. W M1 3-1 Size H h c-φd No Load Running Torque (Ncm) Y-Z* F Size E Compensation Value for Each Ratio The no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compensation value from table 3-2. 3-2 Please contact Harmonic Drive LLC for installation drawings. * Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension ‘Z’ , damage to the flexspine may occur. Please refer to installation drawing. Ambient Temperature (C ) Ambient Temperature (C )
Efficiency Installation Load torque Lubricant Grease Efficiency at Rated Torque (Sizes 17-65) Based on recommended tolerance Rated torque Harmonic Grease SK-1A Name Harmonic Grease SK-2 Recommended quantity Grease quantity Ratio 30 ηR Efficiency at Rated Torque Torque Load Torque Rated Torque Efficiency (%) Graph 4-1 Ambient Temperature (C ) Torque Ratio 80,100 Ambient Temperature (C ) Ratio 160 Efficiency (%) Ratio 100 Efficiency (%) Ratio 120 Efficiency (%) Efficiency (%) Ambient Temperature (C ) Ambient Temperature (C ) Ambient Temperature (C ) Ratio 50, 80 Efficiency (%) Ratio 30 Ambient Temperature (C ) Ratio 50 Efficiency Compensation Coefficient Efficiency at Rated Torque (Size 14) Efficiency (%) Table 4-1 Efficiency (%) Load Torque Rated Torque : Efficiency Efficiency from Graph Load Torque Rated Torque : Efficiency Efficiency from Graph x Compensation Coefficient from Graph 4-1. Measurement condition Compensation Coefficient (ke) The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant. Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used. Ambient Temperature (C ) Ambient Temperature (C )
Efficiency Measurement condition Installation Load torque Lubricant Load Torque Rated Torque : Efficiency Efficiency from Graph Load Torque Rated Torque : Efficiency Efficiency from Graph x Compensation Coefficient from Graph 4-1. Grease Table 4-1 Efficiency at Rated Torque (Sizes 17-65) Based on recommended tolerance Rated torque Harmonic grease SK-1A Name Harmonic grease SK-2 Recommended quantity Grease quantity Ratio 30 Ratio 50 Compensation Coefficient (ke) Graph 4-1 ηR Efficiency at Rated Torque Efficiency (%) Efficiency Compensation Coefficient Efficiency (%) The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant. Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used. Torque Load Torque Rated Torque Ambient Temperature (C ) Ambient Temperature (C ) Torque Ratio 80,100 Efficiency at Rated Torque (Size 14) Efficiency (%) Efficiency (%) Ratio 50, 80 Efficiency (%) Efficiency (%) Ratio 30 Ambient Temperature (C ) Ambient Temperature (C ) Ambient Temperature (C ) Ratio 160 Efficiency (%) Efficiency (%) Ratio 100 Ambient Temperature (C ) Ratio 120 Ambient Temperature (C ) Ambient Temperature (C )
No Load Running Torque External Dimensions No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive gear with no load applied to the output. B※ C Measurement condition f-g i Ratio: 100 L Lubricant X φ φ b φT h7 φy φA No Load Running Torque (Ncm) Input Speed 500r/min 0 N -0.1 C E D※ F G H Input Speed 1000r/min a 3 (#17) Ambient Temperature (C ) 2-M3 4 (#14) 2-M3 6 (#17) Ambient Temperature (C ) Input Speed 3500r/min No Load Running Torque (Ncm) Detailed drawing for input side Size No key on WG hub for #14, #17 No Load Running Torque (Ncm) h7 φy φT φe Input Speed 2000r/min Size 2.5 (#14) Grease quantity Harmonic Grease SK-1A Harmonic Grease SK-2 Recommended quantity No Load Running Torque for Ratio 100 V t※ Name Size 0 -0.030 H7 φU φm φS H7 φR φk φQ φP φ0 h7 r Grease Unit: Ncm Ratio Torque value is measured after 2 hour run-in at 2000 rpm input. Please contact HDLLC if you are using oil lubricant. W M1 3-1 Size H h c-φd No Load Running Torque (Ncm) Y-Z* F Size E Compensation Value for Each Ratio The no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compensation value from table 3-2. 3-2 Please contact Harmonic Drive LLC for installation drawings. * Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension ‘Z’ , damage to the flexspine may occur. Please refer to installation drawing. Ambient Temperature (C ) Ambient Temperature (C )
Ordering Code Dimension Table CSG Model Size CSG Series Gear Ratio 14 65 Type 50:1 160:1 Lightweight 2UH (Gearhead) Special (Custom Specification) leave blank for standard product Ratio Table 2-1 Rated Torque at 2000rpm Limit for Repeated Peak Torque lb-in 14 17 20 25 32 40 45 50 58 65 50 7.0 80 10 100 10 50 21 80 29 100 31 120 31 50 33 80 44 100 52 120 52 160 52 50 51 80 82 100 87 120 87 160 87 50 99 80 153 100 178 120 178 160 178 50 178 80 268 100 345 120 382 160 382 50 229 80 407 100 459 120 523 160 523 80 484 100 611 120 688 160 688 80 714 100 905 120 969 160 969 80 969 100 1,236 120 1,236 160 1,236 17 20 25 32 40 45 50 58 65 73 79 93 107 138 160 180 190 226 260 B※ 0 41 -0.9 0 45 -0.9 C 34 37 D※ 7 E 27 29 28 36 45 50.5 58 69 77 84.5 F 7 8 10 10 12 16 16 16 20 24 G 2 2 3 3 3 4 4 4 5 5 H 4 4 5 5 4.5 4.5 6 6 6 6 L 1.1 1.1 1.1 1.1 1.2 1.6 1.6 1 1.5 1.5 M1 9.4 9.5 9 12 15 5 6 8 10 10 M2 - - - - - - - - - 4 0 N -0.1 18.5 20.7 21.5 21.6 23.6 29.7 30.5 34.8 38.3 44.6 φP 56 63 72 86 113 127 148 158 186 212 54.6 59.5 70 84.6 110 124.5 143 155 183 208 40.5 47.5 55.5 71 91.1 103 123 130 155 180 11 10 14 20 26 32 32 40 46 52 - - - - - - - - - 142 φO h7 Rating Table Size 14 φA Symbol SP Size Limit for Average Torque lb-in Limit for MomentoryTorque lb-in lb-in 62 23 204 9 80 46 407 89 30 266 14 124 61 540 620 89 36 319 14 124 70 186 44 389 34 301 91 805 257 56 496 35 310 113 1,000 274 70 620 51 451 143 1,266 274 70 620 51 451 112 991 292 73 646 44 389 127 1,124 389 96 850 61 540 165 1,460 460 107 947 64 566 191 1,690 460 113 1,000 64 566 191 1,690 460 120 1,062 64 566 191 1,690 451 127 1,124 72 637 242 2,142 726 178 1,575 113 1,000 332 2,938 770 204 1,806 140 1,239 369 3,266 770 217 1,921 140 1,239 382 3,496 770 229 2,027 140 1,239 382 3,611 876 281 2,487 140 1,239 497 4,399 1,354 395 3,496 217 1,921 738 6,532 1,575 433 3,832 281 2,487 841 7,443 1,575 459 4,062 281 2,487 842 7,895 1,575 484 4,284 281 2,487 842 7,895 1,575 523 4,629 255 2,257 892 7,895 2,372 675 5,974 369 3,266 1,270 11,240 3,054 738 6,532 484 4,284 1,400 12,391 3,381 802 7,098 586 5,187 1,488 13,542 3,381 841 7,443 586 5,187 1,488 13,542 2,027 650 5,753 345 3,054 1,235 10,931 3,602 918 8,125 507 4,487 1,651 14,613 4,062 982 8,691 650 5,753 2,041 18,064 4,629 1,070 9,470 806 7,134 2,288 20,250 4,629 1,147 10,152 819 7,249 2,483 21,976 4,284 1,223 10,824 675 5,974 2,418 21,401 5,408 1,274 11,276 866 7,665 2,678 23,702 6,089 1,404 12,426 1,057 9,355 2,678 23,702 6,089 1,534 13,577 1,096 9,700 3,185 28,190 6,319 1,924 17,029 1,001 8,860 3,185 28,190 8,010 2,067 18,294 1,378 12,196 4,134 36,589 8,576 2,236 19,790 1,547 13,692 4,329 38,315 8,576 2,392 21,171 1,573 13,922 4,459 39,465 8,576 2,743 24,278 1,352 11,966 4,836 42,802 10,940 2,990 26,464 1,976 17,489 6,175 54,653 10,940 3,263 28,880 2,041 18,064 6,175 54,653 10,940 3,419 30,261 2,041 18,064 6,175 54,653 I 1/4GD2 Maximum Input Speed Max. Average Input Speed Oil Grease Oil Grease 14,000 8,500 6,500 3,500 Moment of Inertia φQ φR1 H7 φR2 H7 φS φT h7 0.033 0.034 φU H7 V 10,000 7,300 6,500 6,500 6,500 3,500 3,500 0.079 0.193 0.081 0.197 3,500 0.413 0.421 4,800 4,600 3,500 1.69 1.72 3,600 3,000 4.50 4.59 5,000 3,800 3,300 3,000 8.68 8.86 4,500 3,500 3,000 2,500 12.5 12.8 4,000 3,500 3,000 2,800 2,700 2,400 2,200 1,900 27.3 46.8 1. Moment of Inertia: 2. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure. 27.9 47.8 57 66.5 6 0 -0.5 5 0 -0.6 0 -0.6 5.5 0 -0.6 5 0 -0.6 0 115 -1.3 108.5 97 85 74 6 0 104.5 -1.3 7.5 0 -0.6 0 6.5 -0.6 20 24 25 32 38 44 90 110 124 135 156 177 8 7 10 38 48 56 6 8 12 14 14 14 19 19 22 24 - - 13.8 16.3 16.3 16.3 21.8 21.8 24.8 27.3 15 67 （68） 5 8 6 Y 6 6 8 8 8 8 8 8 8 8 Z M4 8 M5 10 M6 9 M8 12 M10 15 M10 15 M12 18 M14 21 M16 24 M16 24 a 1 1 1.5 1.5 1.5 2 2 2 2.5 2.5 65 71 82 96 125 144 164 174 206 236 12 φb c 5 6 4 5 0.1 0 42 0.1 0 55 0.1 0 68 6 0.1 0 82 0.1 0 84 0.1 0 100 0.1 0 110 6 8 8 10 12 10 16 18 16 4.5 4.5 5.5 5.5 6.6 9 9 9 11 14 38 45 53 66 86 106 119 133 154 172 0.2 0 6 8 8 10 12 10 16 18 16 12 g M4 M4 M5 M5 M6 M8 M8 M8 M10 M12 h 29.0 0.50 34.5 0.80 40.64 1.14 53.28 0.99 S71 AS568-042 S100 S105 S125 S135 i S50 S56 S67 S80 S105 S125 S145 S155 S180 S205 155 φm r φy 4,000 46 0 90 -1.3 32 ｔ※ 5,600 0 -0.4 0 79.5 -1.2 - φk 7,000 7.5 0 72.5 -1.1 27 ｆ 5,600 38 0 -0.4 0 62 -1.1 - φe 5,600 8 0 52 -1.0 23 φd 7,500 0 -0.4 0 45.5 -1.0 φX W Js9 10,000 Table 7-1 Unit: mm Weight（kg） 31 38 45 58 78 90 107 112 135 10 10.5 15.5 20 27 34 36 39 46 56 21.4 23.5 23 29 37 39.5 45.5 53 62.8 66.5 1.1 0.8 1 1.4 1.4 3.3 3.5 2.2 3.4 3.9 14 18 21 26 26 32 32 32 40 48 0.32 0.46 0.64 1.1 2.2 3.5 5.1 7.0 11.3 16.2 Note 1: Dimensions in parentheses indicates values for 30:1 gear ratio. Note 2: * Dimensions B, D and t indicate the location and tolerance of the wave generator flexspline and circular spline. Please strictly comply with these dimensions since it influences performance and strength of the gear. Weight Comparison Size CSG Series standard unit CSG Series LW unit Weight ratio 14 0.52 0.32 62 % Unit: kg 17 0.68 0.46 68 % 20 0.98 0.64 65 % 25 32 1.5 3.2 73 % 69 % 1.1 2.2 40 5.0 3.5 70 % 45 50 7.0 8.9 73 % 79 % 5.1 7.0 58 14.6 11.3 77 % 65 20.9 16.2 78 %
Specification for Crossroller Bearing Pitch Circle dp Size Offset R m Basic Dynamic Load Rating C x10 2 N m Basic Static Load Rating Co x10 2 N lb lb Allowable Moment Load Mc Nm Harmonic Drive Moment Stiffness Km x104 Nm/rad lb-in x104 lb-in/rad 14 0.035 0.0093 47.0 1,057 60.7 1,365 33.6 297 3.6 32 17 0.0425 0.0091 52.9 1,189 75.5 1,697 52.5 465 6.4 57 20 0.05 0.0098 57.8 1,299 90.0 2,023 74.6 660 10.5 93 25 0.064 0.0118 96.0 2,158 151 3,395 128 1,133 19.8 175 32 0.083 0.0133 150 3,372 250 5,620 257 2,275 44.2 391 40 0.096 0.0148 213 4,788 365 8,206 369 3,266 74.6 660 45 0.111 0.0158 230 5,171 426 9,577 563 4,983 116 1,027 50 0.119 0.0180 348 7,823 602 13,534 622 5,505 140 1,239 58 0.141 0.0205 518 11,645 904 20,323 838 7,417 201 1,779 65 0.16 0.0185 556 12,499 1,030 23,155 1,525 13,497 331 2,930 Installation and Transmission Torque Size 14 17 20 25 32 40 45 50 58 65 Number of screws 6 6 8 8 8 8 8 8 8 8 Size of screws M4 M5 M6 M8 M10 M10 M12 M14 M16 M16 Pitch circle diameter 23 27 32 42 55 68 82 84 100 110 5.4 10.8 18.4 45 89 89 154 246 383 383 48 96 163 398 788 788 1,363 2,177 3,390 3,390 58 109 245 580 1,220 1,510 2,624 3,690 5,981 6,579 513 965 2,168 5,133 10,798 13,365 23,224 32,659 52,936 58,229 Torque transmitting capacity lb-in lb-in Harmonic Drive now offers a NEW lightweight version of our CSG-2UH Gear Units! 30% lighter than our standard CSG-2UH! 30% More Torque than the CSF Series! Using new lightweight materials and an optimized design, a 30% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface dimensions. This weight reduction, combined with the CSG's high torque ratings, results in an exceptional “Torque Density” making it ideally suited for many applications including Industrial Robots – allowing operation with higher acceleration rates and payload capacity Mobile Robots – allowing lower weight designs which improves battery life without sacrificing performance Bolt connection to output flange and resulting transmission torque Screw Tightening Torque CSG-LW High Torque, Lightweight Gear Unit Application Examples Robot Wrist SCARA Robot Arm Bolt connection to housing and resulting transmission torque Size 14 17 20 25 32 40 45 50 58 65 Number of screws 6 8 8 10 12 10 16 18 16 12 Size of screws M4 M4 M5 M5 M6 M8 M8 M8 M10 M12 Pitch circle diameter 65 71 82 96 125 144 164 174 206 236 3.2 3.2 6.4 6.4 10.8 26.5 26.5 26.5 51.9 90 28 28 57 57 96 235 235 235 459 797 98 143 261 382 842 1,488 2,712 3,237 5,350 6,649 867 1,266 2,310 3,381 7,452 13,170 24,003 28,650 47,351 58,849 Screw Tightening Torque 5 Torque transmitting capacity lb-in lb-in 1. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.9 2. Torque coefficient : K 0.2 3. Clamp coefficient A 1.4 4. Coefficient of friction: 0.15 5. Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. (Please contact a Sales Engineer for more information.) Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody, MA 01960 San Jose Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110 Group Companies Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan New York Sales Office 100 Motor Parkway Suite 116 Hauppauge, NY 11788 Chicago Sales Office 137 N. Oak Park Avenue Suite 410 Oak Park, IL 6030 Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany T: 800.921.3332 T: 978.532.1800 F: 978.532.9406 www.HarmonicDrive.net Harmonic Drive is a registered trademark of Harmonic Drive LLC. Rev 05-23 5th and 6th axis drive for the wrist of an Industrial Robot Drive for SCARA Robot Direct Connection to a Servo Motor
Drive for SCARA Robot . Harmonic Drive Systems, Inc. 6-25-3 Minami-Ohi, Shinagawa-ku Tokyo 141-0013, Japan Harmonic Drive AG Hoenbergstrasse, 14, D-6555 Limburg/Lahn Germany San Jose Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110
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