R V N SERIES. High Reliability High Rigidity High Precision Gear Reducers

Transcription

1 TM R V N SERIES High Reliability High Rigidity High Precision Gear Reducers

2 Nabtesco's s technologies es supporting society Contributing to society with our Moving it. Stopping it. technologies Nabtesco manufactures products which are used in everyday life. Our high-accuracy components are essential for moving objects; they may be rarely visible, but are the foundation of everyday objects that you see moving and wonder how. Nabtesco s technologies are found throughout objects that move and stop people s lives. Doors Robots Precision reduction gears precisely move and stop industrial robots. Nabtesco technology opens and closes automatic doors in buildings and platform doors at train stations. Construction machinery Running motors and control valves start and stop hydraulic excavators. Nabtesco technologies are at work in many areas of our daily lives. Wind turbines The drive units for wind turbine generators control the orientation of the wind turbine and the angle of the blades. Bullet trains Brakes and doors ensure safety and comfort for the world-famous Shinkansen bullet trains. Tankers The engine remote control systems for vessels move and stop large vessels. Airplanes The flight control systems are crucial for the flight safety of aircraft.

3 CONTENTS Who is Nabtesco? The key words for Nabtesco are motion control. We use our strengths in the fi elds of component and systems technologies to develop highly creative products. Through the Nabtesco Group as a whole, we can also utilize our advantage of expertise to maximum effect in order to further enhance these strengths. In the air, on land and at sea, we have a leading share in various fi elds of both international and domestic markets. Nabtesco will continue to evolve by utilizing its strengths in many fi elds and by exploring the possibilities of the future. What is the RV N SERIES? Examples of uses for the RV N SERIES Principle of speed reduction RV N SERIES model code Rating table External dimensions Technical Information Considering the use of the RV TM N SERIES Glossary NABCO Ltd. Established 195 Teijin Seiki Co., Ltd. Established 1944 Business Merger in 3 Motion control Product Selection Product selection flowchart Model code selection examples Allowable moment diagram Technical Data No-load running torque Low temperature characteristic Calculation of tilt angle and torsion angle April Initiation of hydraulic equipment business alliance October 3 Business merger The business alliance between Teijin Seiki and NABCO on hydraulic equipment projects was the beginning of a mutual confirmation by the companies of the other s product configuration, core technologies, corporate strategies and corporate culture. This led to a common recognition that a business merger would be an extremely effective means of increasing corporate value and achieving long-term development. Based on this mutual judgment, in 3 an equity transfer was conducted to establish Nabtesco as a pure holding company, with both firms as wholly owned subsidiaries. After a year of preparation, both companies were absorbed and amalgamated by means of a short form merger, and Nabtesco was transitioned to an operating holding company. Design Points Reduction gear installation components Input gears Lubricant VIGOGREASE Appendix Inertia moment calculation formula Troubleshooting checksheet APPLICATION WORKSHEET Grease VIGOGREASE RE Ordering Information

4 What is the RV TM N SERIES? RV TM reduction gears, already top sellers in the robotics industry, now evolved even further!! Compact N Series gears deliver great potential!! 6% share of the global market for industrial (verticalarticulated) robot joints * Based on Nabtesco studies Based on our RV reduction gears which achieve 4 million units already shipped, the new RV N SERIES models have been made even more compact and lightweight.

5 RV N SERIES features Smaller Lighter (Compared with our existing products) External dimensions to % smaller (Compared with our existing products) Weight 16 to 36% lighter Model size comparison Model Rated Torque (Nm) Allowable moment (Nm) Allowable thrust (N) Weight (kg) Outside diameter (mm) RV-4E 41 1,666 5, The same basic performance Compact and Lightweight RV-4N 41 1,66 5, Space-saving design for a wide range of uses Robotics Machine tools Food industry Energy Wood processing Semiconductors Medical care Transportation Inspection / measurement 3

6 Examples of uses for the RV N SERIES TM Vertical-articulated robot (joint shaft) SCARA robot Machine tool (turret of lathe) Machine tool ATC magazine 4

7 Glass substrate/wafer rotation and positioning Positioning turntable Cover open/close and reverser er Medical device AGV drive 5

8 Principle of speed reduction The RV is a -stage reduction gear. 1st stage Spur gear reduction An input gear engages with and rotates spur gears that are coupled to crankshafts. Several overall gear ratios can be provided by selecting various first stage ratios. nd stage Epicyclic gear reduction Crankshafts driven by the spur gears cause an eccentric motion of two epicyclic gears called RV gears that are offset 1 degrees from one another to provide a balanced load. The eccentric motion of the RV gears causes engagement of the cycloidal shaped gear teeth with cylindrically shaped pins located around the inside edge of the case. In the course of one revolution of the crankshafts the teeth of the RV gear move the distance of one pin in the opposite direction of the rotating cranks. The motion of the RV gear is such that the teeth remain in close contact with the pins and multiple teeth share the load simultaneously. The output can be either the shaft or the case. If the case is fixed, the shaft is the output. If the shaft is fixed, the case is the output. Mechanism block diagram Case Pin RV gear Output Input gear Spur gear Shaft Crankshaft nd reduction 1st reduction Speed Ratio The speed ratio is calculated using the formula to the right. R =1+ = 1 R Z Z1 Z4 R : Speed ratio Z1 : Number of teeth on input gear Z : Number of teeth on spur gear Z3 : Number of teeth on RV gear Z4 : Number of pins i : Reduction ratio 6

9 RV TM N SERIES model code Product code RV - 1 N A Model code Frame number Series code Ratio code Input gear code Drawing 5 41, 1, 17.66, 16, 137, P , 1, 15, 16, 141, P. 6 41, 1, 1.17, 11, , 161 P.1 41, 1, 11, 19, 141, 171 P.13 RV 1 N 41, 1, 1.17, 11, 141, 161 A: Standard gear A P.14 41, 1, 1.17, 11, , 161 B: Standard gear B Z: Special or no gear P , 1, 1.1,.1, 6, 1 P , 93, 7, 139, 16, P , 15, 13, 144, 9, P ,, 14.44, 9, 13, 3.5 Refer to pgs. 36 and 37. P.19 *Contact us for more information on this model. Direction of rotation and gear ratio The overall speed ratio i (of the First and Second reduction stages) will differ between shaft rotation and case rotation, and can be calculated from the speed ratio. Shaft rotation Same direction with input Case rotation Reverse direction against input Input Input Output Output The sign "i" in the above equations signifies the output shaft rotation in the same direction as the input shaft."-" signifies the same in the reverse direction. 7

10 Rating table Model RV-5N RV-4N RV-6N RV-N RV-1N RV-N RV-16N RV-3N RV-5N RV-7N R Speed ratio Ratio code Shaft rotation Case rotation /3 3/ /13 1/ /13 1/ /17 17/ /13 1/ /17 17/ /17 17/ /13 1/ / /.1 379/19 36/ /19 34/19 T Rated torque (Note 5) N Rated output Speed K (L 1 ) Rated service life T S1 Allowable acceleration/ deceleration torque T S Momentary maximum allowable torque (Nm) (rpm.) (h) (Nm) (Nm) 45 6, 61 1,5 41 6, 1,9,5 6 6, 1,5 3, 74 6, 1,96 3,9 1, 6,,5 5, 1,5 6, 3,6 6, 1,6 6, 4,, 3,74 6, 9,31 1,6 4,9 6, 1,5 4,5 7, 6, 17,5 35, Note: 1. The allowable output speed will differ depending upon the duty ratio, load, and ambient temperature. Contact us regarding use above the allowable output speed Ns1 with a 4% duty ratio.. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (P. 9). 3. The inertia moment value is for the reduction gear. It does not include the inertia moment for the input gear. 4. For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p. 3).

11 N S Allowable Output Speed (Note 1) Duty ratio: 1% N S1 Allowable Output Speed (Note 1) Duty ratio: 4% Backlash Lost motion Angular transmission error (Max.) Startup effi ciency (Typical value) M O1 Allowable moment (Note ) M O Momentary allowable moment (Max.) I Reduced value of the inertia moment for the input shaft (Note 3) (rpm.) (rpm.) (arc.min.) (arc.min.) (arc.sec.) (%) (Nm) (Nm) (kgm ) (kg) , ,66 3, , 4, , 4, ,7 5, ,43 6, ,, ,5 14, ,, , 3, 1.71x x x x x x x x x x x x1-6.51x x1-5.6x1-5.33x x x x x x1-5.6x1-5.4x x x x1-5 5.x x x x1-5.59x x x1-5 5.x x x x x x1-4.95x x x x x1-4 3.x1-4.64x x1-9.5x1-7.44x1-6.16x1-5.6x1-4.16x1-1.61x1-1.x1-1.1x1-9.x1 -.4x1-7.46x1 - Note: 5. The rated torque is the value that produces the rated service life based on operation at the rated output speed; it does not indicate the maximum load. Refer to the Glossary (p.) and the Product selection fl owchart (p.3). 6. Contact us regarding speed ratios other than those listed above. 7. The specifi cations above are based on Nabtesco evaluation methods; this product should only be used after confi rming that it is appropriate for the operating conditions of your system. Weight

12 External dimensions Model : RV-5N Specifi cations and dimensions are subject to change without notice. 1

13 Model : RV-4N Specifi cations and dimensions are subject to change without notice.

14 Model : RV-6N Specifi cations and dimensions are subject to change without notice. 1

15 Model : RV-N Specifi cations and dimensions are subject to change without notice. 13

16 Model : RV-1N Specifi cations and dimensions are subject to change without notice. 14

17 Model : RV-N Specifi cations and dimensions are subject to change without notice.

18 Model : RV-16N Specifi cations and dimensions are subject to change without notice. 16

19 Model : RV-3N *Contact us for more information on this model. Specifi cations and dimensions are subject to change without notice. 17

20 Model : RV-5N Specifi cations and dimensions are subject to change without notice. 1

21 Model : RV-7N Specifi cations and dimensions are subject to change without notice. 19

22 Technical Information

23 Considering the use of the RV TM N SERIES This product features high precision and high rigidity, however, it is necessary to strictly comply with various restrictions and make appropriate to maximize the product s features. Please read this technical document thoroughly and select and adopt an appropriate model based on the actual operating environment, method, and conditions at your facility. Export When this product is exported from Japan, it may be subject to the export regulations provided in the Foreign Exchange Order and Export Trade Control Order. Be sure to take suffi cient precautions and perform the required export procedures in advance if the fi nal operating party is related to the military or the product is to be used in the manufacture of weapons, etc. Application If failure or malfunction of the product may directly endanger human life or if it is used in units which may injure the human body (atomic facilities, space equipment, medical equipment, safety units, etc.), examination of individual situations is required. Contact our agent or nearest business offi ce in such a case. Safety measures Although this product has been manufactured under strict quality control, a mistake in operation or misuse can result in breakdown or damage, or an accident resulting in injury or death. Be sure to take all appropriate safety measures, such as the installation of independent safeguards. Product specifications indicated in this catalog The specifi cations indicated in this catalog are based on Nabtesco evaluation methods. This product should only be used after confi rming that it is appropriate for the operating conditions of your system. Operating environment Use the reduction gear under the following environment: Location where the ambient temperature is between -1 C to 4 C. Location where the humidity is less than 5% and no condensation occurs. Location where the altitude is less than 1 m. Well-ventilated location Note 1: : Maintenance The standard replacement time for grease is, hours. However, when operation involves a reduction gear surface temperature above 4 C, the state of degradation of the lubricant should be checked in advance of that and the grease replaced earlier as necessary. Reduction gear temperature When the reduction gear is used under high load and at a high duty ratio, it may overheat and the surface temperature may exceed the allowable temperature. Be aware of conditions so that the surface temperature of the reduction gear does not exceed 6 C while it is in operation. There is a possibility of damage (to the product) if the surface temperature exceeds 6 C. Reduction gear output rotation angle Do not install the reduction gear at the following locations. Location where a lot of dust is collected. Outdoors that can be directly affected by wind and rain Location near the environment that contains combustible, explosive, or corrosive gases and flammable materials. Location that is heated due to heat transfer and radiation from peripherals and direct sun. Location where the performance of the servo motor can be affected by magnetic fields or vibration. If the required operating environment cannot be established/met, contact us in advance. When using the reduction gear under special conditions (clean room, equipment for food, concentrated alkali, high-pressure steam, etc.), contact our agent or nearest business office in advance. When the range of the rotation angle is small (1 degrees or less), the service life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Note: Contact us in case the rotation angle is 1 degrees or less. Manuals Safety information and detail product instructions are indicated in the operation manual. The operation manual can be downloaded from the following web address. 1

24 Glossary Rating service life The lifetime resulting from the operation with the rated torque and the rated output speed is referred to as the rated service life. Allowable acceleration/deceleration torque When the machine starts or stops, the load torque to be applied to the reduction gear is larger than the constant-speed load torque due to the effect of the inertia torque of the rotating part. In such a situation, the allowable torque during acceleration/deceleration is referred to as allowable acceleration/deceleration torque. Note: Be careful that the load torque, which is applied at startup and stop, does not exceed the allowable acceleration/deceleration torque. Momentary maximum allowable torque A large torque may be applied to the reduction gear due to execution of emergency stop or by an external shock. In such a situation, the allowable value of the momentary applied torque is referred to as momentary maximum allowable torque. Note: Be careful that the momentary excessive torque does not exceed the momentary maximum allowable torque. Load torque Momentary max torque Max torque for startup Constant torque Max torque for stop Time Allowable output speed The allowable value for the reduction gear s output speed during operation without a load is referred to as the allowable output speed. Notes: Depending on the conditions of use (duty ratio, load, ambient temperature), the reduction gear temperature may exceed 6 C even when the speed is under the allowable output speed. In such a case, either take cooling measures or use the reduction gear at a speed that keeps the surface temperature at 6 C or lower. Duty ratio The duty ratio is defined as the ratio of the sum total time of acceleration, constant, and deceleration to the cycle time of the reduction gear. Torsional rigidity, lost motion, backlash When a torque is applied to the output shaft while the input shaft is fixed, torsion is generated according to the torque value. The torsion can be shown in the hysteresis curves. The value of b/a is referred to as torsional rigidity. The torsion angle at the mid point of the hysteresis curve width within ±3% of the rated torque is referred to as lost motion. The torsion angle when the torque indicated by the hysteresis curve is equal to zero is referred to as backlash. Hysteresis curve Startup Efficiency The efficiency of the moment when the reduction gear starts up is referred to as startup efficiency. No-load running torque (input shaft) The torque for the input shaft that is required to run the reduction gear without load is referred to as no-load running torque. Allowable Moment and Maximum Thrust Load The external load moment may be applied to the reduction gear during normal operation. The allowable values of the external moment and the external axial load at this time are each referred to as allowable moment and maximum thrust load. Angular transmission error The angular transmission error is defined as the difference between the theoretical output angle of rotation (when there are input instructions for an arbitrary rotation angle) and the actual output angle of rotation. Angular transmission error (sec) Backlash Torsion angle ±3% Rated Torque ±1% Rated Torque 3 sec b Lost motion a One revolution of the output shaft (degrees)

25 Product selection Product selection flowchart Step 1. Set items required for selection. Setting of equipment to be verified Reduction gear mounting direction NO Review load conditions. Re-evaluate operation pattern. YES Setting of operation conditions Weight of the equipment to be verified Cycle time Configuration of the equipment to be verified Operating hours per day Rotation angle Operating days per year Rotation time Step. Verify the operating environment. Checking of operating environment Ambient temperature Locations where the product Humidity cannot be installed Altitude (Refer to page 1.) Ventilation Reduction gear surface temperature Compatible NO YES Step 3. Verify the reduction gear load. 1.Calculation of inertia moment.calculation of constant torque 3.Setting of input type 4.Setting of operation pattern 5.Calculation of inertia torque 6.Calculation of load torque 7.Calculation of average speed and average load torque Step 4. Select a reduction gear. Calculate the rated torque that satisfies the required life and select a reduction gear. NO Reduction gear selection method(1) YES Reduction gear selection method() Select a reduction gear based on the calculated rated torque. Tentatively select a reduction gear model. Verify the maximum torque for startup. TA T S1 NO Verify the maximum torque for startup. T A T S1 NO YES YES Verify the output speed. N N S YES NO Verify the output speed. N N S YES Verify the thrust load W Allowable thrust. NO NO Verify the thrust load W Allowable thrust. YES NO YES Verify the moment load. M M O NO YES Examine the moment load. M O M YES NO Reconsider the appropriate model. YES NO Verify the service life. L L ex YES NO Reconsider the appropriate model. YES NO Determine the reduction gear model. 3

26 Product selection Model code selection examples With horizontal rotational transfer Step 1. Set the items required for selection. Setting item Setting a Work P.C.D.:D Reduction gear mounting direction Equipment weight to be considered Vertical shaft installation b W A Disk weight (kg) 1 W B Work weight (kg) 4 pieces Equipment configuration to be considered D 1 Disk: D dimension (mm) 1, a Work piece: a dimension (mm) 1 Fixing component Reduction gear D1 Servo motor Equipment to be verified: Work Equipment to be verified: Disk Motor flange b Work piece: b dimension (mm) 3 D Work piece: P.C.D. (mm) 1, Operation conditions Rotation angle ( )* 1 1 [t 1 +t +t 3 ] Rotation time (sec).5 [t 4 ] Cycle time (sec) Q 1 Equipment operation hours per day (hours/day) 1 Q Equipment operation days per year (days/year) 365 *1. When the range of the rotation angle is small (1 degrees or less), the rating life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Step. Verify the operating environment. Checkpoint S Ambient temperature ( C) -1 to +4 Standard value S1( C) Speed (rpm.) Load torque (Nm) 6 4 Time (s) S 1 Reduction gear surface temperature ( C) 6 or less -1 Note: Refer to Operating environment on p. 1 for values other than those listed above. Step 3-1. Examine the reduction gear load -1 S ( C) 4 Setting item Calculation formula Selection examples 1.Calculate the inertia moment based the calculation formula on page 4. I R Load inertia moment (kgm ) D1 WA 1, I R1 = WB a b D I R = + + WB 1 1, 1, 1, I R1 = Disk inertia moment I R = Work inertia I R = I R1 + I R n = Number of work pieces n 1, 1 1, I R1 = = 3.4 ( kgm ) I R = I R 1 =.7 = = 53.1 ( kgm) 1 1, 3 + 1, + 1, 1, 4.Examine the constant torque. T R Constant torque (Nm) Din TR = ( WA + WB ) 9. 1, μ μ = Friction factor Note: Use. for this example as the load is applied to the bearing of the RD reduction gear. Din = Rolling diameter: Use the pilot diameter which is almost equivalent to the rolling diameter in this selection calculation. Note: If the reduction gear model is not determined, select the following pilot diameter: Maximum pilot diameter: 353 (mm) T R ( ) 353 = , = 6.7(Nm) Step 3-: Proceed to p. 6. 4

27 With vertical rotational transfer Step 1. Set the items required for selection. Setting item Setting Reduction gear mounting direction Horizontal shaft installation Equipment weight to be considered Reduction gear Motor flange Servo motor Fixing component Equipment to be examined W C Mounted work weight (kg) 49 a Equipment configuration to be considered a a dimension (mm) 5 b b dimension (mm) 5 R R dimension (mm) 3 Operation conditions R Position of the center of gravity Rotation center b Rotation angle ( )* 1 9 [t 1 +t +t 3 ] Rotation time (sec) 1.5 [t 4 ] Cycle time (sec) Load torque (Nm) Q 1 Equipment operation hours per day (hours/day) 4 Q Equipment operation days per year (days/year) 365 *1. When the range of the rotation angle is small (1 degrees or less), the rating life of the reduction gear may be reduced due to poor lubrication or the internal parts being subject to a concentrated load. Rotation speed (rpm.) Step. Verify the operating environment. 6 Time (s) Checkpoint Standard value S Ambient temperature ( C) -1 to +4 S 1 Reduction gear surface temperature ( C) 6 or less Note: Refer to Operating environment on p. 1 for values other than those listed above. S1( C) 4-1 Step 3-1. Examine the reduction gear load -1 S ( C) 4 Setting item Calculation formula Selection examples 1.Calculate the inertia moment based the calculation formula on page 4. I R Load inertia moment (kgm ) = WC I R 1 a + b + W R C 1, 1, 1, 49 5 I R = + 1 1, = 7.6( kgm) 5 1, ,.Examine the constant torque. T R Constant torque (Nm) R TR = WC 9. 1, T R = = 1,537(Nm) 3 1, Step 3-: Proceed to p. 6. (Refer to With horizontal rotational transfer for selection examples.) 5

28 Step 3-. Set items required for selection Setting item Calculation formula Selection examples (With horizontal rotational transfer) (3) Set the acceleration/deceleration time, constant-speed operation time, and output speed. t 1 t t 3 N N 1 Acceleration time (sec) Constant-speed operation time (sec) Deceleration time (sec) Constant speed (rpm.) Average speed for startup N N 1 = (rpm.) The operation pattern does not need to be verifi ed if it is already set. If the operation pattern has not been determined, use the following formula to calculate the reference operation pattern. t1 = t3 = Rotation t1 + t + t3 N 36 6 t = Rotation t1 + t + t3 ( t1 + t3) Note: 1. Assume that t1 and t3 are the same. Note:. N = rpm. if the reduction gear output speed (N) is not known. Note: 3. If t1 and t3 is less than, increase the output speed or extend the rotation time. Examine the operation pattern using N = rpm. as the reduction gear output speed is unknown. 1 t1 = t 3 =.5 =.5( sec) 36 6 t =.5 (.5+.5) = 1.5 ( sec) t1 = t 3 =.5 (sec) t = 1.5 (sec) N = (rpm.) N1 = = 7. 5 (rpm.) N 3 Average speed for stop (rpm.) N = 3 N N 3 = = 7. 5 (rpm.) (4) Calculate the inertia torque for acceleration/deceleration. T A Inertia torque for acceleration (Nm) T = A IR ( N ) t 1 6 π T A 53.1 ( ) =.5 = 166.(Nm) π 6 T D Inertia torque for deceleration (Nm) T = D I R ( N ) t 3 π 6 T o 53.1 ( ) =.5 = 166.(Nm) π 6 (5) Calculate the load torque for acceleration/deceleration. T 1 Maximum torque for startup T1 = TA + TR (Nm) T R : Constant torque See page 4. T1 = = (Nm) T Constant maximum torque (Nm) T R T = 6.7 (Nm) T = T 3 Maximum torque for stop T1 = TA + TR (Nm) T R : Constant torque See page 4. T = = 16.1(Nm) (6)-1 Calculate the average speed. N m Average speed (rpm.) t1 N1+ t N+ t 3 N N m = t + t + t N m = = 1(rpm.) (6)- Calculate the average load torque. T m Average load torque (Nm) 1 3 t T1 + t T + t3 T N N N = m t N + t N + t N T T m = =.3 (Nm) 1 3 Go to Page 7 if the reduction gear model is verified based on the required life. Go to Page if the service life is verified based on the reduction gear model. 6

29 Step 4. Select a reduction gear Reduction gear selection method (1) Calculate the required torque based on the load conditions and required life and select a reduction gear. Setting item Calculation formula Selection examples (With horizontal rotational transfer) (1) Calculate the rated torque for the reduction gear that satisfi es the required life. L ex Required life (year) Based on the operation conditions 5 years Q 1cy Number of cycles per day Q1 6 6 Q (times) 1 cy = t4 Q1 cy = =,16 (times) Q 3 Operating hours of reduction gear per day (h) Q1 cy ( t1+ t + t3 ) Q3 = 6 6,16 ( ) Q3 = 6 6 = 1.5( h) Q 4 Operating hours of reduction Q gear per year (h) 4 = Q3 Q Q4 = = 54 ( h) Lhour = 54 5 L hour Reduction gear service life (h) Lhour = Q 4 Lex =,74 ( h) T O' Reduction gear rated torque that satisfi es the required life (Nm) 1 Lhour T' N = T 3 m m K N K : Reduction gear rated life (h) N : Reduction gear rated output speed (rpm.) T' =.3 1 3,74 1 6, = 1.5(Nm) () Select a reduction gear model based on the calculated rated torque. Tentative selection of the reduction gear model and actual reduction ratio W 1 L 1 W L M Radial load (N) Distance to the point of radial load application (mm) Thrust load (N) Distance to the point of thrust load application (mm) Calculation of the moment load (Nm) Determination of the reduction gear model Tentatively select a reduction gear model that T is equal to or greater than T. Then check that T S1 of the tentatively selected model is equal to or greater than the maximum torque for startup T 1 and N S of the tentatively selected model is equal to or greater than the output speed N. If the tentatively selected reduction gear is outside of the specifi cations, increase the reduction gear model. T S1, Ns: Refer to the rating table on page. NS: The allowable output speed varies depending on the actual reduction ratio. Tentatively select the actual reduction ratio alongside the allowable output speed. L W1 W L1 a b W1 ( L 1+ b-a) + W L M = 1, a,b: Refer to the calculation of the tilt angle on page 3. From the allowable moment diagram on Page 9 Thrust load Moment load Select a reduction gear for which the above fall within the allowable moment diagram. The actual reduction ratio is determined based on the motor speed, input torque, and inertia moment. Check with the motor manufacturer. Selection of the motor fl ange and bushing. Motor momentary maximum T M1 Determine based on the motor specifi cations. torque (Nm) T M1OUT Maximum torque generated at the output shaft for the reduction gear (Nm) TM 1out = TM 1 R R :Actual reduction ratio :Startup efficiency(%) Note: If the maximum torque generated at the output shaft for the reduction gear exceeds the momentary maximum allowable torque, impose a limitation on the motor torque value. Also, ensure that the shock torque, due to an emergency stop, is the same as or lower than the momentary maximum allowable torque. Tentatively select RV-5N (T = 45 Nm) based on the calculated rated torque. Rated torque: 45 (Nm) 1.5 (Nm) Allowable acceleration/deceleration torque: 613 (Nm) (Nm) Allowable output speed: 57 (rpm.) (when the actual reduction ratio is 33.45) is equal to or greater than (rpm.), tentatively selecting RV-5N should be no problem. (N) (mm) W = ( 1 + 4) 9. =,54 ( N) (mm) As dimension a =.1 (mm) and dimension b =.4 (mm): ( ) +,54 M = 1, = (Nm) For this example, Thrust load W =,54 (N) Moment load M = (N) As the above values are within the RV-5N allowable moment diagram, RV-5N is selected. For example, TM1 = 5 (Nm) For example, calculate the maximum torque generated at the output shaft for the reduction gear based on the specifi - cations when RV-5N was selected. T = M1out TM 1 R = = 3,1 (Nm) 1 As TM1out is equal to or greater than Ts (1,33 Nm), a limitation is required for the motor torque. 7

30 Reduction gear selection method (): Tentatively select a reduction gear model and evaluate the service life. Setting item Calculation formula Selection examples (With horizontal rotational transfer) (1) Select a reduction gear model based on the maximum torque for startup T1, output speed N, thrust load, and moment load. Tentative selection of the reduction gear model and actual reduction ratio If TS1 of the tentatively selected model is equal to or greater than the maximum torque for startup T1 and the tentatively selected model is outside of the reduction gear specifi cations, upgrade the reduction gear model. TS1, Ns: Refer to the rating table on page. NS: The allowable output speed varies depending on the actual reduction ratio. Tentatively select the actual reduction ratio alongside the allowable output speed. W 1 R adial load (N) (N) L 1 Distance to the point of radial load application (mm) (mm) W L M Thrust load (N) Distance to the point of thrust load application (mm) Calculation of the moment load (Nm) L W1 W L1 a b W1 ( L 1+ b-a) + W L M = 1, a,b: Refer to the calculation of the tilt angle on page 3. From the rating table on page : Allowable acceleration/deceleration torque: 613 (Nm) (Nm) Allowable output speed: 57 (rpm.) is equal to or greater than (rpm.), tentatively select RV-5N. W = ( 1 + 4) 9. =,54 ( N) (mm) RV-5N As dimension a =.1 (mm) and dimension b =.4 (mm): ( ) +,54 M = 1, = (Nm) Determination of the reduction gear model From the allowable moment diagram on Page 9 Thrust load Moment load Select a reduction gear for which the above fall within the allowable moment diagram. The actual reduction ratio is determined based on the motor speed, input torque, and inertia moment. Check with the motor manufacturer. For this example, Thrust load W =,54 (N) Moment load M = (N) As the above values are within the RV-5N allowable moment diagram, RV-5N is selected. () Calculate the reduction gear service life and compare to the required life. L h Life (h) N L h = 6, N m T T m 1 3 L h = 6, 1 = 17, Q 1cy Number of cycles per day (times) = Q1 cy = =,16 (times) Q1 6 Q1 cy t 4 Q 3 Operating hours per day (h) Q1 ( t1+ t + t 3) Q3 = 6 6,16 ( ) Q3 = = 1. 5 ( h) 6 6 Q 4 Operating hours per year (h) Q 4 = Q3 Q Q4 = = 54( h) L year Reduction gear service life (year) Lyear L 17,4 = Lyear = = ( year) 54 h Q 4 L ex Required life (year) Based on the required specifi cations. If the required life is longer than the service life, upgrade the reduction gear model and re-calculate the service life. Cautions for selecting a motor Motor momentary maximum T M1 Determine based on the motor specifi cations. torque (Nm) T M1OUT Maximum torque generated at the output shaft for the reduction gear (Nm) T R R M 1out = TM 1 :Actual reduction ratio :Startup efficiency(%) Note: If the maximum torque generated at the output shaft for the reduction gear exceeds the momentary maximum allowable torque, impose a limitation on the motor torque value. Also, ensure that the shock torque, due to an emergency stop, is the same as or lower than the momentary maximum allowable torque. As Lex 5 (year) is equal to or less than (year), the reduction gear model is RV-5N. For example, TM1 = 5 (Nm) For example, calculate the maximum torque generated at the output shaft for the reduction gear based on the specifi - cations when RV-5N was selected. TM1out = TM 1 R = = 3,1 (Nm) 1 As TM1out is equal to or greater than Ts (1,5 Nm), a limitation is required for the motor torque.

31 Product selection Allowable moment diagram RV-5N, 4N, 6N, N, 1N 1, 9, RV-1N Thrust Load (N) 6,53 5, 5, 4,1 3,7 3,57 3,3,61 RV-4N RV-5N RV-6N RV-N 1,3 74 1,66 1,6,,16,7 75 1,49 1,77, Allowable Moment (Nm) 3, RV-N, 16N, 3N, 5N, 7N 5, 44, Thrust Load (N) 3, 5, 14,7 13, 1,1 1,63 7,45 5,41 5, 7,, 16,,5 3,43 4,1,,79 4, 7,56,1 Allowable Moment (Nm) 9

32 Technical data No-load running torque Use the following formula to calculate the no-load running torque converted to the motor shaft. No-load running torque converted to the motor shaft (Nm) = Torque converted into the output shaft (Nm) R (R: speed ratio value) [Measurement conditions] Lubricant: Grease (VIGOGREASE RE) Note: The values in the following graphs are for the reduction gear alone, and indicate the average values after the break-in period. RV-5N, 4N, 6N No-load running torque (Reduced for the output shaft) (Nm) 1 6N 16 4N N Output shaft rotation speed (rpm.) RV-N, 1N, N, 16N No-load running torque (Reduced for the output shaft) (Nm) 35 16N N 3 1N 5 N Output shaft rotation speed (rpm.) RV-3N, 5N, 7N No-load running torque (Reduced for the output shaft) (Nm) 1 7N 5N 1 6 3N Output shaft rotation speed (rpm.) 3

33 Technical data Low temperature characteristic When the RV-N reduction gear is used at a low temperature, viscosity of lubricant increases and causes a larger no-load running torque. The no-load running torque at low temperature is shown below. [Measurement conditions] Input speed:, rpm. Use the following formula to calculate the no-load running torque converted to the motor shaft. Lubricant: Grease (VIGOGREASE RE) Torque converted into the output shaft (Nm) No-load running torque converted to the motor shaft (Nm) = (R: speed ratio value) R RV-5N, 4N, 6N No-load running torque (Reduced value for the output shaft) (Nm) 7 6 6N 5 4 4N 3 5N Case temperature [ C] RV-N, 1N, N, 16N No-load running torque (Reduced value for the output shaft) (Nm) 1,6 16N 1,4 1, 1, N 1N N Case temperature [ C] RV-3N, 5N, 7N Note: Contact us regarding use of the RV-7N at a low-temperature environment. No-load running torque (Reduced value for the output shaft) (Nm) 6, 5N 5, 4, 3N 3,, 1, Case temperature [ C] 31

34 Technical data Calculation of tilt angle and torsion angle Calculation of tilt angle When a load moment occurs with an external load applied, the output shaft will tilt in proportion to the load moment (If R3 is larger than b, and R is larger than c/) The moment rigidity indicates the rigidity of the main bearing, and it is represented by the load moment value required for tilting the main bearing by 1 arc.min. Output shaft installation surface = W1l1 Wl M1 3 : Tilt angle of the output shaft (arc.min.) M1 : Moment rigidity (Nm/arc.min.) W1, W : Load (N) l1, l : Distance to the point of load application (mm) l1 :l l : Distance from the output shaft installation surface to the point of load application (mm) Model Moment rigidity (central value) Nm/arc.min. Dimensions (mm) a b c Model Moment rigidity (central value) Nm/arc.min. Dimensions (mm) a b c RV-5N RV-N 1, RV-4N RV-16N, RV-6N 1, RV-3N 5, RV-N 1, RV-5N 6, RV-1N 1, RV-7N 9, Calculation of torsion angle Calculate the torsion angle when the torque is applied in a single direction, using an example of RV-16N. 1) When the load torque is 3 Nm...Torsion angle (ST 1 ) When the load torque is 3% or less of the rated torque 3 ST1 = 4. 1 (arc.min.) =.31(arc.min.) or less ) When the load torque is 1,3 Nm...Torsion angle (ST ) When the load torque is more than 3% of the rated torque ST = 1 1, = 1.(arc.min.) Note: 1. The torsion angles that are calculated above are for a single reduction gear. Model RV-5N RV-4N RV-6N RV-N RV-1N Torsional rigidity (central value) Nm/arc.min Lost motion arc.min. Lost motion Measured torque Nm Backlash arc.min. ±7.35 ± ±1. 1. ±3.5 ±3. Model RV-N RV-16N RV-3N RV-5N RV-7N Torsional rigidity (central value) Nm/arc.min ,6,6 Lost motion Lost motion Measured torque arc.min. Nm ±36. ±4. 1. ± ±147 ±1 Backlash arc.min. 1. 3

35 Design points Reduction gear installation components Installation of the reduction gear and mounting it to the output shaft When installing the reduction gear and mounting it to the output shaft, use hexagonal socket head cap screws and tighten to the torque, as specified below, in order to satisfy the momentary maximum allowable torque, which is noted in the rating table. The use of the Belleville spring washers are recommended to prevent the bolt from loosening and protect the bolt seat surface from flaws. <Bolt tightening torque and tightening force> Hexagon socket head cap screw nominal size x pitch (mm) Tightening torque (Nm) Tightening force F (N) Bolt specification M5. M6 1. M 1.5 M1 1.5 M M ±.49.6 ± ± ± ± ±.9 9,31 13,1 3,96 3, 55,36 13,41 Hexagon socket head cap screw JIS B 76 or equivalent (ISO 476) Strength class JIS B or equivalent (ISO 9-1) Thread JIS B 5 6 g or class or Equivalent Note: 1. The tightening torque values listed are for steel or cast iron material.. If softer material, such as aluminum or stainless, is used, limit the tightening torque. Also take the transmission torque and load moment into due consideration. <Calculation of allowable transmission torque of bolts> D T = F 1, n T F D μ n Allowable transmission torque by tightening bolt (Nm) Bolt tightening force (N) Bolt mounting P.C.D (mm) Friction factor μ=.: When grease remains on the mating face. μ=.: When grease is removed from the mating face. Number of bolts (pcs.) <Serrated lock washer external teeth for hexagonal socket head cap screw> Name:Belleville spring washer (made by Heiwa Hatsujyo Industry Co., Ltd.) Corporation symbol: CDW-H-Nominal size CDW-L-5 (Only for M5) Material: S5C to S7C Hardness: HRC 4 to 4 (Unit: mm) ID and OD of Belleville Nominal spring washer size d t H Basic D size d H t D Note: When using any equivalent washer, select it with special care given to its outside diameter. 33

36 Design of the motor mounting flange In order to avoid contact with reduction gear components, refer to the sizes indicated in the Outer dimensions drawings when designing the motor mounting flange. Note: The size and number of bolts for the motor mounting flange should be determined with the torque and moment taken into consideration, and should be positioned in line with the reduction gear s case mounting holes. After installing the reduction gear, we recommend installing an add/drain grease fitting to enable grease replacement. An installation example is shown below. Use the specified tightening torque to uniformly tighten the hexagonal socket head cap screws (with corresponding conical spring washers). Design the motor mounting flange to the following accuracy. Case mounting holes If the installation accuracy is poor, it will result in vibration and noise. Add/Drain grease fitting <Installation accuracy> Model Concentricity tolerance mm Model Concentricity tolerance mm RV-5N MAX.3 RV-N MAX.3 RV-4N MAX.3 RV-16N MAX.3 RV-6N MAX.3 RV-3N MAX.5 RV-N MAX.3 RV-5N MAX.5 RV-1N MAX.3 RV-7N MAX.5 O-Ring (I) Suited O-rings for O-Ring (I) in the diagram above are indicated in the following tables. Refer to these tables when designing seals for the installation components. <O-Ring (I)> Model O-ring number Model O-ring number RV-5N S RV-N AS RV-4N AS56-9 RV-16N AS56-17 RV-6N AS56-5 RV-3N AS56-7 RV-N AS56-5 RV-5N AS56-75 RV-1N AS RV-7N G34-1A Design of the case and shaft installation components Align the case bolt holes with the taps on the installation components, and the taps on the shaft with the installation component bolt holes, and install the case with the designated number of bolts. Use the specified tightening torque to uniformly tighten the hexagonal socket head cap screws (with corresponding conical spring washers). Use either the outside or inside fit for the shaft. After installing the reduction gear, we recommend installing an add/drain grease fitting to enable grease replacement. An installation example is shown at right. Bolt holes for shaft installation component Outside fit Inside fit Add/Drain grease fitting Note: Since the sizes of the bolts for tightening the shaft differ, always verify after installation that each bolt has been tightened at the specified torque. Tap for case installation component Conical spring washer 34

37 Suited O-rings for O-Ring (I) in the diagram above are indicated in the following tables. Refer to these tables when designing seals for the installation components. <For RV-5N, 4N, 6N, N, 1N and N models> Seal with Diestat or other comparable product. Seals for the conical spring washers are not necessary. <For RV-16N, 3N, 5N and 7N models> Shaft installation component Add/Drain grease fitting Shaft installation component Add/Drain grease fitting O-ring (II) O-ring (II) groove detailed view Note: The output shaft on these models does not have an O-ring groove. Prepare a groove for an O-ring in the shaft installation component. Use Daistat or other comparable product to seal the tightening side of the shaft installation component bolt. Note: Use an O-ring groove on the reduction gear output surface for these models. <O-Ring (II)> Model Bearing number O-ring groove dimensions O.D. (D) Depth (H) Width (G) Model Bearing number O-ring groove dimensions O.D. (D) Depth (H) Width (G) RV-5N G5 9±.1.4± / RV-N G145 ±.1.4± / RV-4N G 5±.1.4± / RV-16N G13 Use the reduction gear O-ring groove. RV-6N G13 135±.1.4± / RV-3N G145 Use the reduction gear O-ring groove. RV-N G13 135±.1.4± / RV-5N G Use the reduction gear O-ring groove. RV-1N G145 ±.1.4± / RV-7N G Use the reduction gear O-ring groove. When an O-ring cannot be used for structural reasons, use one of the liquid gaskets or other sealant indicated in the following table. Refer to the diagram at right and apply the sealant so that it does not get inside the reduction gear and does not leak out of the shaft installation bolt hole. Example application <Recommended liquid sealant> Name (Manufacturer) ThreeBond 1 (ThreeBond Co.) HermeSeal SS-6F (Nihon Hermetics Co.) Loctite 5 (Henkel) Characteristics and applications Silicone-based, solventless type Semi-dry gasket One-part, non-solvent elastic sealant Metal contact side (flange surface) seal Any product basically equivalent to ThreeBond 1 Anaerobic flange sealant Metal contact side (flange surface) seal Note: 1. Do not use for copper or a copper alloy.. Contact us regarding use under special conditions (concentrated alkali, high-pressure steam, etc.). Area to apply liquid sealant 35

38 Design points Input gears Installation of the input gear The following shows examples of the shape of the servo motor shaft and installation of the input gear. Refer to the following diagram when designing the input gear. (The setscrew, drawbolt, and hex nut must be supplied by your company.) Note: Locate the setscrew to the motor side of the oil seal contact. <For straight shafts> Without internal threads in the servo motor Setscrew With internal threads in the servo motor Seal with a seal washer or other washer. <For tapered shafts> With male screw on the servo motor Seal with a seal washer or other washer. Hexagonal socket head cap screw Hex nut Drawbolt Design of the input gear Use a standard input gear and drill holes to anchor the motor shaft and prepare the oil seal surface. The oil seal surface should be the value indicated by D in the Dimensions table, and the LB section should be finished by plunge grinding. Standard input gears come equipped with center holes on both-sides. Polish the outside diameter of area D1 to achieve the reference level and then perform processing of the inside diameter of the anchor holes for the motor shaft. Parts not indicated in the Dimensions table should have a minimum thickness of 3 mm. Note: When incorporating an input gear, be careful not to obstruct the spur gear and thus damage the gear. Damage to the gear will result in abnormal noise. <Shape of the standard input gear> LF <Standard input gear A> D (Plunge cutting range) D4 LD LE LA LC MIN (Motor shaft tip position) L LB (Plunge cutting range) Carburizing prevention range D3 MAX D1 <Standard input gear B> LA L D (Plunge cutting range) D4 LD LE LC MIN (Motor shaft tip position) LB (Plunge cutting range) Carburizing prevention range D3 MAX D1 36

39 <Model: RV-5N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than mm Motor shaft diameter: mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting h <Model: RV-4N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than 3 mm Motor shaft diameter: 3 mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting h <Model: RV-6N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than 3 mm Motor shaft diameter: 3 mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting h <Model: RV-N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than 3 mm Motor shaft diameter: 3 mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting 55h <Model: RV-1N> (unit:mm) Ratio code LF 73.9 Before plunge cutting 6.4 D After plunge cutting 6h D D4 9 LE LD Standard input gear A Motor shaft diameter: 4 mm or less LA LB LC D1 L <Model: RV-N> (unit:mm) Ratio code LF 76. Before plunge cutting 6.4 D After plunge cutting 6h D D4 9 LE LD Standard input gear A Motor shaft diameter: 4 mm or less LA LB LC D1 L <Model: RV-16N> (unit:mm) Ratio code LF 3.4 Before plunge cutting 65.4 D After plunge cutting 65h D D4 9 LE LD Standard input gear A Motor shaft diameter: 4 mm or less LA LB LC D1 L <Model: RV-3N> (unit:mm) Ratio code LF Before plunge cutting D After plunge cutting h D D4 LE LD Standard input gear A Motor shaft diameter: less than 55 mm L LA LB LC D Standard input gear B Motor shaft diameter: 55 mm or more L LA LB 1 LC D1 7 <Model: RV-5N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than 55 mm Motor shaft diameter: 55 mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting h <Model: RV-7N> D Standard input gear A Standard input gear B (unit:mm) Ratio Motor shaft diameter: less than 55 mm Motor shaft diameter: 55 mm or more LF Before After D3 D4 LE LD +. code plunge plunge L LA LB LC D1 L LA LB LC D1 cutting cutting 65h