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HPGP Series High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series HPGP Torque Series Backlash andHigh Tosional Stiffness 6 Size ■ Gearhead 11, - Standard 14, 20, 32,backlash 50, 65 (BL3) (≤ 3 arc-min) Size Ratio 11 14 20 32 50 65 5 21 37 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 4 5 12 15 20 25 Peak Torque Torsion angle on one side Backlash at TR X 0.15 D -4 – 3940Nm arc12Nm min ×10 rad arc min 2.5 ×10-4rad 7.3 8.7 Reduction Ratio8.7 3.0 3.0 Sizes Table 21-1 Torsional stiffness A/B kgfm/arc min ×100Nm/rad 0.065 22 ■ Gearhead - Reduced backlash (BL1) (≤ 1 arc-min) Size Ratio 8.7 Low Backlash 2.7 7.9 0.14 47 14 Innovative ring gear automatically adjusts for backlash, ensuring 180The ring 20 0.55 consistent, gearhead. gear 8.7low backlash for the life of the 3.0 2.0 5.8 design automatically provides the optimum backlash in the planetary gear train and maintains the same low backlash for the 3.8 life of the gearhead.1.3 1.7 High 8.7 Efﬁciency Up to 95% 4.9 1.3 3.8 1.7 4.9 2.2 740 32 High Load Capacity Output14Bearing 4700 8.7 50 13000 65 3.0 A Cross Roller bearing is integrated with the output ﬂange to provide high moment stiffness, high load capacity and precise positioning accuracy. 1.3 3.8 3.0 38 8.7 ×10-4rad arc min ×10-4rad Table 021-2 Torsional stiffness A/B kgfm/arc min ×100Nm/rad not available Standard: <3 arc-min Optional: <1 arc-min 1.5Life 4.4 Low Backlash for 3.0 arc min 11 Single Stage: 3:12.2to 9:1, Two 6.4 Stage: 11:1 to 50:1 3.0 Torsion angle on one side at TR X 0.15 D Backlash 4.9 variety of servomotors Easy mounting1.7to a wide Quick Connect™ coupling 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 4 5 12 15 20 25 1.0 1.0 1.0 2.9 2.9 2.9 1.1 3.2 1.7 4.9 0.6 1.7 1.1 3.2 0.5 1.5 0.14 47 0.55 180 2.2 740 CONTENTS 1.0 2.9 0.5 1.5 2.9 1.0 14 1.0 2.9 Rating Table Performance 0.5 1.5 Backlash and Torsional Stiffness 2.9 1.0 38 1.0 2.9 Outline Dimensions Product Sizing & Selection 4700 13000 2 3 4 5 -10 11-12 - (Hysteresis - F0 loss) - Motor Model Number HPGP - 11 A - 05 - BL3 BacklashD Torsional stiffness curve The vertical distance between points (2) & (4) in Fig. 021-1 is called a With the input of the gear locked in place, a torque applied to the hysteresis loss. The hysteresis loss between “Clockwise load torque output ﬂange will torsionally deﬂect in proportion to the applied TR”and “Counter load torque - TR” is deﬁned as the & Options torque. We generate a Name torsional stiffness curve by Reduction slowly applying Backlash Input SideClockwise Bearing Output Conﬁguration Model Size Design Revision Ratio Input Conﬁguration backlash of the HPGP series.F0: Backlash Flange output of the HPGP series is less torque to the output in the following sequence: D: Input side contact BL1: Backlash less J20: Straight shaft (without key) This code represents the 5, 21,Zero, 37, 45 (1bearing arc-min (3) than 1than (1) Clockwise torque to 11 TR, (2) Return to J60: available). Straight shaft (with key and center sealed (DDU)is also arc-min3 arc-min motor mounting configuration. tapped hole) Counter-Clockwise torque to -T14R, (4) Return to Zero and (5) again (Sizes 14 to 65) Please contact us for a unique HPGP Z: Input side bearing F0: Flange output A part number based on the Clockwise torque to TRTorque . 20 with double nonHigh BL3: Backlash less J2: Straight shaft (without key) 5, 11, 15, 21, 33, 45 Figure motor you 021-1 are using. Torque-torsion angle diagram J6: Straight shaft (with key and center contact shields than 3 arc-min A loop of (1) > (2) > (3) > (4) > (5)32will be drawn as in Fig. 021-1. 50 The torsional stiffness in the region from “0.15 x TR” to “TR” is is 4, 5, 12, 15, 20, 25 65 calculated using the average value of this slope. The torsional stiffness in the region from “zero torque” to “0.15 x TR” is lower. Gearhead Construction This is caused by the small amount of backlash plus engagement pilot of the mating parts and loading of the planet gears underMounting the initial torque applied. Output ﬂange θ D 1 T TL Total torsion angle T－TL A B (2) 0 Rubber cap A Quick Connect™ coupling (4) TR TR: Rated output torque A/B: Torsional stiffness D: Torsion on one side at TRX0.15 (3) Output side oil seal Cross roller bearing Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 Torque Hysteresis loss Input rotational direction = Backlash TR×0.15 B ● Calculation formula θ＝D＋ Figure 018-1 B D -TR×0.15 A The method to calculate the total torsion angle (average value) on one side when the speed reducer applies a load in a no-load state. Output rotational direction Formula 021-1 (1) (5) D Shielded bearing -TR Calculation of total torsion angle tapped hole) (J2, J6 for Size 65 is also available) Torsion angle Motor mounting ﬂange Mounting bolt hole Rated Torque *1 20 13 3000 Flange kg kg 2-Hexagon socket head locking screw 0.14 0.18 10000 0.24 0.20 0.54 0.42 21 21 23 33 27 0.63 0.51 45 29 5 50 1.6 1.2 1.9 1.5E*4 2.0 1.6 1.9 1.5 39 4-M4×6 59 21 78 33 72 156 45 98 142 160 15 220 21 240 33 200 45 280 5 380 11 450 15 460 27 20 400 15 B 2.2 15 6000 3000 63 217 142 3000 5 G 440 400 1460 C0.5 1500 490 M3×6 Output ﬂange 6000 part Customer's 3000 650 400 6000 H 440 Ø10 h7 150 P 156 70 5 4 h9 C0.6 133 15 11 4.4 3.0 C0.5 38 R0.4 4500 2000 2180 Clearance 0.5 or more 620 33 (Note) The dimension45tolerances that are not speciﬁed vary depending on the manufacturing 640 1360 method. Please check the conﬁrmation drawing or contact us for dimension tolerances not 1150 3520 4 shown on the drawing above. 1190 5 3790 1350 12 4500 65 2000 1670 15 3940 20 1520 3790 25 1900 3840 5.1 5.4 5.1 13 0.4 (Min.0.2) 1850 1460 Dimension Table ØF H7 15 56 39 Ø40 h7 Ø39.5 18 20 Ø 21 3 2-Screw with gasket 2500 3000 Figure 022-1 Shaft 13 Ø29 4 h9 0 -0.1 rpm 15 4-Ø3.4 7.5 HPG series High-performance Gear Heads for Servo Motors series CSG-GH series High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series rpm 12 11 11 50 Nm 12 ØA H7 45 32 Nm 1-Ø2.5H7X4 6.6 10 PCD18 Ø24 2837.5° 20 Max. Input Speed *5 Ø40 21 □40 14 Max. Average Input Speed *4 Nm 5 11 Limit for Momentary Torque *3 Ø24 Ø5 H7 Ratio Size Limit for Repeated Peak Torque *2 15 32 7 47* 7 (Unit: mm) 4-D*3 HPGP Series Table 019-1 Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailedMass dimensions. *6 5 HPG series (Orthogonal Shaft Type) P High-Performance Gearhead for Servomotors Rating Table HPGP-11 Outline Dimensions Ø4 6 HPGP series High-performance Gear Heads for Servo Motors series HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series ØC Detail P 3.7 Recommended clearance dimension for customer's part mounted to the output ﬂange 4.0 (Note) 3.7 using a gearhead with an When output 10 ﬂange, it is recommended for the customer to design clearance between the part mounted on the output ﬂange and the housing face as shown in the 12 on the left. The clearance is ﬁgure needed because the distance between the output ﬂange and the oil seal (non-rotating) is small (min. 0.2mm). 22 5 6 *1: A t 37 θ Moment of Inertia Ratio 1 1 3 *2: T s p c p " Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not suitable for your particular motor. *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. *3 Tapped hole for motor mounting screw. *4 E dimension is dependent on motor selection. Coupling 1 2 (Unit: mm) Table 022-1 *1: Rated torque is based on L50 life of 20,000 hours at rated input speed. *2: The limit for torque during start and stop cycles. H *1 A (H7) B C F (H7) G Mass (kg) *2 *3: The limit forFlange torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events Coupling Min. Max. Max. Min. Max. Min. Max. Min. Max. Typical Shaft Flange to ensure it meets required operating conditions. *4: Single Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of TypeThe I actual1limit for average 54.5 20 4 28operating 70 5 8 17.5 26 0.34 0.30 a motion proﬁle. input50 speed depends on the environment. Stage *5: Maximum instantaneous input speed. *6: The Twomass is for the gearhead only (without input shaft coupling & motor ﬂange). Please contact us for the mass of your speciﬁc conﬁguration. Type I 1 the size 20 50Shaft type4 (J2 & J6) 28 70 5 8 17.5 26 63.5 0.40 0.36 *7: Stage Flange output is standard for 65 gearhead. is also available. HPGP 11 Siz (10-4 kgm2) Table 022-2 5 21 37 45 0.006 0.004 0.0027 0.0025 016 Gearheads 2 32 50 65 6.4 11.6 2.7 7.9 1.5 4.4 11.6 4 2.0 5.8 1.3 3.8 1.7 4.9 1.3 3.8 1.7 8.7 4.9 1.3 3.8 3 1.7 8.7 4.9 3 11 ±20 0.14 47 14 ±15 0.55 11.6 4 22 180 ±15 740 2.2 20 32 14 ±15 4700 50 38 13000 ±15 65 0.20 0.020 Torsion angle on one side 0.061 0.60 at TR X 0.15 D 0.17×10-4rad arc min 0.062 arc min ×10-4rad 0.15 0.066 0.64 0.88 0.43available 0.044 not 0.82 0.092 0.90 0.75 0.11 1.1 3.2 0.53 1.1 0.34 0.12 1.0 0.25 2.9 1.7 4.9 1.0 1.0 1.0 1.0 1.9 1.6 1.2 0.95 0.65 0.48 3.4 2.7 2.5 2.3 1.5 1.2 8.2 4.6 4.1 3.7 2.4 2.0 29 24 13 11 10 8.6 2.9 2.9 2.9 2.9 0.93 1.7 1.8 0.6 0.095 0.17 1.7 0.18 2.1 1.1 3.2 0.22 1.7 2.9 0.5 3.7 4.7 4.8 1.0 0.17 0.30 1.5 0.38 0.48 2.9 0.49 15 17 1.0 19 21 1.5 2.9 1.7 1.9 2.1 0.20 2.0 0.52 0.41 1.5 0.51 0.61 0.78 2.9 0.80 0.91 1.5 1.2 5.1 4.0 0.5 5.0 6.0 7.6 1.0 7.8 8.9 0.5 12 2.9 0.30 2.0 0.14 47 0.20 28 15 11 8.8 5.9 0.55 4.9 73 38 29 24 2.2 14 13 130 60 47 1440 24 20 420 360 38 190 160 130 110 2.9 1.5 1.1 0.90 180 0.60 0.50 7.4 3.9 3.0 740 2.4 1.4 1.3 13 6.1 4.8 4700 4.1 2.5 2.0 43 37 1300019 16 13 11 *1: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. The values shown in the table are maximum values. Figure 020-1 θ1 Backlash (Hysteresis loss) θer ：Accuracy Torsional stiffness curve θ1 is called a ：Input anglebetween points (2) & (4) in Fig. 021-1 θ1 distance The vertical With the inputθerof the gear locked in place, a torque applied to the θer ＝ θ2－ output angle ：Actual R load torque hysteresisθ2loss. The hysteresis loss between “Clockwise output ﬂange will torsionally deﬂect in proportion to the applied ratio load torque - TR” is deﬁned as the R ：Gear reduction TR”and “Counter Clockwise torque. We generateθ2a torsional stiffness curve by slowly applying backlash of the HPGP series. Backlash of the HPGP series is less torque to the output in the following sequence: *2: The repeatability is measured by moving to a given position than 3*3:arc-min (1torque arc-min is also available). Starting is the torque value applied to the input side at which Return to theoretical Zero, (3) (1) Clockwise torque to TR, (2) seven times, each same direction. The actual the output ﬁrst starts to rotate. The values in the table are maximum Counter-Clockwise torque totime -TRapproaching , (4) Returnfrom to the Zero and (5) again position of the output shaft is measured each time and repeatability is values. Clockwise torque to TRas . the 1/2 of the maximum difference of the seven data Table 020-2 calculated Figure 021-1 Loaddiagram No load A loop of (1) >points. (2) > (3) > (4) >values (5) will drawninasangles in Fig. 021-1.preﬁxed with Torque-torsion angle Measured arebe indicated (arc-sec) of HPGP speed reducer surface temperature The values in the table are maximum The torsional "±". stiffness in the region from “0.15 values. x TR” to “TR” is is Figure 020-2 calculated using the average value of this slope. The torsional stiffness in the region from “zero torque” to “0.15 x TR” is lower. This is caused by the small amount of backlash plus engagement ϕ1 of the mating parts and loading of the planet gears under the initial torque applied. ϕ2 Torsion angle B *4: Backdriving torque is the torque value applied to the output side at which the input ﬁrst starts to rotate. The values in the table are maximum values. Note: Never rely on these values as a margin in a system A that must hold an external load. A brake must (2)be used where back driving is not permissible. -TR D ϕ7 Calculation of total torsion angle ● Calculation formula θ＝D＋ θ D 3 T TL 2 Formula 021-1 T－TL A B Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 B 2 -TR×0.15 Load 0 HPGP speed reducer surface temperature (4) Table 020-3 No load 25°C T R Torque Hysteresis loss A running torque is the torque required at the input to operate *5: No-load = Backlash TR×0.15 the gearhead at a given speed under a no-load condition. The values in the table are average values. The method to calculate the total torsion angle (average value) on X one side when the speed reducer applies a load in Xa no-load state. X Repeatability = ± X 2 25°C (1) (5) D s (3) Input speed 3000 rpm TR: Rated output torque Load No load A/B: Torsional stiffness25°C HPGP speed reducer surface temperature D: Table 020-4 Torsion on one side at TRX0.15 HPGP series 4 2.2 0.065 1.6 1.4 8.6 8.0 7.4 5 5.2 11 3.3 15 2.4 21 19 33 45 15 5 12 11 9.3 15 6.4 21 4.7 33 33 45 27 5 25 11 15 22 21 15 33 11 45 80 5 45 11 40 15 36 21 33 24 45 20 4 288 5 240 12 125 15 110 20 95 25 84 0.41 Backlash 0.29 High-performance Gear Heads for Servo Motors series 8.7 4.0 2.9 Size Ratio HPG series 20 3.0 A/B±30 kgfm/arc min ×100Nm/rad High-performance Gear Heads for Servo Motors series 14 arc min 37 ×10-4rad 45 5 8.7 3.0 11 15 21 33 3.0 45 8.7 5 11 15 21 3.0 33 8.7 45 5 11 15 21 8.7 3.0 33 45 5 11 15 3.0 21 8.7 33 45 4 5 3.0 12 8.7 15 20 25 14.5 ×10-4rad 7.3 CSG-GH series 11 5 21 37 45 5 14 11 15 21 33 45 5 11 20 15 21 33 45 5 11 15 32 21 33 45 5 11 15 50 21 33 45 4 5 12 15 65 20 25 5 arc min 2.5 Table 21-1 Torsional stiffness Table 020-1 No-load running torque *5 Ncm kgfcm Table 021-2 5.0 0.51 Torsional stiffness 1.3 A/B 0.13 0.90 0.092 kgfm/arc min ×100Nm/rad 0.80 0.082 9.8 1.0 4.9 0.50 High-performance Gear Heads for Servo Motors series Size Ratio11 Torsion angle on one side at TR X 0.15 D ■ Gearhead - Reduced backlash (BL1) Starting torque *3 Backdriving torque *4 kgfcm Nm kgfm (≤ Ncm 1 arc-min) CSF-GH series 5 Backlash 21 Repeatability *2 arc sec High-performance Gear Heads for Servo Motors series 1 ■ Gearhead - Standard backlash Accuracy *(BL3) Size Ratio arc min ×10-4rad (≤ 3 arc-min) High-performance Gear Heads for Servo Motors series Performance Table Stiffness Backlash and Tosional HPG series (Orthogonal Shaft Type) HPGP Series High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series 017 H ■ Gearhead - Reduced backlash (BL1) ■ Gearhead - Standard backlash (BL3) Only primary dimensions are shown in the drawings below. Refer to the (≤ 1conﬁrmation arc-min) drawing for detailed dimensions. (≤ 3 arc-min) 32 Ø29 7.5 0 -0.1 65 4 h9 50 0.14 5.8 11 P 3.8 4.9 27 20 15 180 2.2 740 2.2 4.9 3.8 47 C0.6 0.55 15 5 4700 14 3.8 4.9 C0.5 13000 38 arc min R0.4 5 11 15 14 21 33 45 5 11 15 20 21 33 45 5 11 15 32 21 33 45 H 5 11 15 50 21 33 45 4 5 12 65 15 20 25 0.6 1.7 1.1 3.2 0.5 1.5 1.0 2.9 0.5 1.5 2.9 Output ﬂange1.0 2.9 2.9 1.0 G 0.55 180 0.5 2.9 1.0 2.2 740 14 4700 Detail P ØC Recommended clearance dimension for customer's part mounted to the output ﬂange (Note) When a gearhead with an 38 using13000 output ﬂange, it is recommended for the customer to design clearance between the part mounted on the output ﬂange and the housing face as shown in the ﬁgure on the left. The clearance is needed because the distance between the output ﬂange and the oil seal (non-rotating) is small (min. 0.2mm). Customer's part 1.0 47 E*4 2.9 1.0 0.14 1.5 2.9 0.4 (Min.0.2) Clearance 0.5 or more Backlash (Hysteresis loss) The vertical distance between points (2) & (4) in Fig. 021-1 is called a hysteresis loss. The hysteresis loss between “Clockwise load torque TR”and “Counter Clockwise load torque - TR” is deﬁned as the backlash of the HPGP series. Backlash of the HPGP series is less than 3 arc-min (1 arc-min is also available). (Unit: mm) C Torque-torsion angle F (H7) diagram Max. 70 Min. Max. Torsion angle 5 8 5 8 D Sin Sta Table 022-1 H *1 Figure 021-1 Mass (kg) *2 G Min. (Note meth show Max. 17.5 26 Typical (1) (5) 54.5 Shaft Flange 0.34 0.30 0.40 0.36 Tw Sta Refer t suitabl *1 May *2 The *3 Tap *4 E d B Dimension Table 4.9 B (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing method. Please check the conﬁrmation drawing or contact us for dimension tolerances not shown on the drawing above. Torsional stiffness curve 1.7 C0.5 M3×6 With the input of the gear locked in place, a torque applied to the output ﬂange will torsionally deﬂect in proportion to the applied torque. We generate a torsional stiffness curve by slowly applying torque to the output in the following sequence: (1) Clockwise torque to TR, (2) Return to Zero, (3) Counter-Clockwise torque to -TR, (4) Return to Zero and (5) again Clockwise torque to TR. A (H7) B A loop of (1) >Flange (2) > (3) Coupling > (4) > (5) will be drawn as in Fig. 021-1. Min. Max. Max. Min. The torsional stiffness in the region from “0.15 x TR” to “TR” is is calculated the average value of this slope. The torsional Single using Type I 1 20 50 4 28 Stage in the region from “zero torque” to “0.15 x TR” is lower. stiffness This is caused by the small amount of backlash plus engagement Two of the mating Type partsI and loading of the gears under 1 20 planet 50 4 the initial 28 Stage torque applied. 3.2 2.9 1.0 4-D*3 1.1 1.0 (Unit: mm) head locking screw not available ØF H7 4.4 Ø10 h7 20 3 22 6.4 7.9 ×10-4rad ØA H7 8.7 Ø40 h7 Ø39.5 14 0.065 arc min Figure 022-1 Torsional stiffness A/B socket ×10-4rad 2-Hexagon kgfm/arc min ×100Nm/rad 2-Screw with gasket Ø24 11 ×10-4rad 7.3 Size Ratio Table 021-2 Torsion angle on one side at TR X 0.15 D Backlash Ø40 arc min ×10-4rad arc min 1-Ø2.5H7X4 5 2.5 21 □40 8.7 PCD18 3.0 37 3.0 45 28.5° 5 2.2 11 15 8 8.7 3.0 Ø12.7 21 33 45 5 1.5 11 15 8.7 3.0 21 2.0 33 45 4-M4×6 1.3 5 4-Ø3.4 11 15 8.7 3.0 21 1.7 33 45 5 1.3 11 4 h9 15 8.7 3.0 21 1.7 33 45 4 1.3 5 12 8.7 3.0 15 1.7 20 25 A/B kgfm/arc min ×100Nm/rad Ø24 Ø5 H7 Size Ratio Torsional stiffness Only HPGP Series Table 21-1 Torsion angle on one side at TR X 0.15 D Backlash High-Performance Gearhead for Servomotors Backlash Tosional Stiffness HPGP-11and Outline Dimensions Ø4 6 HPGP Series High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series 70 17.5 (2) A 26 63.5 D Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not -TR×0.15 0 -TR suitable for your particular motor. *1 May vary depending on motor interface dimensions. TR Torque *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. (4) Calculation of total torsion angle Hysteresis loss *3 Tapped hole for motor mounting screw. A The method istodependent calculate the total torsion angle (average value) on *4 E dimension on motor selection. = Backlash TR×0.15 D Mo HPG Moment of Inertia ● Calculation formula HPGP 11 θ D T Ratio θ＝D＋ Coupling 1 B one side when the speed reducer applies a load in a no-load state. Formula 021-1 T－TL 5 A B 0.006 (10-4 kgm2) Table 022-2 21 37 0.004 0.0027 (3) 45 TR: Rated output torque A/B: Torsional stiffness D: Torsion on one side at TRX0.15 0.0025 Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque TL Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 A/B Torsional stiffness 018 Gearheads 4 High-Performance Gearhead for Servomotors Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. 20 65 Backlash arc min ×10-4rad arc min ×10-4rad 4-D* kgfm/arc min ×100Nm/rad not available 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 4 5 12 15 20 25 C0.5 ØF H7 Ø24 Ø5 H7 Ø40 h7 Ø39.5 0 -0.1 7.5 50 Ø29 4 h9 32 head screwstiffness Torsion angle on one sidelocking Torsional at TR X 0.15 D A/B 3 2-Screw with gasket Size Ratio Ø10 h7 14 A/B 3 kgfm/arc min ×100Nm/rad -4 arc min ×10 rad arc min ×10-4rad 28.5° 5 2.5 7.3 21 11 22 0.065 8.7 3.0 37 3.0 8.7 Ø18 45 5 2.2 6.4 11 15 C0.6 47 0.14 8.7 3.0 14 21 2.7 7.9 33 45 5 1.5 4.4 P 4-M4×6 2.2 11 4-Ø3.4 15 180 0.55 8.7 3.0 20 21 2.0 5.8 15 5 33 27 45 20 H 5 1.3 3.8 11 4 h9 15 15 740 2.2 8.7 3.0 32 21 1.7 4.9 33 45 5 1.3 3.8 11 15 4700 14 8.7 3.0 50 21 1.7 4.9 C0.5 R0.4 33 45 M3×6 4 1.3 3.8 5 12 (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing 13000 38 8.7 3.0 method. Please check the conﬁrmation drawing or contact us for dimension tolerances 65 not 15 1.7 4.9 shown on the drawing above. 20 25 6 11 Table 21-1 Torsional stiffness B 2.9 1.0 G 1.0 1.0 ØA H7 Size Ratio 1-Ø2.5H7X4 Torsion angle on one side at TRPCD18 X 0.15 D 2.9 Output2.9 ﬂange Customer's part 1.0 1.0 2.9 3.2 1.7 4.9 0.6 1.7 1.1 3.2 0.14 47 0.55 180 0.5 1.5 1.0 Detail P 2.2 2.9 740 0.4 (Min.0.2) 1.0 0.5 Clearance 0.5 or more 2.9 ØC 1.1 0.5 Ø24 Backlash □40 Figure 022-1 ■ Gearhead - Reduced backlash (BL1) (Unit: mm) (≤ 1 arc-min) 2-Hexagon socketTable 021-2 Ø40 ■ Gearhead - Standard backlash (BL3) (≤ 3 arc-min) 1.0 HPGP Series HPGP-11 Dimensions Backlash and Outline Tosional Stiffness Ø4 HPGP Series High-Performance Gearhead for Servomotors E*4 Recommended clearance dimension for customer's part mounted to the output ﬂange 1.5 (Note) When using a gearhead with an output ﬂange, it is recommended 4700 14 to design for the customer 2.9 clearance between the part mounted on the output ﬂange and the housing face as shown in the ﬁgure on the left. The clearance is 1.5 needed because the distance between the output ﬂange and the 13000 38 oil seal (non-rotating) is small (min. 2.9 0.2mm). Dimension Table led a orque s the less Torsional stiffness curve Flange Coupling A (H7) B C (Unit: mm) Table 022-1 F (H7) G Backlash (Hysteresis loss) 021-1 Max. torque Max. applied Min. the *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. The torsional stiffness in the region from “0.15 x TR” to “TR” is is Torsion angle *3 Tapped hole for motor mounting screw. E dimension on motor selection. calculated*4 using theis dependent average value of this slope. The torsional stiffness in the region from “zero torque” to “0.15 x TR” is lower. This is caused by the small amount of backlash plus engagement Moment of Inertia (10-4 kgm2) Table 022-2 of the mating parts and loading of the planet gears under the initial Ratio torque applied. 5 21 37 45 (2) Coupling HPGP 11 0.006 1 0.004 0.0027 A The method to calculate the total torsion angle (average value) on one side when the speed reducer applies a load in a no-load state. 15 Formula 021-1 ● Calculation formula θ＝D＋ θ D 5 T TL -TR×0.15 0.0025 D Calculation of total torsion angle -TR T－TL A B Shaft 021-1 B (1) (5) A D ue Max. Typical (2) & (4) in Fig. Mass (kg) *2 Flange a is called With the input of the gear locked in a to hysteresis loss. The hysteresis loss between “Clockwise load torque output ﬂange will torsionally deﬂect in proportion to the applied Single Type I 54.5 1 20 50 4 28 70 5 8 17.5 26 0.34 0.30 Stage TR”and “Counter Clockwise load torque - TR” is deﬁned as the torque. We generate a torsional stiffness curve by slowly applying backlash of the HPGP series. Backlash of the HPGP series is less torque to the output in the following sequence: Two Type I 1 20 50 4 28 8 is also 17.5available). 26 63.5 0.40 0.36 than703 arc-min5 (1 arc-min (1) Clockwise Stage torque to T R, (2) Return to Zero, (3) Counter-Clockwise torque to -TR, (4) Return to Zero and (5) again to the conﬁrmation ClockwiseRefer torque to TR. drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not suitable for your particular motor. Figure 021-1 Torque-torsion angle diagram A loop of (1) > (2) (3) > (4) (5) interface will bedimensions. drawn as in Fig. 021-1. *1 May vary>depending on > motor Min. place, Min. Max. TheMax. vertical distance between Min. points H *1 0 TR (4) TR×0.15 Torque Hysteresis loss = Backlash B 2 HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series (3) TR: Rated output torque A/B: Torsional stiffness D: Torsion on one side at TRX0.15 Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 019 Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. 1-Ø3H7x5 PCD30 □60 1-Ø2.5H7X4 □40 PCD18 22.5° ° .5 8 2 Ø7 0 3 (Unit: mm) Hexagon socket 2-Hexagon socket 4-D*3 head head bolt locking screw Rubber cap 2-Screw with gasket 5 Figure 022-1 (Unit: mm) 4-D*3 Ø4 6 ØC Ø3018 Ø ØF H7 ØF H7 ØA H7 ØA H7 Ø56 h7 Ø40 h7 Ø55.5 Ø39.5 Ø40 Ø24 Ø14 H7 Ø5 H7 BB P 4-M4×6 8-M4x7 2.2 E*4 E*4 G 2.5 21 15 8 5 37 27 20 28 15 25 5 h9 4 h9 ØC C0.5 C0.5 C0.5 C0.6 4-Ø3.4 4-Ø5.5 Only Figure 023-1 HPGP Series Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. HPG series G 40 H H Detail P Output ﬂange Ø24 Ø40 Ø10 h7 Ø40 0 -0.1 Ø29h7 Ø16 4 h9 Customer's part 7.5 0 -0.1 5 h9 Recommended clearance dimension for customer's part mounted to the output ﬂange (Note) When using a gearhead with an output ﬂange, it is recommended for the customer to design 0.4 (Min.0.2) clearance between the part C0.5C0.5 R0.4 R0.4 (Note) The dimension tolerances that are not speciﬁed vary depending mounted on the manufacturing on the output ﬂange and method. Please check the conﬁrmation drawing or contact us for dimension tolerances M4x8 the housing facenot as shown in the shown on the drawing above. M3×6 ﬁgure on the left. The clearance is Clearance needed because the distance 0.5 or more between the output ﬂange and the (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing oil seal (non-rotating) is small (min. method. Please check the conﬁrmation drawing or contact us for dimension tolerances not 0.2mm). shown on the drawing above. 13 Dimension Table (Unit: mm) Table 023-1 Dimension Table Flange Coupling Type I D A (H7) B C F (H7) H *1 G Min. Max. Max. Min. Max. Min. Max. Min. Max. Typical 1 30 58 7 35 74 6.0 7.8 21.5 32.5 85 Flange Coupling A (H7) B C F (H7) G F Mass (kg) *2 Shaft Flange T mm) Table 022-1 1.07 (Unit: 0.95 H *1 T Mass (kg) *2 Shaft 1.00 Flange Ty Single Type I 54.5 1 20 50 4 28 70 5 8 17.5 26 0.34 Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not Stage 0.30 Ty Type II 1 Min.70 40 Max. 7 Max. 45 Min. 84 Max. 9.0 suitable for your particular motor. *1 May vary depending on motor interface dimensions. Two *2 The mass will vary slightly inside diameter4of the input 28 shaft coupling.70 Type I depending 1 on the ratio 20and on the 50 Stagehole for motor mounting screw. *3 Tapped *4 E dimension is dependent on motor selection. Min. 14.2 Max. 25.8 5 8 Min. 33.8 17.5 Max. 85 26 Typical 1.12 63.5 0.40 T 0.36 Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not suitable for your particular motor. (10-4 kgm2) Table 023-2 *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. Ratio *3 Tapped hole for motor mounting screw.5 45 33 21 15 11 Coupling *4 E dimension is dependent on motor selection. Moment of Inertia HPGP 14 - 1 Moment of2 Inertia0.204 HPGP 11 Ratio Coupling 1 0.06 0.058 0.197 0.195 0.044 0.05 (10-4 - kgm 2) Table 022-2 5 21 37 45 0.006 0.004 0.0027 0.0025 -33 Ratio CSG-GH series High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series HPG series (Orthogonal Shaft Type) H High-Performance Gearhead for Servomotors HPGP-14 HPGP-11Outline OutlineDimensions Dimensions High-performance Gear Heads for Servo Motors series HPGP series High-performance Gear Heads for Servo Motors series HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series T Ty Ty Refer suitab *1 Ma *2 The *3 Tap *4 E d 0.044 - Mo HP 020 Gearheads 6 8 h9 8.7 3.0 2.0 5.8 1.3 3.8 1.7 4.9 1.3 3.8 1.7 4.9 1.3 3.8 C1 8.7 3.0 1.7 4.9 M6x12 ØF H7 Dimension Table 023-1 Flange Coupling Torsional stiffness curve *2 A (H7) Min. Max. B C Max. Min. F (H7) Min. Max. Min. Max. Backlash (Hysteresis loss) Max. (Unit: mm) Table 024-1 Mass (kg) *2 H *1 G Typical Shaft 95 00 B -33 Ratio t Moment ofthe Inertia The method to calculate total torsion angle (average value) on one side when the speed reducer Ratio applies a load in a no-load state. 11 1 0.62 HPGP 20 ● Calculation formula 2 - - θ＝D＋ θ D 7 T TL T－TL A B 15 A 0 TR (10-4 kgm2) Table TR024-2 ×0.15 21 33 45 0.5 0.45 0.45 - 0.12 0.071 A/B: Torsional stiffness 0.063 (3) Torque Hysteresis loss = Backlash 0.58 Formula 021-1 B 5 0.69 Coupling (2) (4) D Calculation of total torsion angle -TR×0.15 D suitable for your particular motor. *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft-T coupling. R *3 Tapped hole for motor mounting screw. *4 E dimension is dependent on motor selection. TR: Rated output torque D: HPGP series High-performance Gear Heads for Servo Motors series Flange The vertical distance between points (2) & (4) 98.0 in Fig. 021-1 is called a With the inputType of the gear 1locked in 50 place, a72torque applied to I 8 55the 80 7.0 19.6 23.0 35.5 3.1 2.7 hysteresis loss. The hysteresis loss between “Clockwise load torque output ﬂange will torsionally deﬂect in proportion to the applied Type II TR”and 7.0 “Counter19.6 Clockwise torque -105.0 TR” is deﬁned as2.9the 1 80 98 by slowly 10 90 120 30.0 load42.5 3.3 torque. We generate a torsional stiffness curve applying backlash of the HPGP series. Backlash of the HPGP series is less torque to the output in the following sequence: Type III 3 30 45 10 35 50 7.0 7.8 21.0 31.0 93.5 2.6 2.2 than 3 arc-min (1 arc-min is also available). (1) Clockwise torque to TR, (2) Return to Zero, (3) Counter-Clockwise to Zero 10 and (5) again Type IV torque 1to -TR, (4) 46Return70 55 96 7.0 19.6 30.0 42.5 105.0 3.3 2.9 Clockwise torque to TR. Type I 1 50 72 8 55 80Torque-torsion 7.0 19.6 23.0 35.5 103.0 3.1 Figure 021-1 2.7 angle diagram A loop of (1) > (2) > (3) > (4) > (5) will be drawn as in Fig. 021-1. The torsionalType stiffness in the from “0.15 is is 120 II 1 region 80 98 x TR”10to “TR”90 7.0 19.6 angle 30.0 42.5 110.0 3.3 2.9 Torsion (1) (5) calculated using the average value of this slope. The torsional Type III 30 35 50 7.0 7.8 21.0 31.0 98.5 2.6 2.2 stiffness in the region from3 “zero torque” to45“0.15 x 10 TR” is lower. This is caused by the small amount of backlash plus engagement Type IV 1 46 70 10 55 96 7.0 19.6 30.0 42.5 103.0 3.3 2.9 of the mating parts and loading of the planet gears under the initial Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not A torque applied. nge HPG series 4.4 High-performance Gear Heads for Servo Motors series 8.7 3.0 1.5 8-M6x10 4-Ø9 5 1.1 3.2 11 15 0.14 C0.5 47 2.9 1.0 47 0.14 14 21 1.7 4.9 33 45 B 5 0.6 1.7 C0.5 11 15 180 0.55 2.9 1.0 180 0.55 20 21 1.1 3.2 33 45 E*4 7.5 5 0.5 1.5 27 10 G 11 15 53 46 740 2.2 2.9 1.0 740 2.2 32 1.0 2.9 42 H 21 33 36 45 5 0.5 1.5 11 15 4700 14 2.9 1.0 4700 14 50 21 1.0 2.9 33 45 4 0.5 1.5 R0.4 5 (Note)12 The dimension tolerances that are not speciﬁed vary depending on the manufacturing 13000 38 2.9 13000 not 38 65method. check the conﬁrmation drawing or contact us for dimension tolerances 15 Please 1.0 1.0 2.9 shown on the drawing above. 20 25 CSG-GH series 8.7 3.0 7.9 Ø45 ØC not available High-performance Gear Heads for Servo Motors series 65 2.7 11 22 -4 4-D*3 head ×10 radbolt kgfm/arc min ×100Nm/rad Torsion on one side at TRX0.15 CSF-GH series g 8.7 3.0 6.4 cap arc min arc minRubber ×10-4rad High-performance Gear Heads for Servo Motors series 50 2.2 0.065 Size Ratio High-performance Gear Heads for Servo Motors series 32 8.7 A/B 5 kgfm/arc min ×100Nm/rad Table 021-2 Torsion angle on one side Torsional stiffness socketA/B D at TR X 0.15 Hexagon Backlash HPG series (Orthogonal Shaft Type) 20 05 1 3.0 Ø 8.7 ×10 rad 7.3 Figure 024-1 (Unit: mm) ØA H7 14 3.0 22.5° arc min 2.5 Table 21-1 Torsional stiffness ■ Gearhead - Reduced backlash (BL1) (≤ 1 arc-min) Ø85 h7 Ø84 Ø59 Ø24 H7 11 5 21 37 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 4 5 12 15 20 25 arc min □90 ×10-4rad Ø59 Ø25 h7 C Size Ratio Torsion angle on one side 1-Ø5H7x8 at TR X 0.15 D PCD35 -4 Backlash 7 h11 3 Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. ■ Gearhead - Standard backlash (BL3) (≤ 3 arc-min) 0 -0.2 mm) HPGP-20 Dimensions Backlash and Outline Tosional Stiffness 21 HPGP Series 023-1 High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 021 High-performance Gear Heads for Servo Motors series HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. Rubber cap 2-Screw with gasket 5 4-M4×6 4-Ø3.4 98 82 70 27 20 15 8 h11 12 h9 Ø84 Ø40 h7 ØF H7 ØA H7 15 0 -0.1 Detail P Recommended clearance dimension for customer's part (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing mounted to the output ﬂange method. Please check the conﬁrmation drawing or contact us for dimension tolerances not (Note) shown on the drawing above. When using a gearhead with an output ﬂange, it is recommended for the customer to design clearance between the part mounted on the output ﬂange and the housing face as shown in the ﬁgure on the left. The clearance is (Unit: mm) Table 025-1 needed because the distance the output and the H *1 between Mass (kg) ﬂange *2 oil seal (non-rotating) is small (min. Typical Shaft Flange 0.2mm). 0.4 (Min.0.2) R0.4 Clearance 0.5 or more (Note) The dimension tolerances that A are(H7) not speciﬁed vary B depending on the C manufacturing F (H7) FlangePlease Coupling method. check the conﬁrmation drawing or contact us for dimension tolerances not Min. Max. Max. Min. Max. Min. Max. shown on the drawing above. G Min. Max. D Fl Type I 1 110 120 10 120 155 10.0 28.6 31.0 57.5 140 3.1 2.7 Type II 1 70 100 7 80 112 10.0 28.6 30.0 56.5 139 3.3 2.9 Type III 3 50 100 10 80 112 14.0 19.6 25.8 38.8 139 2.6 2.2 Type IV 1 70 95 10 80 115 10.0 28.6 41.0 67.5 150 3.3 (Unit: 2.9 mm) Table 022-1 70 A (H7) 110 10 B80 155 C 10.0 28.6 F (H7) 45.0 71.5 G 154 Dimension Table Type V Type I -33 Ratio ØF H7 E*4 G H Customer's part R0.4 C0.5 7.5 E*4 G 5 4-D*3 H Ø10 h7 M10x20 Dimension M3×6 Table B Output ﬂange C1 Ø29 12.5 35 2.2 13 63 P Ø40 4 h9 0 35 -0.2 4 h9 CSG-GH series B C0.5 C0.6 Figure 022-1 (Unit: mm) ØC C0.5 C0.5 8-M8x12 ØC Ø24 HPG series 4-Ø11 Ø24Ø115 h7 Ø5 H7Ø114 Ø84 Ø32 H7 High-performance Gear Heads for Servo Motors series Ø18 Ø60 Ø40 h7 Ø39.5 Ø4 6 3 (Unit: mm) Hexagon socket 4-D*3 socket head bolt 2-Hexagon head locking screw ØA H7 1-Ø5H7x8 PCD45 □120 1-Ø2.5H7X4 22.5° □40 PCD18 35 Ø1 ° .5 8 2 Only Figure 025-1 1 Flange Coupling 1 Type1I 1 70 Type Two III 3 50 Stage Type IV Min. 110 Single Type II Stage Type I 1 1 Max. Max. 120 155 10.0 28.6 31.0 57.5 145 20 100 507 480 28 112 70 10.0 28.65 30.0 8 17.5 56.5 100 10 80 112 14.0 19.6 25.8 80 115 10.0 28.6 41.0 120 20 70 95 10 HPGP Series HPGP series Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series HPG series (Orthogonal Shaft Type) H High-Performance Gearhead for Servomotors HPGP-32 HPGP-11Outline OutlineDimensions Dimensions 50 Min. 4 10 Max. 28 70 Min. Max. 5 8 Min. Ty Shaft Flange 26 144 54.5 3.3 0.34 2.9 0.30 38.8 144 2.6 2.2 67.5 155 3.3 2.9 26 3.1 63.5 Ty Mass (kg) *2 2.9 Typical 17.5 Max. H *1 3.3 T 2.7 0.40 Ty Refer to suitable *1 May *2 The *3 Tap *4 E di 0.36 Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not Type V 1 70 110 10 80 155 10.0 28.6 45.0 71.5 159 3.3 2.9 suitable for your particular motor. *1 May vary depending on motor interface dimensions. Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. suitable for your particular motor. *3 Tapped hole for motor mounting screw. *1 May vary depending on motor interface dimensions. *4 E dimension is dependent on motoronselection. *2 The mass will vary slightly depending the ratio and on the inside diameter of the input shaft coupling. Mo *3 Tapped hole for motor mounting screw. *4 E dimension is dependent on motor selection. Moment of Inertia Moment of Inertia HPGP 11 HPGP 32 Coupling Coupling Ratio 1 1 2 Ratio HPG (10-4 kgm2) Table 022-2 5 3.9 - 5 0.006 11 3.7 - 21 0.004 15 3.5 - 37 0.0027 21 3 0.84 45 (10-4 kgm2) Table 025-2 33 0.0025 2.8 0.66 45 .8 0.61 022 Gearheads 8 2.7 2.9 3.8 1.7 M10x20 4.9 1.3 3.8 Coupling Type I 1 ØC 103 82 70 740 2.2 14 C1 13000 38 A (H7) R0.4 4700 B ØF H7 ØA H7 Ø165 h8 Ø163 Ø122 Ø47 H7 180 5 1.1 3.2 11 15 2.9 1.0 47 0.14 14 21 1.7 4.9 C0.5 33 45 5 0.6 1.7 11 E*4 12 15 1.0 180 0.55 2053 21 16 G 2.9 1.1 3.2 84 33 H 45 5 0.5 1.5 11 15 2.9 1.0 740 2.2 32 21 1.0 2.9 33 45 5 0.5 1.5 11 15 not speciﬁed vary depending 2.9 that are1.0 1.0 tolerances 4700 14 on the manufacturing 50(Note)21The dimension 2.9 us for dimension method. Please check the conﬁrmation drawing or contact tolerances not 33on the drawing above. shown 45 4 0.5 1.5 5 12 2.9 1.0 13000 38 65 15 1.0 2.9 20 25 (Unit: mm) Table 026-1 C F (H7) H *1 G Mass (kg) *2 Min. Max. Max. Min. Max. Min. Max. Min. Max. Typical Shaft Flange 70 200 15 90 235 19.0 41.0 45.0 81.0 202 20.2 17.2 70 200 15 90 235 243.5 20.4 17.4 Backlash (Hysteresis loss) 19.0 41.0 45.0 81.0 The vertical distance between points (2) & (4) in Fig. 021-1 is called a With the input of the gear locked in place, a torque applied to the hysteresis loss. The hysteresis loss between “Clockwise load torque output ﬂange will torsionally deﬂect in proportion to the applied Type III 2 80 115 10 100 150 31.5 load55.0 19.0 16.0 TR”and 19.0 “Counter41.0 Clockwise torque - 176 TR” is deﬁned as the torque. We generate a torsional stiffness curve by slowly applying backlash of the HPGP series. Backlash of the HPGP series is less torque to the output in the following sequence: than 3 arc-min (141.0 arc-min 45.0 is also available). Type IVtorque 1to T R, 70(2) Return to15 Zero,90 (3) 235 (1) Clockwise 200 19.0 81.0 202 27.5 24.5 Counter-Clockwise torque to -TR, (4) Return to Zero and (5) again to the to conﬁrmation ClockwiseRefer torque TR. drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not Figure 021-1 suitable for your particular motor. Torque-torsion angle diagram A loop of (1) > (2) > (3) > (4) > (5) will be drawn as in Fig. 021-1. 2.7 2.9 2.2 *1 May vary depending on motor interface dimensions. *2 Thestiffness mass will vary the ratio and onxthe The torsional inslightly the depending region on from “0.15 TRinside ” todiameter “TR” ofistheisinput shaft coupling. *3 Tapped hole for motor mounting screw. calculated*4 using thefor average this slope. torsional E dimension Flange Type I,value II, and IV of is dependent on motor The selection. stiffness in the region from “zero torque” to “0.15 x TR” is lower. This is caused by the small amount of backlash plus engagement Moment Inertia of the mating parts andof loading of the planet gears under the initial torque applied. Ratio 2.9 t Coupling HPGP 50 1 5 11 15 12 9.4 9.1 - 8.3 Calculation of total 2torsion angle 21 -TR D 2.9 Formula 021-1 ● Calculation formula θ＝D＋ θ D 9 T TL T－TL A B 5.8 (1) (5) (10-4 kgm2) Table 026-2 33 (2) 45 6.1 0 5.9 -TR×0.15 A 4.9 (4) (3) HPGP series A 4.7 TR×0.15 TR Torque Hysteresis loss = Backlash B The method to calculate the total torsion angle (average value) on one side when the speed reducer applies a load in a no-load state. 7 Torsion angle B 2.9 D 2.9 High-performance Gear Heads for Servo Motors series not available HPG series 4-D* kgfm/arc min ×100Nm/rad High-performance Gear Heads for Servo Motors series 1.3 8.7 3.0 Dimension Table 1.7 4.9 Flange 0.55 3.8 4.9 ×10-4rad CSG-GH series 14 h9 1.7 TorsionalType stiffness curve II 1 2.2 5.8 Ø122 Ø50 h7 9 h11 8.7 C0.5 47 35 2.0 8.7 3.0 4.4 8-M12x20 1.3 3.0 Ø90 0.14 7.9 1.5 4-Ø14 11 22 arc min B 55° 6.4 0.065 ° ° 2.2 Ø ×10-4rad High-performance Gear Heads for Servo Motors series nge 8.7 arc min CSF-GH series 025-1 ) *2 3.0 0 19 Table 021-2 Hexagon socket Torsion angle on one side Torsional stiffness bolt Backlash Rubber cap at TR X 0.15 head D A/B 3 7 Size Ratio TR: Rated output torque A/B: Torsional stiffness D: Torsion on one side at TRX0.15 High-performance Gear Heads for Servo Motors series 65 7.3 Figure 026-1 (Unit: mm) HPG series (Orthogonal Shaft Type) 50 8.7 3.0 2.5 2.7 44.5 ing ot 8.7 3.0 ° 32 8.7 3.0 35 20 ×10-4rad ° 14 arc min 35 11 5 21 37 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 5 11 15 21 33 45 4 5 12 15 20 25 Table 21-1 PCD70 □170 Torsional stiffness Torsion angle on one side 55° at TR X 0.15 D A/B 5° min 4arc ×10-4rad kgfm/arc min ×100Nm/rad 35 Size Ratio Backlash ■ Gearhead - Reduced backlash (BL1) (≤ 1 arc-min) High-performance Gear Heads for Servo Motors series Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. ■ Gearhead - Standard backlash (BL3) 1-Ø6H7x9 (≤ 3 arc-min) 55° mm) HPGP-50 Dimensions Backlash and Outline Tosional Stiffness 0 -0.2 HPGP Series 025-1 High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 023 Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. 1-Ø8H7x12 PCD85 1-Ø2.5H7X4 2-M10X20 □40 Tap forPCD18 eyebolt □230 +1 -3 3 60 Ø2 HPG series (Orthogonal Shaft Type) High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series 2.2 12 15 27 165 20 130 15 22 h9 4 h9 ØF H7 ØF H7 ØA H7 Ø168 Ø5 H7 Ø60 H7 Ø214 Ø24 Ø220 h8 Ø39.5 C0.5 P 8-M16X24 B C0.6 C0.5 4-M4×6 4-Ø18 B 57 E* G 25 4 H H 110 14 h11 E*4 G 5 Detail P Output ﬂange Recommended clearance dimension for customer's part mounted to the output ﬂange (Note) When using a gearhead with an output ﬂange, it is recommended for the customer to design 0.4 (Min.0.2) clearance between the part R0.4 C1 C0.5 R0.4 mounted on the output ﬂange and the housing face as shown in the M16x35 M3×6 ﬁgure onmanufacturing the left. The clearance is (Note) The dimension tolerances that are not speciﬁed vary depending on the Clearance neededtolerances because the method. Please check the conﬁrmation drawing or contact us for dimension not distance 0.5 or more between the output ﬂange and the shown on the drawing above. (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing oil seal (non-rotating) is small (min. method. Please check the conﬁrmation drawing or contact us for dimension tolerances not 0.2mm). shown on the drawing above. Ø24 Ø40 Ø10 h7 Ø168 ØØ29 80 h7 0 71 -0.2 4 h9 Customer's part 7.5 0 -0.1 CSG-GH series High-performance Gear Heads for Servo Motors series HPG series Ø120 C C ØØ C0.5 Ø40 h7 High-performance Gear Heads for Servo Motors series Ø18 4-Ø3.4 Hexagon socket 4-D*3 4-D*3 head bolt Rubber cap 7 (Unit: mm) 2-Hexagon socket head locking screw 2-Screw with gasket ØA H7 65 28.5° 65 22.5° Figure 027-1 (Unit: mm) Figure 022-1 HPGP Series HPGP-65 HPGP-11Outline OutlineDimensions Dimensions High-Performance Gearhead for Servomotors ■NO Ø4 6 HPGP series High-performance Gear Heads for Servo Motors series HPGP Gearhead Series HPGP Gearhead Series HPGP Gearhead Series Dimension Table Dimension Table Flange Coupling Single Stage Flange Type I Single Two Stage Stage TypeI I Type Min. Coupling 1 125 Min. 1 1 (Unit: mm) Table 027-1 A (H7) B Max. Max. 230 15 230 50 15 A (H7) 12520 Max. C B Max. 4 F (H7) H *1 G Min. Max. Min. Max. Min. Max. 150 265 35.0 43.9 63.0 87.5 C Min. 150 28 265 Max. 70 35.0 F (H7) Min. Max. 5 43.9 863.0 Min. 17.5 87.5 G Mass (kg) *2 (Unit: mm) Table 022-1 Flange Typical Shaft 241.5 Max. 48.0 Typical 38.0 Shaft Flange 26 311.5 54.5 52.0 0.34 42.0 0.30 H *1 Mass (kg) *2 ReferTwo to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not Type Imotor. 1 20 50 4 28 70 5 8 17.5 26 63.5 0.40 0.36 suitable for your particular Stage *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. Refer to thehole conﬁrmation drawing screw. for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations shown above are not *3 Tapped for motor mounting suitable for yourisparticular *4 E dimension dependentmotor. on motor selection. *1 *2 *3 *4 May vary depending on motor interface dimensions. The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. Tapped hole for motor mounting screw. E dimension is dependent on motor selection. Moment of Inertia Ratio Coupling Moment of Inertia HPGP 65 1 HPGP 11 Ratio Coupling2 1 4 92 5 0.006 - (10-4 kgm2) Table 022-2 27 28 - - 21 0.004 77 20 15 12 5 (10-4 kgm2) Table 027-2 37 0.0027 69 45 25 15 15 57 56 0.0025 024 Gearheads 10 Product & Selection Backlash andSizing Tosional Stiffness To fully utilize the excellent performance of the HPGP HarmonicPlanetary® gearheads, check your operating conditions and, using the ﬂowchart, select the appropriate size gear for your application. ■ Gearhead - Reduced backlash (BL1) ■ Gearhead - Standard backlash (BL3) (≤ 1 arc-min) general, a servo system rarely operates at a continuous (≤ 3Inarc-min) Table 021-2 Table 21-1 Flowchart for selecting size Torsionalchange stiffness and a Torsionaangle on one side Torsional stiffness Torsion angle on one side load and Backlash speed. The input speed, load torque Backlash at TR X 0.15 D at TR X 0.15 D Size Ratio A/B A/B comparatively large torque is applied during start and stop.Size Ratio Pleasearc usemin the ﬂowchart shown size. arc min ×10 rad arc min ×10 rad kgfm/arc min ×100Nm/rad ×10 rad arc min below ×10 for rad selecting kgfm/arc mina ×100Nm/rad Operating conditions must not exceed the performance 5 Unexpected impact torques also be applied. 2.5 may 7.3 32 50 5 1.1 3.2 11 15 2.9 0.14 21Calculate1.0 the average load torque 1.7 applied on the output side 4.9 33from the load torque pattern: Tav (Nm). 45 5 0.6 1.7 11 15Calculate the average output speed based on the load torque 0.55 no av (rpm) 2.9 21pattern: 1.0 1.1 3.2 n3 n4 Time With the input of the gear locked in place, a torque applied to the output ﬂange will torsionally deﬂect in proportion to the applied torque. We generate a torsional stiffness curve by slowly applying torque to the output in the following sequence: to pattern. Zero, (3) (1) Clockwise torque tovalue TR,of (2) Obtain the each Return load torque Counter-ClockwiseLoad torque to -TR, (4) Return to Zero (5) again Tn (Nm) torque T1 toand Clockwise torque to TR. Time t1 to tn (sec) A loop of (1) > (2) >Output (3) > (4) > (5) willspeed be drawn as in rotational n1Fig. to nn021-1. (rpm) The torsional stiffness in the region from “0.15 x TR” to “TR” is is calculated using the average value of this slope. The torsional stiffness in the region from “zero torque” to “0.15 x TR” is lower. Starting T1, t1, n1 This is caused by the small amount of backlash plus engagement Steady operation T2, t2, n2 of the mating parts and loading of the planet gears under the initial Stopping (slowing) T3, t3, n3 torque applied. no max ≧ n1 to nn When impact torque is applied ● Calculation formula θ＝D＋ T－TL A B Torque-torsion angle diagram Calculate the lifetimeangle and check whether it meets the Torsion speciﬁcation requirement. Tr: Output torque nr: Max. average input speed Total torsion angle Torsion angle on one side See Fig. 021-1, at output torque x 0.15 torque Table 021-1, Table 021-2 Load torque Gearheads Output torque x 0.15 torque See Fig. 021-1 (=TRX0.15) See Fig. 021-1, Table 021-1 to 2 (1) (5) NG NG 10/3 Tr nr L10＝20,000 ・　　　　　・　　　　 (Hour) Tav ni av (2) OK A -TR×0.15 The model number is conﬁrmed. 0 -TR Formula 021-1 L50 = L (hours) NG NG Figure 021-1 OK ni max n1×R to nn×R Ts NG NG Check whether TS is equal to or less than the momentary max. torque (Nm) value from the ratings. A The method to calculate the by total torsion angle (average value) on (Restricted motors) R: Reduction ratio one side when the speed reducer applies a load in a no-load state. TL NG NG The vertical distance between points (2) & (4) in Fig. 021-1 is called a OK hysteresis loss. The hysteresis loss between “Clockwise load torque TR”andCheck “Counter Clockwise load torque - Ton R”start is deﬁned whether T1 and T3 are within peak torques (Nm) NG as the NG and stop in the rating table. backlash of the HPGP series. Backlash of the HPGP series is less OK than 3 arc-min (1 arc-min is also available). D Calculation ofMax. total inputtorsion rotationalangle speed T 13000 Check whether the maximum input speed is equal to or less than T4, t4, n4 Max. output rotational speed 11 4700 the values in(Hysteresis the rating table. Backlash loss) ni max ≦ maximum input speed (rpm) B Idle D 740 NG OK Torsional stiffness curve θ 180 Calculate the average input speed (ni av) from the average output speed (no av) and the reduction ratio (R): ni av = no av·R ≦ Max. average input speed (nr). n2 n1 47 33 45 5 0.5 1.5 11 15 Make a preliminary model with the following 2.9 selection 1.0 2.2 21condition: 1.0 2.9 Tav ≦ Average load torque (Refer to rating table). 33 45 OK 5 0.5 1.5 Determine the reduction ratio (R) based on the maximum output 11 rotational speed (no max) and maximum input rotational speed (ni 15 2.9 1.0 14 max). 21 1.0 2.9 ni max 33 ≧R no max 45 4(A limit is placed on ni max by motors.) 0.5 1.5 5Calculate the maximum input speed (ni max) from the maximum 12 output speed (no max) and the reduction ratio (R). 2.9 1.0 38 15 ni max=no max • R 1.0 2.9 20 25 33 Checking the load torque pattern 45 5 1.3 3.8 Review the load torque pattern. Check the speciﬁcations shown in 11 the ﬁgure below. 15 740 2.2 8.7 3.0 32 21 1.7 4.9 33 Graph 028-1 45 5 1.3 3.8 ＋ T1 11 15 4700 14 8.7T2 3.0 50 21 1.7 4.9 33 45 Time 4 1.3 3.8 5 T4 12 13000 38 8.7 3.0 65 T3 15 − 1.7 4.9 20 t1 t2 t3 t4 25 Output rotational speed 65 not available Review the operation conditions, size and reduction ratio. 20 ratings. 21 11 22 0.065 8.7 3.0 37 3.0 8.7 Check your operating conditions against the following load 45 5 6.4 torque pattern and select2.2a suitable size based on the 11 ﬂowchart shown on the right. Also check0.14 the life and static 15 47 8.7 3.0 14 21 2.7 7.9 safety coefﬁcient of the cross roller bearing and input side 33 main bearing (input shaft type only). 45 5 1.5 4.4 11 15 180 0.55 8.7 3.0 20 21 2.0 5.8 -4 B 14 -4 (4) TR×0.15 D 11 -4 Refer to the Caution note below. -4 Load torque HPGP Series High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series TR Torque Hysteresis loss = Backlash Caution (3) If the expected operation will result in conditions TR:where; Rated output torque i) Actual average load torque (Tav) > Permissible maximum value stiffness of average load torque or A/B: Torsional ii) Actual average input rotational speed (ni av) > Permissible average input rotational speed (nr), D: temperature Torsion on side at TRConsider X0.15 then please check its effect on the speed reducer riseone or other factors. selecting the next larger speed reducer, reduce the operating loads or take other means to ensure safe use of the gear. Exercise caution especially when the duty cycle is close to continuous operation. Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. Example of model number Selection 1-Ø2.5H7X4 PCD18 3 4-D*3 Ø4 6 28.5 Load torque Time Output rotational speed Max. output rotational speed Max. input rotational C0.5 speed C0.6 t1 = 0.3 sec, t2 = 3 sec, t3 = 0.4 sec, t4 = 5 sec,P ØF H7 Ø24 Ø5 H7 Ø40 h7 Ø39.5 Tn (Nm) tn (sec) 18 nn Ø (rpm) Starting T1 = 70 Nm, Steady operation T2 = 18 Nm, Stopping (slowing) T3 = 35 Nm, Idle T4 = 0 Nm, 4-M4×6 4-Ø3.4 2-Hexagon socket head locking screw 2-Screw with gasket B When impact torque is applied n1 = 60 rpm n2 = 120 rpm n3 = 60 rpm n4 = 0 rpm 2.2 27 20 10/3 　＋ 1 2 0 r p m ・3 15s e c・ 1 8 N m 15 ØA H7 □40 Value of each°load torque pattern. Figure 022-1 (Unit: mm) no max = 120 rpm ØC ni max = 5,000 rpm (Restricted by motors) Ts = 180 Nm L50 = 30,000 (hours) G 5 HPGP Series HPGP-11 Outline Dimensions High-Performance Gearhead for Servomotors HPGP Gearhead Series HPGP Gearhead Series E*4 Calculate the average load torque applied to the output side based on the load torque pattern: Tav (Nm). H 10/3 　　 Ø40 60rpm ・0.3sec＋ 120rpm ・3sec ＋ 60rpm ・0.4sec＋ 0rpm ・5sec Ø10 h7 0.3sec＋3sec＋0.4sec＋5sec 0.4 (Min.0.2) 7.5 Make a preliminary model selection with the followingC0.5 conditions. R0.4 T av = 30.2 Nm ≦ 72 Nm. (HPGP-20A-33 is tentatively selected based on the average load torque (see the rating table) of size 20 and reduction ratio of 33.) M3×6 OK Clearance 0.5 or more (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing Determine a reduction from the maximum speedus (no and maximum input not speed (ni max). method. Please checkratio the (R) conﬁrmation drawingoutput or contact formax) dimension tolerances shown onrpm the drawing above. 5,000 120 rpm = 41.7 ≧ 33 Recommended clearance dimension for customer's part mounted to the output ﬂange (Note) When using a gearhead with an output ﬂange, it is recommended for the customer to design clearance between the part mounted NG on the output ﬂange and the housing face as shown in the ﬁgure on the left. The clearance is needed because the distance between the output ﬂange and the oil seal (non-rotating) is small (min. 0.2mm). Calculate the maximum input speed (ni max) from the maximum output speed (no max) and reduction ratio (R): ni max = 120 rpm・33 = 3,960 rpm Dimension Table Calculate the average input speed (ni av) from the average output speed (no av) and reduction ratio (R): ni av = 46.2 rpm・33= 1,525 rpm ≦ Max average input speed of size 20 3,000 rpm Flange Coupling Single Stage Type I 1 Two Stage Type I A (H7) B Min. Max. Max. 20 50 4 NG C OK F (H7) Max. Min. Max. Min. Max. Typical NG Shaft Flange 28 70 5 8 17.5 26 54.5 0.34 0.30 28 70 5 8 17.5 26 63.5 0.40 0.36 OK 20 50 4 Mass (kg) *2 Min. Check whether the maximum input speed is equal to or less than the values specified in the rating table. ni max = 3,960 rpm ≦ 5,000 rpm (maximum input speed of size 20) 1 (Unit: mm) Table 022-1 H *1 G Review the operation conditions, size and reduction ratio. Ø29 4 h9 Customer's part 0 -0.1 no av＝ Detail P Output ﬂange Calculate the average output speed based on the load torque pattern: no av (rpm) Refer to the Caution note at the bottom of page 28. 10/3 　 6 0 rpm ・0 . 3 s e c・ 7 0 N m ＋ 6 0 r p m ・0 . 4 s e c・ 3 5 N m 4 h9 60rpm ・0.3sec＋ 120rpm ・3sec＋ 60rpm ・0.4sec Ø24 T av＝ 10/3 Check whether T1 and T3 are within peak torques (Nm) on start and stop in the rating table. T1 = 70 Nm ≦ 156 Nm (Limit for repeated peak torque, size 20) NG shown above are not T3 =to35 Nm ≦ 156 Nm drawing (Limit forfor repeated peak torque, size 20) Refer the conﬁrmation detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the conﬁgurations suitable for your particular motor. *1 May vary depending on motor interface dimensions. OK of the input shaft coupling. *2 The mass will vary slightly depending on the ratio and on the inside diameter *3 Tapped hole for motor mounting screw. *4 E dimension is dependent on motor selection. Check whether Ts is equal to or less than limit for momentary torque (Nm) in the rating table. TS = 180 Nm ≦ 217 Nm (momentary max. torque of size 20) Moment of Inertia Ratio L50 = 20,000・　　　　 30.2 Nm 　・ (10-4 kgm2) Table 022-2 OK 5 21 Coupling Calculate HPGP 11life and check whether the calculated life meets the requirement. 10/3 0.004 1 72 Nm 3,0000.006 rpm 1,525 rpm NG 37 45 0.0027 0.0025 ＝712,251 (hours) ≧ 30,000 (hours) OK NG The selection of model number HPGP-20A-33 is confirmed from the above calculations. Gearheads 12 HPGP ／ HPG Series The thin wall flexible gear technology used for HarmonicDrive® gearing is applied to the internal gear of our planetary gear speed reducers. It allows the internal gear to deform elastically thus maintaining low backlash for the life of the gearhead, without the need for adjustment. Planetary gears have simultaneous meshing between the sun gear and planet gears and between the planet gears and the internal gear. Some manufacturers try to reduce the backlash by controlling the dimensional precision of the parts, however this causes interference of meshing parts due to dimensional errors, resulting in uneven input torque and noise. Harmonic Planetary gears use a thin wall elastic internal gear which allows a preload of the gear and compensates for interference between meshing parts. The Harmonic Planetary® gear series incorporates this internal gear which maintains low backlash for the life of the speed reducer. ◆ Low backlash: Less than 3 arc-min (Less than 1 arc-min also available) ◆ Low gear ratios, 3:1 to 50:1 ◆ High efﬁciency ◆ High load capacity by integrating structure with cross roller bearing ◆ High-torque capacity 2 Gearheads 13 Robust cross roller bearing and output flange are integrated to provide high moment stiffness, high load capacity and precise positioning accuracy. The cross roller bearing output flange serves as the second stage carrier for a rugged, compact design. Shielded or sealed input bearing Motor mounting flange Backlash compensating internal gear Quick Connect™ coupling for easy mounting of any servomotor 14 Gearheads 3 Technical Data Technical Data Technical Data Technical Information / Handling Explanation Specifications and Checking Procedure Input Output BearingBearing Specifications and Checking Procedure A maximum precision cross supports theon external load side (output ﬂange). Check the loadroller and bearing life of the bearing the input if the reducer is an HPG input shaft unit or an HPF hollow shaft unit.Check the maximum load, moment load, life of the bearing and static safety coefﬁcient to maximize performance. HPG CheckingChecking procedureprocedure HPF (1) Checking loadmaximum load moment load (M max ) (1)maximum Checking the Maximum load moment load (Mmax ) ≦ Permissible moment (Mc) Calculate: Obtain the maximum load moment load (Mmax ). Maximum load moment load (Mi max) ≦ Permissible moment load (Mc) Maximum load moment load (Mi max) (2) Checking the life Maximum load axial load (Fai max) ≦ Permissible axial load (Fac) Maximum load axial load (Fai max) Obtain the average radial load (Frav ) and Maximum load Obtain the radial load ≦ coefﬁcient (X)radial and load (Frc) radial load (Fri max) Permissible Maximum load radial load (Fri max) Calculate the life and check it. the average axial load (Fa av ). the axial load coefﬁcient (Y). (3)the Checking the static safety coefﬁcient (2) Checking life Calculate: Obtain the static equivalent radial load Check the static safety coefﬁcient. (fs) coefﬁcient (Po). Average moment load (Mi av) Calculate the life and check it. Average axial load (Fai av) Speciﬁcation of output bearing Average input speed (Ni av) HPGP/HPG Series Table 129-1, -2 and -3 indicate the speciﬁcations for gearhead, right angle and input shaft unit, and cross roller bearing. Speciﬁcation of input shaft bearing Offset amount m m The speciﬁcation of the Size dp input N HPG 3116 Specification 11 of input 0.0275 shaft bearing0.006 14 Size 11 14 20 32 20 32 50 65 Size 50 65 0.019 5800 9700 Reduction 22500 ratio 355005 280 3600 430 340 5200 510 600 5 470 700 11 600 890 15 650 980 21 720 1080 21.4 910 8600 1360 840 kgfm 0.64 1.38 4.53 9.88 830 980 15 1360 21 1510 Basic dynamic rated load Cr N 33 14500 45 1729 kgf 1890 1480 16.8 5.0 42.1 12.5 110 100 29.7 398 364 108 HPF 3150 25100 （3）2560 39500 N kgf 25 657 67 1206 123 3285 335 5540 1240 565 Table 129-3 Allowable radial load *5 N 1630 Allowable axial load *5 N 2430 5 4050 1900 2830 11 2410 15 3590Table 133-2 3940 2640 Allowable radial load Frc *2 4360 2920 N kgf 21 33 3340 4990 45 3670 5480 （3） 3700 5570 4350 6490 5500 8220 5 11 20.6 500 902 1970 2.1 51 92 201 3226 6050 21 5267 6690 329 9030 1250 33 7660 11400 1460 45 1850 4 2030 2250 2580 2830 50 878 15 N 10100 20100 Nm N 12500 13200 9470 14100 12300 18300 20 1030 13100 19600 14300 21400 15300 22900 （40） 17600 26300 （50） 28200 18900 Allowable radial load Frc *3 25 2050 1 8400 8860 Table 133-3 5 15 kgf 65 * The ratio speciﬁed in parentheses is for the HPG Series. kgf 537 9980 12 Basic static rated load Cor Allowable axial load Fac * kgfm 320 570 Reduction ratio1510 Size Allowable moment load Mc 25 1076 129 3900 15102 245 Basic rated load 29700 in parentheses is for the HPG 3030 * The ratio speciﬁed Series. kgf 7755 76000 780 Allowable axial load32 Fac *1 0.016 1240 18.7 46.1 660 440 11 183 452 Table 129-2 400 96.9 33 210 45 1765 3347 5600 Allowable axial load *5 14800 N （3） 44.4 17300 32800 1270 148000 830 5 Specification of input shaft bearing Technical Information / Handling Explanation 590 N 4245 9245 550 （3） 15 41600 Table 133-1 Basic static rated load Cor 45 13.5 Size kgf 990 Allowable radial load *5 2300 N 21 20 32 0.90 0.123 6.3 25 0.26 3.0 1082 14 20 0.88 2092 0.16 65 0.97 3.30 20500 11 50 9.50 32.3 0.014 37 Allowable moment load520 Mc 14 417 720 Basic rated load 275 90600 Kgfm/ arc min 4087 0.085 0.023 ×104 Nm/rad 7060 10600 N Kgfm 318 0.0115 2700 0.170 Nm kgf Moment stiffness Km*4 521 0.064 Basic dynamic rated load Cr Nm N 0.011 51000 （9） Size Size 5110 kgf 0.0405 11 32 Table 129-1 Basic rated load Allowable moment load Mc*3 1 shaft unit is shown 2below. side main bearing of the input Basic dynamic load rating C* Basic static load rating Co* R Pitch circle N Table 133-4 kgf *1 The basic means a certain static radial dynamic rated life of the roller bearing is a million rotations. 10 dynamic load rating1.02 1538 load so that the basic 157 522 53.2 2 *2 The basic a certain level of contact center of the contact area 32 19 static load rating means 1.93 a static load that gives 3263 333stress (4kN/mm ) in the 966 98.5 between rolling element receiving the maximum load and orbit. *3 The allowable moment load is a maximum moment load applied to the bearing. Within the allowable range, basic performance is maintained and the bearing is operable. Check the bearing life based on the calculations shown on the next page. 〔Note：Table 133-2 and 133-4〕 *4 The value of the moment stiffness is axial the average value. to the shaft center. *1 The allowable axial load is the tolerance of an load applied *5 The allowable radial load and allowable axial load the values that satisfy theshaft life oflength a speed reducer when a pure radial load or an axial *2 The allowable radial load of HPG series is the tolerance of aare radial load applied to the center. load applies mainseries bearing. (Lrtolerance + R = 0 mm radialload load applied and La =to0 the mm point for axial load) compound load applies, to the *3 The allowable radial loadtoofthe HPG is the of for a radial of 20 mmIf afrom the shaft edge (inputrefer ﬂange edge). calculations shown on the next page. 226 Gearheads Technical Data Technical Technical Data How to calculate the maximum load moment load Figure 131-1 Technical Information / Handling Explanation Input Bearing Specifications HPGP HPG CSG-GH and Checking Procedure HPF CSF-GH Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow max shaft unit. M HPF =Fr max（Lr+R）+Fa max ・ La Calculate: Maximum load moment load (Mi max) Maximum load axial load (Fai max) N (kgf) Max. radial load Fr max Maximum load radial load (Fri max) Max. axial load Fa max Load Formula 131-1 Lr, La (2) Checking the life Offset amount Calculate: R Average moment load (Mi av) Average axial load (Fai av) Average input speed (Ni av) See Fig. 131-1. N (kgf) See Fig. 131-1. m See Fig. 131-1. m Radial load Maximum load moment load (Mi max) ≦ Permissible Fr moment load (Mc) Maximum load axial load (Fai max) ≦ Permissible axial load (Fac) Maximum load radial load (Fri max) ≦ Permissible radial load (Frc) dp (1) Checking maximum load max HPG La Checking procedure max See Fig. 131-1. Axial load See “Speciﬁcation of main bearing” of each series Fa Calculate the life and check it. Lr R How to calculate the radial load coefﬁcient and the axial load coefﬁcient Speciﬁcation of input shaft bearing HPGP HPG CSG-GH The speciﬁcation of the input side main bearing of the input shaft unit is shown below. HPF CSF-GH The radial load coefﬁcient (X) and the axial load coefﬁcient (Y) HPG Specification of input shaft bearing Formula Fa av kgf Fr avN＋2（Frav（Lr+R）＋Fa av・La）／dp 11 2700 275 Fa av 590 Fr 5800 ／dp av ＋2（Frav（Lr+R）＋Fa av・La） 14 20 32 50 65 9700 11 14 20 32 50 65 570 14800 1510 25100 2560 39500 4050 5200 See Fig. 131-1. Offset amount m See Fig. 131-1. See “Output Shaft Bearing Speciﬁcations” of each series. NmCirclar pitch of roller m kgfm Nof each series. See “Output Shaft Bearing Speciﬁcations” kgf N kgf 0.016 245 25 20.6 2.1 0.64 657 67 500 51 4.53 CSF-GH Allowable moment load Mc dp 0.16 6.3 Table 133-2 Allowable axial load Fac *1 See Fig. 131-1. Allowable radial load Frc *2 1.38 1206 123 axial load, average 902 output rotational 92 frequency) How13.5 to calculate the average load (Average radial load, average 44.4 HPGP HPG 96.9 CSG-GH 9.88 3285 HPF 5540 335 1970 201 565 3226 329 If the radial load and the axial load ﬂuctuate, they should be converted into the average load to check the life of537 the cross 210 21.4 8600 878 5267 roller bearing. HPF Radial load Basic rated load Fr2 Basic dynamic rated load Cr Fr4 14500 1480 10100 within the t3 section is Fr3. 1030 3030 Fr3 20100 Axial load 2 Allowable moment Fa load Mc Nm kgfm 10 1.02 N 19 t1 〔Note：Table 133-2 and 133-4〕 t2 n2 1.93 Fa 4 t4 kgf Note that the maximum axial load within the t1 section is Fr1 and the maximum axial load 2050 Table 133-4 How to obtain the average axial load (Faav ) Formula 131-4 Allowable axial load Fac *1 Allowable radial load Frc *3 N 1538 Fa 3 t3 Formula 131-3 Basic static rated load Cor Time kgf 29700 32 How to obtain the average radial (Frav ) Tableload 133-3 N Output rotational frequency Technical Information / Handling Explanation 320 5600 m 3263 Time kgf N kgf 157 522 53.2 Note that the maximum load within the t1 section axial load 333is Fraxial 966 is Fr1 and the maximum98.5 3. within the t3 section How to obtain the average output rotational frequency (Nav ) Formula 131-5 *1 The allowable axial loadnis load applied to the shaft center. n3 1 the tolerance of an axial *2 The allowable radial load of HPG series is the tolerance of a radial load applied to the shaft length center. n4 *3 The allowable radial load of HPG series is the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ﬂange edge). Time 228 16 3150 0.67 3600 to obtain the average load.” N (kgf) See “How Fa1 25 129 51000 Lr, La 35500 Average axial load Fa av 32 Size kgf 1270 2300 to obtain the average load.” N (kgf) See “How Fr1 25 0.67 ＞1.5 Basic static rated load Cor 0.45N 990 Specification of input shaft bearing Size 1 ≦1.5 Y Average radial load Fr av22500 R Size X Basic dynamic rated load Cr Size Table 133-1 Formula 131-2 Basic rated load Gearheads How to calculate the life e 131-1 CSG-GH HPF CSF-GH using Formula 132-2. Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow Formula 132-1 Formula 132-2 shaft unit. Checking procedure HPG HPF (1) Checking maximum load Life Calculate: L10 N avmoment Ave. output Maximum load loadspeed (Mi max) C axial Basic dynamic rated load Maximum load load (Fai max) Maximum load loadequi. (Fri radial max) load Dynamic Pc radial fw Load coefﬁcient hour rpm N (kgf) N (kgf) (2) Checking the life Fr av Average radial load N (kgf) See Formula 132-2. X See Table 132-1. Y Radial load coefﬁcient – Axial load coefﬁcient – See “How to calculate the radial load coefﬁcient and the axial load coefﬁcient.” m See Figure 131-1. See “External load inﬂuence diagram.” m See Figure 131-1. See “External load inﬂuence diagram” and “Output Bearing Specs” of each series. See "How to calculate the ave. load." Maximum load moment load (MiFa max) ≦ Permissible moment load (Mc) N (kgf) av Average axial load Maximum load axial load (Fai max) ≦ Permissible axial load (Fac) See “Output Bearing Specs.” m dp See “Output Bearing Specs.” Circlar pitch of roller Maximum load radial load (Fri max) ≦ Permissible radial load (Frc) See “How to calculate the ave. load.” Lr, La Calculate: Load coefﬁcient Average moment load (Mi av) Average axial load (Fai av)Load status Average input av) without impact or vibration Duringspeed smooth (Ni operation 132-1 Calculate theTable life and check it. R fw Offset amount 1 to 1.2 During normal operation 1.2 to 1.5 During operation with impact or vibration 1.5 to 3 Speciﬁcation of input shaft bearing The speciﬁcation of the input side main bearing of the input shaft unit is shown below. HPGP HPG How to calculate the life during oscillating movement CSG-GH HPF CSF-GH Calculate the life of the cross roller bearing during oscillating movement by Formula 132-3. HPG Specification of input shaft bearing 11 14 20 32 50 65 Size 11 14 20 32 50 65 Basic Basic dynamic rated load Cr Size ss N kgf N kgf 275 1270 129 3150 320 590 hour n1 9700 cpm No. of reciprocating oscillation per min. 990 C 22500 Basic dynamic rated load θ − 5600 − 570 1510θ 2300 N (kgf) See “Output Bearing Specs.”14800 Pc 35500 Dynamic equivalent radial load fw 51000 Load coefﬁcient N (kgf) See Formula 132-2. 3600 25100 — 5200 39500 Deg. Oscillating angle /2 Note: When the oscillating angle is small (5˚ or less), it is difﬁcult to generate an oil ﬁlm on the contact surface of the orbit ring, and the rolling element and fretting may be generated. Contact us if this happens. Basic static rated load Cor 2700 Loc 5800 Rated life under oscillating movement See Table 132-1. See Figure 132-1. 2560 4050 Oscillating angle 6.3 0.64 657 1.38 safety coefﬁcient 1206 How13.5 to calculate the static 44.4 4.53 HPGP 3285 67 500 123 HPG 335 1970 Technical Information / Handling Explanation 32 92 HPF 201 Table 133-3 Basic ratedFormula load 132-4 Basic dynamic rated load Cr Formula 132-5 Basic static rated load Cor N kgf N kgf 14500 1480 10100 1030 Co 29700 Basic static rated load Po 25 51 CSG-GH902 CSF-GH In general, the basic static rated load (Co) is considered to be the permissible limit of the static equivalent load. However, 5540 conditions. Calculate 565 the static safety3226 obtain 96.9 the limit based on the9.88 operating and required coefﬁcient (fs) of the329 cross roller 21.4 8600 878 5267 537 bearing210 using Formula 132-4. General values under the operating condition are shown in Table 132-2. You can calculate the static equivalent radial load (Po) using Formula 132-5. HPF 25 Size Table 133-2 Allowable moment load Mc Allowable axial load Fac *1 Allowable radial load Frc *2 When it is used for a long time while the rotation speed of the output shaft is in the ultra-low operation range (0.02rpm the bearing kgfm N kgf N or less), the lubrication ofkgf Note Nm becomes insufﬁcient, resulting in deterioration of the bearing or increased load in the driving side. When using it in the ultra-low operation range, contact us. 0.16 0.016 245 25 20.6 2.1 Size 32 Figure 132-1 Table 133-1 ratedFormula load 132-3 Specification of input shaft bearing -3 -5 HPG InputCalculate Bearing Checking Procedure the lifeSpecifications of the cross roller bearingand using Formula 132-1. You can obtain the dynamic equivalent radial load (Pc) ency) -4 HPGP Technical Information / Handling Explanation Technical Data Technical Data Technical Data 3030See “Output Bearing Specs.”20100 N (kgf) Static equivalent radial load N (kgf) See Formula 132-5. Fa max M *max Allowable axial load Fac Allowable moment load Mc Nm coefﬁcient Static safety 10 Load status 1 kgfm N 1.02 1538 fs Table 132-2 19 rotation precision is required 1.93 When high ≧33263 When impact or vibration is expected ≧2 Under normal operating condition 〔Note：Table 133-2 and 133-4〕 Fr max dpkgf 157 333 2050 Max. radial load N (kgf) See “How to calculate Table 133-4 the max. load moment Nm (kgfm)radial load Frc *3 Max. load moment loadAllowable load.” Max. axial load N (kgf) Circlar pitch of roller N m 522 966 See “Outputkgf Bearing Specs” of each series. 53.2 98.5 ≧1.5 *1 The allowable axial load is the tolerance of an axial load applied to the shaft center. *2 The allowable radial load of HPG series is the tolerance of a radial load applied to the shaft length center. *3 The allowable radial load of HPG series is the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ﬂange edge). 229 17 Gearheads Technical Data Technical Data Technical Data Bearing Specifications Checking Procedure Input Input Bearing Specifications andand Checking Procedure Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow shaft unit. shaft unit. Checking procedure HPG Checking procedure (1) Checking maximum load HPG HPF HPF (1) Checking maximum Calculate: load Maximum load moment load (Mi max) ≦ Permissible moment load (Mc) Calculate: Maximum load moment load (Mi max) Maximum loadload axial(Mi load (Fai max) Maximum load moment max) Maximum load radial load (Fri max) Maximum load axial load (Fai max) Maximum load radial load (Fri max) (2) Checking the life Maximum load axial load max)≦≦Permissible Permissiblemoment axial loadload (Fac)(Mc) Maximum load moment load (Mi(Fai max) Maximum load radial load (Fri max) ≦ Permissible radial load (Frc) Maximum load axial load (Fai max) ≦ Permissible axial load (Fac) Maximum load radial load (Fri max) ≦ Permissible radial load (Frc) Calculate: (2) Checking the life Average moment load (Mi av) Calculate the life and check it. Calculate: Average axial load (Fai av) Average moment load (Mispeed av) (Ni av) Average input Average axial load (Fai av) Average input speed (Ni av) Calculate the life and check it. Speciﬁcation of input shaft bearing The speciﬁcation of the input side main bearing of the input shaft unit is shown below. Speciﬁcation of input shaft bearing The speciﬁcation of of the input side main bearing HPG of the input shaft unit is shown below. Specification input shaft bearing Basic rated load HPG Basic dynamic rated load Cr SpecificationSize of input shaft bearing N Size 11 14 20 32 50 65 11 14 20 32 50 65 Size 2700 rated load Cr Basic dynamic 5800 N 2700 5800 9700 22500 35500 51000 11 Size 11 14 20 32 50 65 14 20 32 50 65 22500 51000 2300 N kgf 25 0.64 kgfm 0.016 0.64 1.38 Technical Information / Handling Explanation Technical Information / Handling Explanation 14500 32 25 32 19 1.93 Allowable moment load Mc 〔Note：Table Nm 133-2 and 133-4〕 kgfm 2.1Table 133-2 2 Allowable radial load Frc *51 500 N 902 1970 20.6 3226 878 92 kgf 201 2.1 500 329 51 902 92 5267 537 3285 335 1970 201 565 Table3226 133-3 329 Basic8600 rated load 878 Basic static rated load Cor N 5267 kgf 10100 Table 133-3 1030 20100 2050 Basic static rated load Cor N Allowable axial load Fac *1 10100 N 20100 1538 3263 Allowable axial load Fac * 537 1 kgf Table 133-4 Allowable radial load Frc *3 kgf 1030 157 2050 N kgf 522 53.2 333 966 98.5 Table 133-4 Allowable radial load Frc *3 N kgf N kgf *1 The allowable axial load is the tolerance of an axial load applied to the shaft center. 10 1.02 1538 53.2 *2 The allowable radial load of HPG series is the tolerance of a radial load applied to 157 the shaft length center. 522 *3 The allowable radial load of HPG series is the tolerance of a radial load applied to 333 the point of 20 mm from 966 the shaft edge (input ﬂange 19 1.93 3263 98.5edge). 〔Note：Table 133-2 and 133-4〕 *1 The allowable axial load is the tolerance of an axial load applied to the shaft center. *2 The allowable radial load of HPG series is the tolerance of a radial load applied to the shaft length center. *3 The allowable radial load of HPG series is the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ﬂange edge). 230 18 1480 kgfm 30301.02 67 kgf 5540 Basic rated load 3030 10 67 N 20.6 25 335 565 123 Table 133-2 Allowable radial load Frc *2 4050 kgf 123 8600 1480 kgf Mc Allowable moment load Nm 1206 HPF 29700 29700 657 21.4 Basic dynamic rated load Cr 25 1206 245 3285 5540 kgf HPF 14500 Size N 9.88 21.4 32 Size 1.38 Basic dynamic rated load Cr 25 Allowable 657 axial load Fac *1 4.53 4.53 N 2560 5704050 245 kgfm 0.016 N 32 320 25100 0.16 44.4 25 570 1510 1510 210 210 14800 2560 Specification 96.9 of input shaft bearing 9.88 Size 129 25100 Allowable axial load Fac *1 39500 96.9 6.3 kgf 5600 5600 39500 5200 129 320 14800 13.5 13.5 3150 3600 Allowable moment load Mc 5200 Nm 44.4 0.16 3150 3600 990 Allowable6.3 moment load Mc Nm 2300 590 35500 1270 Table 133-1 kgf 1270 Basic static rated load Cor N 990 275 Basic static rated load Cor N 275 590 kgf 9700 Specification of input shaft bearing Size kgf rated load Basic Table 133-1 Gearheads Technical Data Technical Data Technical Data HPG HPF Calculating maximum load moment load to input shaft InputTheBearing Specifications and Checking Procedure maximum load moment load (Mi max ) is calculated as follows. Check that the following formulas are established in all circumstances: llow Figure 134-1 External load inﬂuence diagram Fai Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow Fai shaft unit. Formula 134-1 HPF Lai HPG Lai Checking procedure (1) Checking maximum load Calculate: Fri max Max. radial load Maximum load moment load (Mi max) Fai max Max. axial load Maximum load axial load (Fai max) Lri,Lai Maximum load radial load ———— (Fri max) N (kgf) Maximum See Fig. 134-1. load moment load (Mi max) ≦ Permissible moment load (Mc) N (kgf) Maximum See Fig. 134-1. load axial load (Fai max) ≦ Permissible axial load (Fac) Maximum load radial load (Fri max) ≦ Permissible radial load (Frc) ｍ See Fig. 134-1. Fri Fri (2) Checking the life Mi max ≦ Mc (Permissible moment load) Calculate: Fai max Average moment load (Mi av)≦ Fac (Permissible axial load) Calculate the life and check it. Average axial load (Fai av) Average input speed (Ni av) Lri Lri HPG HPF How to calculate average load Speciﬁcation of input shaft bearing (Average moment load, average axial load, average input rotational frequency) HPG HPF The speciﬁcation theand input side main bearing of should the input shaft unit into is shown below. If momentofload axial load ﬂuctuate, they be converted the average load to check the life of the bearing. Specification of input shaft bearing M3 M1 kgf M2 590 9700 990 32 22500 2300 50 35500 65 51000 11 kgf 129 3150 320 14800 t4 3600 5200 25100 2560 39500 4050 Allowable axial load Fac *1 kgfmn 3 0.16 0.016 14 6.3 0.64 20 13.5 1.38 N n4 657 67 500 51 Time: t 1206 123 902 92 32 44.4 4.53 3285 335 1970 201 96.9 9.88 5540 565 3226 329 8600 878 5267 537 210 Calculating life of input21.4 side bearing Calculate the bearing life according to Calculation Formula HPF Formula 134-5 Basic rated load Basic dynamic rated load Cr Size N Technical Information / Handling Explanation Allowable radial load Frc *2 kgf N kgf How to calculate the average output rotational frequency (Niav) 25 20.6 2.1Formula 134-4 245 Specification of input shaft bearing 132-5 and check the life. kgf Size Basic static rated load Cor N 25 14500 1480 10100 32 29700 3030 20100 L Life 10 Size 25 32 moment loadspeed Mc Average input rotational Ni avAllowable Cr Nm Basic dynamic rated load kgfm load Pci 10 Dynamic equivalent radial 1.02 19 1.93 〔Note：Table 133-2 and 133-4〕 Hour rpm N (kgf) N Table 133-3 Dynamic equivalent radial load 11 14 20 32 50 65 *1 axial load Fac See FormulaAllowable 134-4 N and -3 See Table 133-1 See Table1538 134-1 and -2 3263 kgf 1030 2050 333 25 32 Table 134-1 0.444 × Mi av ＋ 1.426 × Fai av 0.137 × Mi av ＋ 1.232 × Fai av 0.109 × Mi av ＋ 1.232 × Fai av 0.071 × Mi av ＋ 1.232 × Fai av 0.053 × Mi av ＋ 1.232 × Fai av 0.041 × Mi × FaiFrc av ＋ 1.232 av*3 Allowable radial load kgf N Dynamic equivalent radial load 157 522 Size HPG Pci 966 kgf HPF 53.2 Pci 121 × Mi av ＋ 2.7 × Fai av 106 × Mi av ＋ 2.7 × Fai av Table 133-4 Table 134-2 98.5 *1 The allowable axial load is the tolerance of an axial load applied to the shaft center. *2 The allowable radial load of HPG series is the tolerance of a radial load applied to the shaft length center. Miav Average moment load Nm (kgfm) See Formula 134-2 *3 The allowable radial load of HPG series is the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ﬂange edge). Faiav Average axial load N (kgf) 19 Formula 134-3 50 65 133-4 570average axial load (Faiav) How to calculate the 1510 Table 133-2 n2 Nm n1 N 1270 5600 t3 t2 Basic static rated load Cor Time: t Allowable moment load Mc Input speed Size t1 M4 275 5800 20 133-2 2700 Formula 134-2 Technical Information / Handling Explanation 14 N Moment load 11 How to calculate the average moment load (Miav) Table 133-1 Basic rated load Basic dynamic rated load Cr Size Graph 134-1 HPG See Formula 134-3 231 Gearheads Harmonic Drive LLC Boston US Headquarters 247 Lynnfield Street Peabody, MA 01960 New York Sales Office 100 Motor Parkway Suite 116 Hauppauge, NY 11788 California Sales Office 333 W. San Carlos Street Suite 1070 San Jose, CA 95110 Chicago Sales Office 137 N. Oak Park Ave., Suite 410 Oak Park, IL 60301 T: 800.921.3332 T: 978.532.1800 F: 978.532.9406 www.HarmonicDrive.net 20 Gearheads Group Companies 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 Harmonic Drive® and HarmonicPlanetary® are registered trademarks and Quick Connect is a trademark of Harmonic Drive LLC. All other trademarks are property of their respective owners. Rev 02-15

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