Precision Reduction Gear RV TM. E Series / C Series / Original Series

Transcription

1 Precision Reduction Gear RV TM E Series C Series Original Series

2 Nabtesco's technologies o es supporting port 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 established a large 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. Precision Reduction Gear RV 2-5 Application Examples 6-7 Principle of Speed Reduction 8-1 E Series Model Codes 11 Rating Table External Dimensions Installation Components C Series Model Codes 37 Rating Table External Dimensions 4-52 Installation Components Original Series NABCO Ltd. Established 1925 Teijin Seiki Co., Ltd. Established 1944 Model Codes 57 Rating Table External Dimensions 6-73 Installation Components Business Merger in 23 Motion control Technical Information Considering the use of Precision Reduction Gear RV 8 Glossary 81 April 22 Initiation of hydraulic equipment business alliance October 23 Business merger The business alliance between Teijin Seiki and NABCO on hydraulic equipment projects was the beginning of a mutual confi rmation by the companies of the other s product confi guration, 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 23 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. Product Selection Product Selection Flowchart 82 Model Code Selection Examples 83-9 Allowable Moment Diagram 91 Technical Data No-load running Torque 92 Low Temperature Characteristic Efficiency Table Calculation of Tilt Angle and Torsion Angle 99 Design Points Mounting Bolts 1 Input Gears Lubricant VIGOGREASE Appendix Inertia Moment Calculation Formula 115 Troubleshooting Checksheet 116 APPLICATION WORKSHEET 117 VIGOGREASE Ordering Information 118 Warranty Back inside cover 1

4 Precision Reduction Gear RV The RV E, C, and Original Series are family of planocentric reduction gear mechanisms designed for precise motion control. The mechanisms incorporate a large number of simultaneously engaged gear teeth, and have compact, lightweight and highly rigid construction that is strong against overloading. Furthermore, minimal backlash, rotary vibration and inertia assure rapid acceleration, smooth motion and extremely accurate positioning. The Precision Reduction Gear RV is ideally suited for precision mechanical control in factory robots, machine tools, and assembly and conveying equipment where precise positioning, stiffness and shock-load capability are demanded. 2

5 Features and construction of E series Hold flange Case Main bearing Integrated angular ball bearings Benefits: Increases reliabilty Reduces overall cost Attributed to: Built-in angular ball bearing construction improves the ability to support external loads, increases moment rigidity and maximum allowable moment. Reduces the number of components required. Simplifies installation. 2-stage reduction Benefits: Reduces vibration Reduces inertia (GD 2 ) Attributed to: Low speed rotation of the RV gear reduces vibration. Reduced size of the motor coupling part (input gear) lowers intertia. All main elements are supported on both sides Benefits: Higher torsional stiffness Less vibration High shock load capability (5 times rated torque) Detail: Crankshafts are supported on both sides of the reduction gear as shown below. Shaft + hold flange Crankshaft through hole Crankshaft through hole Input gear (option) Crank shaft RV gear Pin Shaft Spur gear RV gear Rigid supporting structure Clearance hole for rigid supporting structure Rolling contact elements Benefits: Excellent starting efficiency Low wear and longer life Low backlash (1 arc. min.) Attributed to: Use of roller bearings throughout. Pin & gear structure Benefits: Very low backlash (1 arc. min.) Higher shock load capability (5 times rated torque) Attributed to: Synchromeshing of many RV gear teeth and pins. 3

6 Precision Reduction Gear RV Features and construction of C series Hold flange Pin Spur gear Case Main bearing Hollow shaft structure Cables and other lines can pass through the reduction gear Allows space saving design Integrated angular ball bearings Benefits: Increases reliabilty Reduces overall cost Attributed to: Built-in angular ball bearing construction improves the ability to support external loads and increases moment rigidity and maximum allowable moment. As a result, this model can be used for the rotary axis. Reduces the number of components required. Simplifies installation. 2-stage reduction Benefits: Reduces vibration Reduces inertia (GD 2 ) Attributed to: Low speed rotation of the RV gear reduces vibration. Reduced size of the motor coupling part (input gear) lowers intertia. All main elements are supported from both sides Benefits: Higher torsional stiffness Less vibration High shock load capability (5 times rated torque) Detail: Crankshafts are supported on both sides of the reduction gear as shown below. Shaft + hold flange Crankshaft through hole Crankshaft through hole Rigid supporting structure RV gear Clearance hole for rigid supporting structure Rolling contact elements RV gear Benefits: Excellent starting efficiency Low wear and longer life Low backlash (1 arc. min.) Input gear (option) Center gear (option) Crank shaft Shaft Attributed to: Use of roller bearings throughout. Pin & gear structure Benefits: Very low backlash (1 arc. min.) Higher shock load capability (5 times rated torque) Attributed to: Synchromeshing of many RV gear teeth and pins. 4

7 Features and construction of Original series Hold flange Case 2-stage reduction Benefits: Reduces vibration Reduces inertia (GD 2 ) Attributed to: Low speed rotation of the RV gear reduces vibration. Reduced size of the motor coupling part (input gear) lowers intertia. All main elements are supported on both sides Benefits: Higher torsional stiffness Less vibration High shock load capability Detail: Crankshafts are supported on both sides of the reduction gear as shown below. Shaft + hold flange Crankshaft through hole Crankshaft through hole Rigid supporting structure RV gear Clearance hole for rigid supporting structure Input gear (option) Crank shaft RV gear Spur gear Shaft Pin Rolling contact elements Benefits: Excellent starting efficiency Low wear and longer life Low backlash (1 arc. min.) Attributed to: Use of roller bearings throughout. Pin & gear structure Benefits: Very low backlash (1 arc. min.) Higher shock load capability (5 times rated torque) Attributed to: Synchromeshing of many RV gear teeth and pins. External support structure for main bearing Separate installation of the main bearing supports a larger moment. Installation on the output shaft supports a reduced diameter. 5

8 Application Examples C series Robot swing axis Allows space-saving design Main bearing is not required on robot side. Robot arm As cables can be passed through the arm, environmental resistance increases. Wider operating angle. Indexing table The table can be made into a hollow shaft structure. 6

9 E series Robot arm Robot wrist axis As shown in the figure(right), the input gear can also be supported within the reduction gear mechanism. Please contact Nabtesco for more details. Original series Robot swing axis 7

10 Principle of Speed Reduction 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. 2nd stage Epicyclic gear reduction Crankshafts driven by the spur gears cause an eccentric motion of two epicyclic gears called RV gears that are offset 18 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. Crankshaft (Connected to spur gear) Shaft Case Pin RV gear Crankshaft rotating angle: degree Rotating angle: 18 degrees Rotating angle: 36 degrees 8

11 Rotary direction and speed ratio Both the E series and Original series may be used in various ways. The following figures show six combinations of the rotary direction and speed ratio. Use the following figure to select a mechanism most suitable for your application. 1. Case fixed, shaft output 2. Shaft fixed, case output 3. Input gear fixed, shaft output Reduction gear Input: Input gear i= 1 R Input: Input gear i= 1 R 1 Input: Case i= R 1 R 4. Case fixed, input gear output 5. Shaft fixed, input gear output 6. Input gear fixed, case output Speed increasing gear Input: Shaft i=r Input: Case i= (R 1) Input: Shaft R i= R 1 The i in the above equations signifies the speed ratio of the output for the input in each case. The + signifies the output in the same direction as the input and the - signifies the output in the opposite direction to the input. The above figures show the situation when the motor is installed on the fixed side. Speed ratio The overall reduction ratio i (of the First and Second reduction stages) will differ depending on the use, and can be calculated using the speed ratio values displayed in the table below. With the shaft as output; R = 1 + Z2 Z1 Z4 i = 1 R R : Speed ratio Z1: Number of teeth on input gear Z2: Number of teeth on spur gear Z3: Number of teeth on RV gear Z4: Number of pins i : Reduction ratio Case Pin RV gear Output Input gear Spur gear Shaft Crankshaft 2nd reduction 1st reduction 9

12 Principle of Speed Reduction Rotary direction and speed ratio The rotary direction and speed ratio of the C series are shown below. 1. Case fixed, shaft output 2. Shaft fixed, case output 3. Input gear fixed, shaft output Reduction gear Input: Input gear 1 i = R1 Input: Input gear 1 i = R1-1 Input: Case R 1-1 i = R1 4. Case fixed, input gear output 5. Shaft fixed, input gear output 6. Input gear fixed, case output Speed increasing gear Input: Shaft i = R 1 Input: Case i = R 1-1 Input: Shaft R 1 i = R1-1 Installation example (motor installed on case side of reduction gear) 1. Case is fixed, shaft output 2. Shaft fixed, case output i = - 1 R1 i = 1 R1 The i in the above equations signifies the speed ratio of the output for the input in each case. The + signifies the output in the same direction as the input and the - signifies the output in the opposite direction to the input. The above figures show the situation when the motor is installed on the fixed side. Mechanism block drawing Case Pin Center gear Speed ratio The overall reduction ratio i (of the First and Second reduction stages) will differ depending on the use, and can be calculated using the speed ratio values displayed in the table below. 1 Shaft RV gear Output Crankshaft Spur gear 2nd reduction Input gear 1st reduction With the shaft as output; R = R1 Z2 Z1 i = 1 R (R1 = 1 + Z4 Z6) Z3 R : Overall speed ratio R 1 : Speed ratio of a discrete reduction gear Z1 : Number of teeth on input gear Z2 : Number of teeth on large center gear Z3 : Number of teeth on small center gear Z4 : Number of teeth on spur gear Z 5 : Number of teeth on RV gear Z 6 : Number of pins i : Reduction ratio Note: The speed ratio values and rotation directions shown above indicate when the motor (motor fi xing component) is installed on the case side of the reduction gear.

13 Precision Reduction Gear RV Eseries Model Codes Explanation of codes When placing an order or making an inquiry, please use the following codes to specify the appropriate model. RV - 8 E A - B Model code Frame number Series code Ratio code Input gear code Input spline code Output shaft clamp code 6 31, 43, 53.5, 59, 79, 13 RV 2 57, 81, 15, 121, 141, , 81, 15, 121, E: Main bearing built-in type 57, 81, 11, 121, , 111, 161, , 11, 129, 145, , 11, 118.5, 129, 141, 171, , 11, 118.5, 129, 154.8, 171, A: Standard gear A B: Standard gear B Z: No gear B: Bolt-clamping output shaft type P: Pinbolt clamping output shaft type 11

14 Rating Table Model Ratio code Output speed (rpm) Shaft rotation R Speed ratio Case rotation Output torque (Nm) input capacity (kw) RV-6E RV-2E RV-4E RV-8E , *1 (153) *1 (152) RV-11E , , , RV-16E , , , , , , RV-32E , , , , , , RV-45E , , , , , 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. 2. The input capacity (kw) is calculated according to the following calculation formula: 2π N T Input capacity (kw) = η N: Output speed (rpm) T : Output torque (Nm) η =75: Reduction gear efficiency (%) Note: The input capacity is a reference value. 3. When the reduction gear is used at low temperatures, there will be a larger no-load running torque. Note this characteristic when selecting a motor. (Refer to Low temperature characteristic on page 93) 12

15 T Rated torque (Note 7) N Rated output Speed K Rated service life TS1 Allowable acceleration deceleration torque TS2 Momentary maximum allowable torque NS Maximum allowable Backlash output speed (Note 1) Lost motion MAX. Angular transmission error MAX. Startup effi ciency (Typical value) MO1 Allowable moment (Note 4) MO2 Momentary allowable moment (Max.) Wr Allowable radial load (Note 1) Reduced value of the inertia moment for the input shaft (Note 5) Weight (Nm) (rpm) (h) (Nm) (Nm) (rmin) (arc.min.) (arc.min.) (arc.sec.) (%) (Nm) (Nm) (N) (kgm 2 ) (kg) , , , ,764 7, , 1,29 2, ,666 3,332 11, , 1,96 Bolt joint 3,92 Pinbolt joint 3, Note: 4. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (p. 91). 5. The inertia moment value is for the reduction gear. It does not include the inertia moment for the input gear. 6. For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p. 99). 7. 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.81) and the Product selection flowchart (p.82). 8. Contact us regarding speed ratios other than those listed above. 9. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. 1. When radial load b is applied within dimension b, use the reduction gear within the allowable radial load. 11. *1 The R=153 for the RV-8E is only for the bolt-clamping output shaft type (page 2, 21). Bolt joint 2,156 Pinbolt joint 1,735 Bolt joint 4,312 Pinbolt joint 2,156 Bolt joint 12,988 Pinbolt joint 1,452 1, , 2,695 5, ,94 5,88 16,648 1, , 3,92 3, , 7,84 4, , 11,25 Bolt joint 7,84 Pinbolt joint 6,615 Bolt joint 15,68 Pinbolt joint 12,25 Bolt joint 22,5 Pinbolt joint 18, , Bolt joint 7,56 Pinbolt joint 6, ,82 Bolt joint 7,84 Pinbolt joint 6,762 Bolt joint 14,112 Pinbolt joint 1,976 Bolt joint 17,64 Pinbolt joint 13,524 18,587 Bolt joint 28,67 Pinbolt joint 24,558 3, Bolt joint Pinbolt joint Technical Information Original series C series E series 13

16 External Dimensions 14 Speed RV-6E Bolt clamping output shaft type (2 piece input gear) Type code RV-6E- 31 ratio 43- A -B Specifications and dimensions are subject to change without notice.

17 Speed ratio RV-6E Bolt clamping output shaft type (1 piece input gear) Type code RV-6E- - A -B Specifications and dimensions are subject to change without notice. 15 Technical Information Original series C series E series

18 16 RV-2E Bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-2E A B -B Specifications and dimensions are subject to change without notice.

19 RV-2E Bolt clamping output shaft type (1 piece input gear) Type code RV-2E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice. 17 Technical Information Original series C series E series

20 18 RV-4E Bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-4E A B -B Specifications and dimensions are subject to change without notice.

21 RV-4E Bolt clamping output shaft type (1 piece input gear) Type code RV-4E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice. 19 Technical Information Original series C series E series

22 2 RV-8E Bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-8E A B -B Specifications and dimensions are subject to change without notice.

23 RV-8E Bolt clamping output shaft type (1 piece input gear) Type code RV-8E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice. 21 Technical Information Original series C series E series

24 22 Speed ratio RV-11E Bolt clamping output shaft type (1 piece input gear) Type code RV-11E- - A -B Specifications and dimensions are subject to change without notice.

25 RV-16E Bolt clamping output shaft type (1 piece input gear) Type code RV-16E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice. 23 Technical Information Original series C series E series

26 24 RV-32E Bolt clamping output shaft type (1 piece input gear) Type code RV-32E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice.

27 RV-45E Bolt clamping output shaft type (1 piece input gear) Type code RV-45E- - -B Speed ratio A B Specifications and dimensions are subject to change without notice. 25 Technical Information Original series C series E series

28 26 RV-2E Pin and bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-2E A B -P Specifications and dimensions are subject to change without notice.

29 RV-2E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-2E- - -P Speed ratio A B Specifications and dimensions are subject to change without notice. 27 Technical Information Original series C series E series

30 28 RV-4E Pin and bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-4E A B -P Specifications and dimensions are subject to change without notice.

31 RV-4E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-4E- - -P Speed ratio A B Specifications and dimensions are subject to change without notice. 29 Technical Information Original series C series E series

32 3 RV-8E Pin and bolt clamping output shaft type (2 piece input gear) Speed ratio Type code RV-8E A B -P Specifications and dimensions are subject to change without notice.

33 RV-8E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-8E- - -P Speed ratio A B Specifications and dimensions are subject to change without notice. 31 Technical Information Original series C series E series

34 32 RV-16E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-16E- - -P Speed ratio A B Specifications and dimensions are subject to change without notice.

35 RV-32E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-32E- - -P Speed ratio A B Specifications and dimensions are subject to change without notice. 33 Technical Information Original series C series E series

36 34 Speed ratio RV-45E Pin and bolt clamping output shaft type (1 piece input gear) Type code RV-45E- - A B -P Specifications and dimensions are subject to change without notice.

37 Design Points Installation Components Design of the motor mounting flange In order to avoid contact with reduction gear components, refer to the sizes indicated in the External 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 adddrain grease fitting to enable grease replacement. An installation example is shown below. Use the specified tightening torque to uniformly tighten the hexagon socket head cap screws (with corresponding conical spring washers). To obtain maximum performance from the E series, it is important to optimally design the assembly, installation, lubrication, and sealing. Be sure to read the following precautions before designing the above. As angular ball bearings are used as the main bearings, design the mating component dimensions according to the table on the right to make sure that the bearing retainer does not come in contact with the motor mounting flange. Assembly accuracy Design the motor mounting flange to the following accuracy. Poor assembly accuracy causes vibration and noise. Unit: mm Tolerance for concentricity Concentricity tolerance Model a Type a RV-6E MAX.3 RV-11E MAX.3 RV-2E MAX.3 RV-16E MAX.5 RV-4E MAX.3 RV-32E MAX.5 RV-8E MAX.3 RV-45E MAX.5 Installation procedure Typical installation examples for reduction gears to be mounted on the mating components are shown below. Be sure to apply the specified amount of the specified grease during assembly. (See page ) Refer to the O-ring seals shown to make a seal design for the mounting side. If O-ring (II) cannot be used due to the structure, apply the appropriate liquid sealant from the table on the right. If a seal cannot be formed by applying liquid sealants due to the structure, use O-ring (I) and (III) on page 36. Bolt clamping output shaft type X Y RV-6E MAX1.9 MAX ø 85 RV-32E MAX3.2 MAX ø RV-45E MAX5.5 MAX ø 285 With other models, the retainer does not stick out from the casing. Note: The sizes of bolts for tightening the output shaft are not all the same. Make sure that each bolt is tightened with the specifi ed torque after assembling. Output shaft Use fluid sealant for mounting surface O-ring (II) Recommended liquid sealant Manufacturer Characteristics and applications ThreeBond 1211 (ThreeBond Co.) HermeSeal SS-6F (Nihon Hermetics Co.) Loctite 515 (Henkel) Silicone-based, solventless type Semi-dry gasket One-part, non-solvent elastic sealant Metal contact side (fl ange surface) seal Any product basically equivalent to ThreeBond 1211 Anaerobic fl ange sealant Metal contact side (fl ange surface) seal Notes 1. Do not use these sealants for copper material or copper alloy material. 2. If these sealants need to be used under special conditions such as concentrated alkali, pressurized steam, etc., please contact Nabtesco. O-ring (II) RV-6E RV-2E RV-4E RV-8E RV-11E RV-16E RV-32E RV-45E Applicable O-ring S1 S12 AS AS G19 G22 G27 G3 Technical Information Original series C series E series 35

38 Design Points Installation Components Pinbolt clamping output shaft type Note: The prepared pinhole and the output shaft need to be reamed jointly with a reamer before knocking in the taper pin. The reduction gear needs to be appropriately masked during reaming to prevent chips from entering inside. Installation of RV-2E, 4E Installation of RV-16E, 32E, 45E Outside mating part Taper pin Output shaft Inside mating part Output shaft Groove size for O-ring seal (III) (4 places) O-ring (II) O-ring (II) Details of O-ring(I) groove Groove size for O-ring (I) Installation example for RV-8E A different method is used on RV-8E to knock in the taper pin, so follow the next procedure for assembling. Taper pin (with M8 thread) Output shaft Output shaft Output shaft Output shaft 36 Groove for O-ring(I) groove 1. Loosely tighten the hexagon socket head cap screw to temporarily secure the reduction gear shaft to the output shaft. 2. Remove the taper pin (with M8 screw) installed in the reduction gear. 3. From the hole of the removed taper pin, drill a hole for the taper pin (1 mm. dia.) in the output shaft. (At this time, masking is needed to prevent chips from entering the reduction gear.) 4. After reaming, remove the bolt to remove the reduction gear, then remove any chips and burrs. 5. Install the reduction gear and knock in the taper pin for fixing the output shaft. 6. Tighten the hexagon socket head cap screw securely to fix the reduction gear to the output shaft. 7. Be sure to knock in the taper pin (with M8 screw) embedded in the reduction gear. Use a taper pin with screw. Dimensions for O-ring (I) seal (Unit: mm) For RV-2E(A) For RV-2E(B) For RV-4E For RV-8E For RV-11E For RV-16E For RV-32E For RV-45E ID No. AS S1 S132 AS AS AS AS AS Wire dia. ø 1.78 ±.7 ø 2. ±.1 ø 2. ±.1 ø 2.62 ±.7 ø 2.62 ±.7 ø 3.53 ±.1 ø 3.53 ±.1 ø 3.53 ±.1 I. D. ø ±.38 ø 99.5 ±.4 ø ±.6 ø ±.58 ø ±.58 ø ±.76 ø ±.76 ø ±.76 Outside dia.: D ø 15 ø 15 ø 135 ø 16 ø 182 ø 24 ø 243 ø 273 Depth: H 1.27 ± ± ± ± ± ±.5 Width: G Height: K (For reference) Dimensions Dimensions Groove dimensions O-ring Groove dimensions O-ring O-ring (II) O-ring (II) seal dimensions For RV-2E For RV-4E For RV-8E For RV-16E For RV-32E For RV-45E ID No. S12 AS AS G22 G27 G3 Dimensions for O-ring (III) seal For RV-2E For RV-4E ID No. S12.5 S14 Wire dia. ø 1.5 ±.1 ø 1.5 ±.1 I. D. ø 12 ø 13.5 Outside dia: D 1 ø 14.8 ±.1 ø 16.3 ±.1 Depth: H (Unit: mm) (Unit: mm) Notes 1. Use O-ring seal of either type (A) or type (B). 2. The S type ID number is the manufacturer's own standard.

39 Precision Reduction Gear RV Cseries Model Codes Explanation of codes When placing an order or making an inquiry, please use the following codes to specify the appropriate model. RV - 1 C A - B Model code Frame number 1 Series code Ratio code Center gear code Output shaft clamp code 27 RV C: Hollow shaft type A: Standard gear A B: Standard gear B Z: No gear B : Bolt-clamping output shaft type T : Through-bolt clamping output shaft type 37

40 Rating Table Model Ratio code Output speed (rpm) Shaft rotation R Speed ratio Case rotation Output torque (Nm) input capacity (kw) RV-1C RV-27C , RV-5C , RV-1C , , RV-2C , , , , , , , RV-32C , , , , , , RV-5C , , , , , 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. 2. The input capacity (kw) is calculated according to the following calculation formula: 2π N T Input capacity (kw) = η N: Output speed (rpm) T : Output torque (Nm) η =75: Reduction gear efficiency (%) Note: The input capacity is a reference value. 3. When the reduction gear is used at low temperatures, there will be a larger no-load running torque. Note this characteristic when selecting a motor. (Refer to Low temperature characteristic on page 94.) 38

41 T Rated torque (Note 7) N Rated output Speed K Rated service life TS1 Allowable acceleration deceleration torque TS2 Momentary maximum allowable torque NS Allowable Output Backlash Speed (Note 1) Lost motion MAX. Angular transmission error MAX. Startup effi ciency (Typical value) MO1 Allowable moment (Note 4) MO2 Momentary allowable moment (Max.) Wr Allowable radial load (Note 9) Reduced value of the inertia moment for the input shaft (Note 5) I (= GD2 4 Inertia ( ) of center gear Weight (Nm) (rpm) (h) (Nm) (Nm) (rmin) (arc.min.) (arc.min.) (arc.sec.) (%) (Nm) (Nm) (N) (kgm 2 ) (kgm 2 ) (kg) , ,372 5, , 662 1, ,96 6, , 1, , 2,45 1, , 4,9 Bolt joint 2,45 Through-bolt joint 1,96 Bolt joint 4,9 Through-bolt joint 3,43 Bolt joint 9,8 Through-bolt joint 7, ,764 3,528 9, ,45 4,9 11, ,82 17,64 31, , , 7,84 15, ,58 39,2 57, ,9 15 6, 12,25 24, ,3 78,4 82, Note: 4. The allowable moment will differ depending on the thrust load. Check the allowable moment diagram (p. 91). 5. The GD2 value is a value for a discrete reduction gear, and the GD2 for center and input gears is not included. Therefore, refer to the following equation regarding the 4 4 GD 2 converted to motor shaft. 4 GD 2 GD 2 4 of reduction gear unit + 4 of center gear + (Number of teeth on large center gear Number of teeth on input gear) GD2 of input gear For the moment rigidity and torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p. 99). 7. 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.81) and the Product selection flowchart (p.82). 8. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. 9. When a radial load is to be applied to a size within size b, use a value within the allowable radial load. Technical Information Original series C series E series 39

42 External Dimensions 4 Speed ratio RV-1C Bolt clamping output shaft type Type code RV-1C A -B Specifications and dimensions are subject to change without notice.

43 Speed ratio RV-27C Bolt clamping output shaft type Type code RV-27C A -B Specifications and dimensions are subject to change without notice. 41 Technical Information Original series C series E series

44 42 Speed ratio RV-5C Bolt clamping output shaft type Type code RV-5C A -B Specifications and dimensions are subject to change without notice.

45 Speed ratio RV-1C Bolt clamping output shaft type Type code RV-1C A -B Specifications and dimensions are subject to change without notice. 43 Technical Information Original series C series E series

46 44 Speed ratio RV-2C Bolt clamping output shaft type Type code RV-2C A -B Specifications and dimensions are subject to change without notice.

47 Speed ratio RV-32C Bolt clamping output shaft type Type code RV-32C A -B Specifications and dimensions are subject to change without notice. 45 Technical Information Original series C series E series

48 46 Speed ratio RV-5C Bolt clamping output shaft type Type code RV-5C A -B Specifications and dimensions are subject to change without notice.

49 Speed ratio RV-1C Through-bolt clamping output shaft type Type code RV-1C A -T Specifications and dimensions are subject to change without notice. 47 Technical Information Original series C series E series

50 48 Speed ratio RV-27C Through-bolt clamping output shaft type Type code RV-27C A -T Specifications and dimensions are subject to change without notice.

51 Speed ratio RV-5C Through-bolt clamping output shaft type Type code RV-5C A -T Specifications and dimensions are subject to change without notice. 49 Technical Information Original series C series E series

52 5 Speed ratio RV-1C Through-bolt clamping output shaft type Type code RV-1C A -T Specifications and dimensions are subject to change without notice.

53 Speed ratio RV-2C Through-bolt clamping output shaft type Type code RV-2C A -T Specifications and dimensions are subject to change without notice. 51 Technical Information Original series C series E series

54 52 Speed ratio RV-32C Through-bolt clamping output shaft type Type code RV-32C A -T Specifications and dimensions are subject to change without notice.

55 Design Points Installation Components Design of the motor mounting flange In order to avoid contact with reduction gear components, refer to the sizes indicated in the External 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 adddrain grease fitting to enable grease replacement. An installation example is shown below. Use the specified tightening torque to uniformly tighten the hexagon socket head cap screws (with corresponding conical spring washers). To obtain maximum performance from the C series, it is important to optimally design the assembly, installation, lubrication, and sealing. Be sure to read the following precautions before designing the above. As angular ball bearings are used as the main bearings, design the mating component dimensions according to the dimensions shown in the External Dimensions drawings to make sure that the bearing retainer does not come in contact with the motor mounting flange. Note: Two types of C series are available: bolt clamping output shaft type (refer to pages 4 to 46 for External Dimensions drawings, and through bolt clamping output shaft type (refer to pages 47 to 52 for External Dimensions drawings excluding RV-5C). Please be sure to specify when ordering. Assembly accuracy Design the mounting side components of the C series according to the following. Poor assembly accuracy causes vibration and particularly noise or backlash. Assembly accuracy of RV-1C, 27C, 5C, 1C, 2C, 32C, and 5C Model RV-1C RV-27C RV-5C RV-1C RV-2C RV-32C RV-5C Tolerance of center to-center distance X Concentricity tolerance a (Unit: mm) Tolerance of parallelism b ±.3 MAX.3 MAX.3 Tolerance of center-tocenter distance±x R indicates distance from center of reduction gear to center of motor. Technical Information Original series C series E series 53

56 Design Points Installation Components Installation procedure Typical installation examples for reduction gears to be mounted on the mating components are shown below. Be sure to apply the specified amount of the specified grease during assembly. (See page 113 to 114.) Seals are required for the mounting surfaces of the center tube and reduction gear. Refer to the O-ring seals shown to make a seal design of the mounting side. If O-ring (II) cannot be used due to the structure, apply the appropriate liquid sealant from the table on the right. If a seal cannot be formed by applying liquid sealants due to the structure, use O-ring (III) and (IV) on page 55. Recommended liquid sealant Manufacturer ThreeBond 1211 (ThreeBond Co.) HermeSeal SS-6F (Nihon Hermetics Co.) Loctite 515 (Henkel) Characteristics and applications Silicone-based, solventless type Semi-dry gasket One-part, non-solvent elastic sealant Metal contact side (fl ange surface) seal Any product basically equivalent to ThreeBond 1211 Anaerobic fl ange sealant Metal contact side (fl ange surface) seal Notes 1. Do not use these sealants for copper material or copper alloy material. 2. If these sealants need to be used under special conditions such as concentrated alkali, pressurized steam, etc., please contact Nabtesco. Assembly example of center tube The center tube is used to protect the cable which runs through the hollow section and to seal grease filled in the reduction gear. The following figure shows the assembly of the center tube as a reference example. O-ring (I) Groove dimension of O-ring (I) Center tube Oil seal Dimensions of O-ring (I) seal (for reference) RV-1C RV-27C RV-5C ID number CO 625 CO 634 CO 643 Wire dia. ø 2.4 ±.7 ø 3.5 ±.1 I. D. ø 29.7 ø 42.2 ø 59.6 I. D.: d ø ø ø Dimensions Dimensions O-ring O-ring Groove dimensions Groove dimensions Width: B (Unit: mm) RV-1C RV-2C RV-32C RV-5C ID number S7 G95 G135 G145 Wire dia. ø 2. ±.1 ø 3.1 ±.1 I. D. ø 69.5 ø 94.4 ø ø I. D.: d ø 7..5 ø ø ø Width: B Assembly example with the output shaft bolt clamping type (RV-1C, 27C, 5C, 1C, 2C, 32C, 5C) If center tube, oil seal and O-ring (I) are used together, the seal on the mounting surface of output shaft side is not required. O-ring (II) Applicable O-ring RV-1C AS RV-27C AS RV-5C AS RV-1C AS RV-2C AS RV-32C AS RV-5C G46 The O-ring (II) can be applied to both bolt clamping and through-bolt clamping output shaft types. O-ring (II) 54

57 Assembly example of through-bolt clamping output shaft type (RV-27C, 5C, 1C and 2C) The O-ring groove is provided at the end face of output shaft of the reduction gear. Use O-rings as shown below. Applicable O-ring (III) Applicable O-ring (IV) RV-27C S75 S12 RV-5C S1 S15 RV-1C G115 AS RV-2C S15 AS Assembly example of through-bolt clamping output shaft type (RV-1C and 32C) Provide the O-ring groove on the counterpart component. Dimensions of O-rings are shown below for reference. O-ring(III) seal dimensions (for reference) RV-1C RV-32C ID number AS G21 Wire dia. ø 1.78 ±.7 ø 5.7 ±.13 I. D. ø ±.38 ø O. D.: D ø 51. ø 22. Depth: H 1.27 ± ±.5 Width: B Dimensions O-ring (III) O-ring Groove size O-ring (IV) O-ring (III) O-ring (IV) O-ring (II) (Unit: mm) O-ring (II) O-ring(IV) seal dimensions (for reference) Dimensions O-ring Groove size Groove dimensions of O-ring (III) & (IV) (Unit: mm) RV-1C RV-32C ID number S1 G29 Wire dia. ø 2. ±.1 ø 5.7 ±.13 I. D. ø 99.5 ±.4 ø O. D.: D ø 13. ø 3. Depth: H ± Width: B Technical Information Original series C series E series Note) The S type ID number is the manufacturer's own standard. 55

58 56

59 Precision Reduction Gear RV Originalseries Model Codes Explanation of codes When placing an order or making an inquiry, please use the following codes to specify the appropriate model. RV A - T Model code Frame number Series code Ratio code Input gear code Input spline code Output shaft clamp code 15 57, 81, 15, 121, 141 RV 3 57, 81, 15, 121, No code: Standard type (no main bearing) 57, 81, 11, 121, , 11, 129, 145, , 11, 118.5, 129, 141, 171, , 11, 118.5, 129, 154.8, 171, , 141, 163.5, A: Standard gear A B: Standard gear B Z: No gear B: Bolt-clamping output shaft type T: Through-bolt clamping output shaft type 57

60 Rating Table Model Ratio code Output speed (rpm) Shaft rotation R Speed ratio Case rotation Output torque (Nm) input capacity (kw) RV RV RV RV , , , , , , RV , , , , , , RV , , , , , RV , , , , 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. 2. The input capacity (kw) is calculated according to the following calculation formula: 2π N T Input capacity (kw) = η N: Output speed (rpm) T : Output torque (Nm) η =75: Reduction gear efficiency (%) Note: The input capacity is a reference value. 3. When the reduction gear is used at low temperatures, there will be a larger no-load running torque. Note this characteristic when selecting a motor. (Refer to Low temperature characteristic on page 95.) 58

61 T Rated torque (Note 7) N Rated output Speed K Rated service life TS1 Allowable acceleration deceleration torque TS2 Momentary maximum allowable torque NS Maximum allowable Backlash output speed (Note 1) Lost motion MAX. Angular transmission error MAX. Startup effi ciency (Typical value) I (= GD2 4 ) Reduced value of the inertia moment for the input shaft (Note 4) (Nm) (rpm) (h) (Nm) (Nm) (rmin) (arc.min.) (arc.min.) (arc.sec.) (%) (kgm 2 ) (kg) , , 833 1, , 1,592 3, , , 3,92 6, , , 7,84 12, , , 11,25 18, , , 13,475 26, Note: 4. The inertia moment value is for the reduction gear. It does not include the inertia moment for the input gear. 5. For the torsional rigidity, refer to the calculation of tilt angle and the torsion angle (p. 99). 6. 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.81) and the Product selection flowchart (p.82). 7. Contact us regarding speed ratios other than those listed above. 8. The specifications above are based on Nabtesco evaluation methods; this product should only be used after confirming that it is appropriate for the operating conditions of your system. Weight Technical Information Original series C series E series 59

62 External Dimensions 6 Speed ratio RV-15 Through-bolt clamping output shaft type (2 piece input gear) Type code RV B-T A Specifications and dimensions are subject to change without notice.

63 Speed ratio RV-15 Through-bolt clamping output shaft type (1 piece input gear) Type code RV B A -T Specifications and dimensions are subject to change without notice. 61 Technical Information Original series C series E series

64 62 Speed ratio RV-3 Through-bolt clamping output shaft type (2 piece input gear) Type code RV B-T A Specifications and dimensions are subject to change without notice.

65 Speed ratio RV-3 Through-bolt clamping output shaft type (1 piece input gear) Type code RV-3- - B A -T Specifications and dimensions are subject to change without notice. 63 Technical Information Original series C series E series

66 64 Speed ratio RV-6 Through-bolt and pin clamping output shaft type (2 piece input gear) Type code RV B-T A Specifications and dimensions are subject to change without notice.

67 Speed ratio RV-6 Through-bolt and pin clamping output shaft type (1 piece input gear) Type code RV-6- - B A -T Specifications and dimensions are subject to change without notice. 65 Technical Information Original series C series E series

68 66 Speed ratio RV-16 Through-bolt and pin clamping output shaft type (1 piece input gear) Type code RV B A -T Specifications and dimensions are subject to change without notice.

69 Speed ratio RV-32 Through-bolt and pin clamping output shaft type (1 piece input gear) Type code RV B A -T Specifications and dimensions are subject to change without notice. 67 Technical Information Original series C series E series

70 68 Speed ratio RV-45 Through-bolt and pin clamping output shaft type (1 piece input gear) Type code RV B A -T Specifications and dimensions are subject to change without notice.

71 Speed ratio RV-55 Through-bolt clamping output shaft type (1 piece input gear) Type code RV A -T Specifications and dimensions are subject to change without notice. 69 Technical Information Original series C series E series

72 7 Speed ratio RV-16 Bolt and pin clamping output shaft type (1 piece input gear) Type code RV B A -B Specifications and dimensions are subject to change without notice.

73 Speed ratio RV-32 Bolt clamping output shaft type (1 piece input gear) Type code RV B A -B Specifications and dimensions are subject to change without notice. 71 Technical Information Original series C series E series

74 72 Speed ratio RV-45 Bolt clamping output shaft type (1 piece input gear) Type code RV B A -B Specifications and dimensions are subject to change without notice.

75 Speed ratio RV-55 Bolt clamping output shaft type (1 piece input gear) Type code RV A -B Specifications and dimensions are subject to change without notice. 73 Technical Information Original series C series E series

76 Design Points Installation Components Design of the motor mounting flange In order to avoid contact with reduction gear components, refer to the sizes indicated in the External 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 adddrain grease fitting to enable grease replacement. An installation example is shown below. Use the specified tightening torque to uniformly tighten the hexagon socket head cap screws (with corresponding conical spring washers). Since the Original series is designed to be an integral part of the equipment, make sure that external thrust or radial loads are not applied to it. When aluminum is used in the structure housing the reduction gear, the clamping force for fixing the bolts may be restricted, depending on the conditions, thus resulting in problems with clamping strength. Study and consider this point thoroughly when designing under such circumstances. In order to achieve maximum performance of the Original series, assembly accuracy, lubrication and sealing are especially important. Read the following carefully before designing. Assembly accuracy Design the assembly side of the reduction gear to the following accuracy. (The following figure shows the reduction gear used for shaft revolution. Design it to the same accuracy when using it for case revolution.) Poor accuracy on the assembly side causes vibration or uneven torque in particular. Output shaft mating surface Case mating surface Perform adjustment after installing the reduction gear so that runout of the dial gauge applied to the graphically indicated section shows.2 mm or less when the shaft of the RV reduction gear is rotated by 1 turn. Inner side fitting location Outer side fitting location Use either of the inside or outside for mating part B of the output shaft. For the RV-32, RV-45 and RV-55, only the inside mating part can be used. 74 Model Accuracy Circumferential defl ection tolerance Max. a Circumferential defl ection tolerance Max. b Circumferential defl ection tolerance Max. c Tolerance for concentricity Max. d Size accuracy for assembly l 1 l 2 RV ±.5 48 ±.5 RV ±.5 56 ±.5 RV ±.5 61 ±.5 RV ±1. 79 ±1. RV ±1. 96 ±1. RV ± ±1. RV ± ±1.

77 Installation Reduction gear mounting holes Case Shaft I Through-hole and pin hole Through-hole and pin hole II Threaded hole and pin hole (Through-hole for RV-15 and RV-3) Notes 1. Select method I or I I so as to meet your requirements. 2. When using pins additionally, refer to Transmission Torque (page 1) and External Dimensions (page 6 to 73). Fitting of reduction gear Through-holes Outside mating part When using pins additionally, refer to Transmission Torque (page 1) and External Dimensions (page 6 to 73). Inside mating part Tapped holes Outside mating part When using pins additionally, refer to Transmission Torque (page 1) and External Dimensions (page 6 to 73). Inside mating part Shaft side : Provide an internal or external mating part. Case side : Do not provide a mating part on the case side except when it is used as a motor mounting flange. (Flange construction) A mating part may be provided for the case side if it is required for the flange construction. Shaft side : Provide an internal or external mating part. Case side : Do not provide a mating part on the case side (Flange construction) For a flange construction, the mating part may be set at the case side. Technical Information Original series C series E series Note : In the reduction gear, there is a slight difference in the concentricity between the shaft side and the case side. If a mating part is provided for both the shaft and case sides, the shaft may rotate eccentrically to the case, causing vibration. Do not provide a mating part on the case side. To assemble the reduction gear, fi rst fasten the shaft side, with the case set freely, then fasten the case from the rear. 75

78 Design Points Installation Components Installation procedure Typical installation examples for reduction gears to be mounted on the mating components are shown below. Be sure to apply the specified amount of the specified grease during assembly. (See page 111 to 112) Refer to the O-ring seals shown to make a seal design of the mounting side. Refer to the O-ring seal installation illustrated. If an O-ring cannot be used due to the structure, use the Gasket sealant from the table on the right. Use either the outside or inside mating part for the shaft. If an O-ring cannot be used due to the structure, use the liquid sealants from the table on the right. Recommended gasket sealant Manufacturer Characteristics and applications ThreeBond 1211 Silicone-based, solventless type (ThreeBond Co.) Semi-dry gasket One-part, non-solvent elastic sealant HermeSeal SS-6F Metal contact side (fl ange surface) seal (Nihon Hermetics Co.) Any product basically equivalent to ThreeBond 1211 Notes Loctite 515 (Henkel) Anaerobic fl ange sealant Metal contact side (fl ange surface) seal 1. Do not use these sealants for copper material or copper alloy material. 2. If these sealants need to be used under special conditions such as concentrated alkali, pressurized steam, etc., please consult Nabtesco. Installation of RV-15, RV-3 With two crankshafts Flange construction Mating part Serrated lock washer Hexagon socket head cap screw Dial gauge 3. Check the reduction gear for assembly accuracy using a dial gauge. Turn the reduction gear once on the installation side (output shaft side), and check the dial gauge for run-out. In the case of precision control in which vibration is strictly limited, ensure that the run-out on the gauge is 2 μm or less. When employing case revolution, turn the reduction gear on the dial gauge side for measurement. 4. Tighten the hexagon socket head cap screw to the specified torque. Recheck the dial gauge for run-out. Recommended O-ring RV-15 JIS B 241-G15 RV-3 JIS B 241-G Fit the shaft side of the reduction gear to the mating part on the installation side. 2. Temporarily tighten the reduction gear shaft and the installation side using the hexagon socket head cap screw coupled with belleville spring washer. Make sure that the mating face is free from dirt, dust, burrs, etc. before installing the reduction gear. Recommended O-ring Taper pin Crankshaft Dummy input gear 5. Turn the output shaft until the set hole of the case matches the set hole of the body. Temporarily tighten the case using the hexagon socket head cap screw with the belleville spring washer. The case may be turned with the input gear or dummy input gear. 6. Make sure that the reduction gear is turned by a moderate torque while adjusting the position of the temporary tightening bolt. Finally, tighten the hexagon socket head cap screw to the specified torque. Never tighten the hexagon socket head cap screw before adjusting the reduction gear. Otherwise, the gap between the shaft and case may become uneven, thus causing an uneven torque. If a single spur gear of the reduction gear is turned by hand, the spur gear encounters great resistance at two points because of a positional relation of crankshaft phase with RV gear phase. However, this causes no problem. Mark position Approx.9 7. Turn the reduction gear until the mark on the crankshaft comes to the position illustrated. 8. When using the additional pin, ream the pin hole with a tapered reamer and drive the pin. 76

79 Input gear Hexagon socket head cap screw Motor O-ring Mating part Mating part O-ring groove: For details, refer to External Dimensions on pages 6 to 73. O-ring 9. Assemble the input gear with the motor shaft. The left figure shows that the motor output shaft is straight and female threaded. For other specifications, refer to Design of the motor mounting area (page 14 to 16). 1. Supply a lubricant (grease). For the quantity of lubricant, refer to Lubricant (page 111 to 112). 11. Insert the motor shaft into the reduction gear, with the motor shaft axis in alignment with the center axis of the reduction gear. When inserting the motor shaft, check to make certain that the motor flange face comes into close contact with the mating face of the reduction gear, with no inclination. Do not tighten the motor mounting bolt without checking the close contact. If the motor flange face is inclined, the input gear may be out of position (refer to 4. Precautions for assembling the input gear in Precautions for Installing the Precision Reduction Gear RV included with the reduction gear). Match the mark of the crankshaft with the mark of the motor shaft once again, and insert the motor shaft. Crankshaft markings are for proper assembly of the input gear. If the input gear is installed in the wrong place, damage to the servomotor shafts, input gears and spur gears may result. 12. Fasten the motor to the case using the motor flange mounting bolts. Technical Information Original series C series E series Motor installation bolt 77

80 Design Points Installation Components Installation of RV-6 to RV-55 With three crankshafts Installation side Mating part Serrated lock washer 1. Align the shaft side of the reduction gear with the mating part of the mounting side before assembly. 2. Temporarily tighten the shaft part of the reduction gear with the mated body using the hexagon socket head cap screw with the belleville spring washer. Make sure that the mating face is free from dirt, burrs, etc. before installing the RV reduction gear. Hexagon socket head cap screw RV-6 RV-16 RV-32 RV-45 AS AS AS AS Recommended O-ring Taper pin Dial gauge 3. Check the reduction gear for assembly accuracy using a dial gauge. Turn the reduction gear once on the installation side (output shaft side), and read the dial gauge for run-out. In the case of precision control in which vibration is strictly limited, ensure that the run-out on the gauge is 2μm or less. When employing case revolution, turn the dial gauge side for measurement. 4. Finally, tighten the hexagon socket head cap screw to the specified torque. Recheck the dial gauge for run-out. 5. When using the additional pin, ream the pin hole with a tapered reamer before driving the pin. Recommended O-ring Dummy input gear 6. Turn the output shaft until the set hole of the case matches the set hole of the mated body. Temporarily tighten the case using the hexagon socket head cap screw fitted with belleville spring washer. The case may be turned with the input gear or dummy input gear. 7. Make sure that the reduction gear is turned by a moderate torque while adjusting the temporary tightening bolt. Finally tighten the hexagon socket head cap screw to the specified torque. Never tighten the hexagon socket head cap screw before adjusting the reduction gear. Otherwise, the gap between the shaft and case may become uneven, thus causing an uneven torque. Taper pin 78 Recommended O-ring

81 Input gear Hexagon socket head cap screw Motor O-ring Mating part Mating part O-ring groove: For details, refer to External Dimensions on pages 6 to 73. O-ring Motor installation bolt 8. When using the additional pin, ream the pin hole with a tapered reamer then drive the pin. 9. Assemble the input gear in the motor shaft. The left figure shows that the motor output shaft is straight and female threaded. For other specifications, see the installation example (section 6.5). Refer to Design of the motor mounting area (page 14 to 16). 1. Supply a lubricant (grease). For the quantity of lubricant, refer to Lubricant (page 111 to 112). 11. Insert the motor shaft into the reduction gear, with the motor shaft axis in alignment with the center axis of the reduction gear. When inserting the motor shaft, check to make certain that the motor flange face comes into close contact with the mating face of the reduction gear, with no inclination. If the input gear is not in alignment with the spur gear, turn the motor shaft a little in the circumferential direction to insert it. RV-6 AS RV-16 With no O-ring groove RV-32 AS RV-45 AS RV-55 *No * O-rings for RV-55 are of a special specification. Contact us regarding purchase of these O-rings. 12. Fasten the motor to the case using the motor installation bolts. Technical Information Original series C series E series 79

82 Considering the use of Precision Reduction Gear RV 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 sufficient precautions and perform the required export procedures in advance if the final 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 energy facilities, space equipment, transportation equipment, medical equipment, safety units, etc.), examination of individual situations is required. Contact our agent or nearest business office 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 specifications indicated in this catalog are based on Nabtesco evaluation methods. This product should only be used after confirming that it is appropriate for the operating conditions of your system. Operating environment 8 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 85% and no condensation occurs. Location where the altitude is less than 1 m. Well-ventilated location Note 1: 2: Maintenance The standard replacement time for Iubricant is 2, 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 motor can be affected by magnetic fields or vibration. If the required operating environment cannot be establishedmet, 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. Note: 12 degrees only for the RV-6E. Manuals Safety information and detail product instructions are indicated in the operation manual. The operation manual can be downloaded from the following website.

83 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 accelerationdeceleration 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 accelerationdeceleration 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 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 External shock torque Max torque for startup Constant torque Max torque for stop Shock torque at emergency stop Time 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 ba 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 (arc.sec.) Backlash Torsion angle ±3% Rated Torque ±1% Rated Torque 23 sec One revolution of the output shaft ( ) b Lost motion a Technical Information Original series C series E series 81

84 Product Selection Product Selection Flowchart Step 1. Set items required for selection. (P.83, 84) 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 2. Verify the operating environment. (P.83, 84) Checking of operating environment Ambient temperature Locations where the product Humidity cannot be installed Altitude (Refer to page 8.) Ventilation Reduction gear surface temperature Compatible NO YES Step 3. Verify the reduction gear load. (P.83 to 85) 1.Calculation of inertia moment 2.Calculation of constant torque 3.Setting of operation pattern 4.Calculation of inertia torque 5.Calculation of load torque Step 4. Select a reduction gear. (P.86 to 89) 6.Calculation of average speed and average load torque 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(2) Select a reduction gear based on the calculated rated torque. Tentatively select a reduction gear model. Verify the maximum torque for startup. T1,T3 TS1 Verify the shock torque due to an emergency stop. Pem Cem YES NO NO Verify the maximum torque for startup. T1,T3 TS1 YES Verify the shock torque due to an emergency stop. Pem Cem YES NO NO YES Verify the output speed. NO It is not necessary to determine these for the Original series. Verify the output speed. Nm Ns YES Verify the thrust load W2 Allowable thrust. NO NO Nm Ns YES Verify the thrust load W2 Allowable thrust. It is not necessary to determine YES these for the Original series. Examine the moment load. NO NO YES M MO1 YES Examine the moment load. M MO1 YES NO Reconsider the appropriate model. YES NO Verify the service life. Lex L YES NO Reconsider the appropriate model. YES NO Determine the reduction gear model. A limitation is imposed on the motor torque value according to the momentary maximum allowable torque of the selected reduction gear. (Refer to page 9) 82

85 Product Selection Model Code Selection Examples With horizontal rotational transfer Step 1. Set the items required for selection. Setting item Setting a D2 Reduction gear mounting direction Vertical shaft installation Equipment weight to be considered W A Disk weight (kg) 18 W B Work weight (kg) 2 4 pieces Equipment configuration to be considered D 1 Disk: D dimension (mm) 1,2 a Work piece: a dimension (mm) 1 b Work piece: b dimension (mm) 3 D 2 Work piece: P.C.D. (mm) 1, Operation conditions Rotation angle ( )* 1 18 [t 1 +t 2 +t 3 ] Rotation time (s) 2.5 [t 4 ] Cycle time (s) 2 Q 1 Equipment operation hours per day (hoursday) 12 Q 2 Equipment operation days per year (daysyear) 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 2. Verify the operating environment. Checkpoint S Ambient temperature ( C) -1 to +4 S 1 Reduction gear surface temperature ( C) 6 or less Standard value Note: Refer to Operating environment on p.8 for values other than those listed above. Step 3-1. Examine the reduction gear load b Fixing component Reduction gear D1 Equipment to be verified: Work Equipment to be verified: Disk Motor flange Motor Setting item Calculation formula Selection examples (1) Calculate the inertia moment based the calculation formula on page 52. I R Load inertia moment (kgm 2 ) (2) Examine the constant torque. T R Constant torque (Nm) Step 3-2: Proceed to p. 85. WA I R1 = WB I R2 = 12 2 D1 2 1, a b D2 + + WB n 1, 1, 2 1, I R1 = Disk inertia moment I R2 = Work inertia I R = I R1 + I R2 n =Number of work pieces Din TR = ( WA + WB ) 9.8 μ 2 1, μ = Friction factor Note: Use.15 for this example as the load is applied to the bearing of the RD2 precision 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 E series = 328 (mm) C series = 52 (mm) Original series = 37 (mm) 2 1, , I R1 = 2 = 32.4 ( kgm 2) I R2 = I R S1( C) Load torque (Nm) Speed (rpm) , = 2.7 (kgm 2 ) = = 53.1 ( kgm2) -1 S ( C) , Time (s) 4 1, , T R ( ) 328 = , = 6.3 (Nm) 2 4 Technical Information Original series C series E series 83

86 Product Selection Model Code Selection Examples 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 W C Mounted work weight (kg) 49 Equipment configuration to be considered a a dimension (mm) 5 b b dimension (mm) 5 R R dimension (mm) 32 Operation conditions Rotation angle ( )* 1 9 [t 1 +t 2 +t 3 ] Rotation time (s) 1.5 [t 4 ] Cycle time (s) 2 Q 1 Equipment operation hours per day (hoursday) 24 Q 2 Equipment operation days per year (daysyear) 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 2. Verify the operating environment. Load torque (Nm) Rotation speed (rpm) Reduction gear Motor flange Motor Fixing component Equipment to be examined a Rotation center R Position of the center of gravity Time (s) 6 b Checkpoint Standard value 4 S Ambient temperature ( C) -1 to +4 S 1 Reduction gear surface temperature ( C) 6 or less Note: Refer to Operating environment on p. 8 for values other than those listed above. S1( C) -1 Step 3-1. Examine the reduction gear load -1 S ( C) 4 Setting item Calculation formula Selection examples (1) Calculate the inertia moment. I R Load inertia moment (kgm 2 ) = WC I R a + b + W R C 1, 1, 1, 49 I R = , = 7.6( kgm2) , , 2 (2) Examine the constant torque. T R Constant torque (Nm) R TR = WC 9.8 1, T R = = 1,537(Nm) 32 1, Step 3-2: Proceed to p. 85. (Refer to With horizontal rotational transfer for selection examples.) 84

87 Step 3-2. Set items required for selection Setting item Calculation formula Selection examples (With horizontal rotational transfer) (3) Set the accelerationdeceleration time, constant-speed operation time, and output speed. t 1 t 2 t 3 N 2 N 1 N 3 Acceleration time (s) Constant-speed operation time (s) Deceleration time (s) Constant speed (rpm) Average speed for startup N 2 N 1 = (rpm) 2 Average speed for stop (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. Note: 1. Assume that t1 and t3 are the same. Note: 2. N2 = 15 rpm if the reduction gear output speed (N2) is not known. Note: 3. If t1 and t3 is less than, increase the output speed or extend the rotation time. N 2 N 3 = 2 (4) Calculate the inertia torque for accelerationdeceleration. T A T D Inertia torque for acceleration (Nm) Inertia torque for deceleration (Nm) IR ( N ) TA = t T = (5) Calculate the load torque for accelerationdeceleration. T 1 T 2 T 3 Maximum torque for startup (Nm) Constant maximum torque (Nm) Maximum torque for stop (Nm) (6)-1 Calculate the average speed. N m Average speed (rpm) (6)-2 Calculate the average load torque. T m Average load torque (Nm) t1 = t3 = Rotation [ t1 + t2 + t3 ] N t2 = Rotation [ t1 + t2 + t3 ] ( t1 + t3) D I R ( N ) t 2 2π 6 2π 6 T1 = TA + TR T R: Constant torque With horizontal rotational transfer Refer to page 83 With vertical rotational transfer Refer to page 84 Examine the operation pattern using N2 = 15 rpm as the reduction gear output speed is unknown. 15 N1 = = 7. 5(rpm) 2 15 N3 = = 7. 5 (rpm) 2 T A T D 53.1 ( 15 ) 2π =.5 6 = (Nm) 53.1 ( 15) 2π =.5 6 = (Nm) T1 = = (Nm) T= 2 T R T = 6.3 (Nm) T1 = TA + TR T R: Constant torque With horizontal rotational transfer Refer to page 83 With vertical rotational transfer Refer to page 84 t1 N1+ t 2 N2+ t 3 N N m = t + t + t 1 3 t T1 + t T2 + t3 T N N N = m t N + t N + t N T3 3 N = 15 (rpm) 2 T3 = = 16.5(Nm) Go to page 86 if the reduction gear model is verified based on the required life. Go to page 88 if the service life is verified based on the reduction gear model. 18 t1 = t 3 = 2.5 =. 5(s) t t 2 2 = 2.5 (.5+.5) = 1.5 (s) t1 = t 3 =.5 (s) = 1.5 (s) N m = = 12(rpm) T m = = 11.2 (Nm) 1 3 Technical Information Original series C series E series 85

88 Product Selection Model Code Selection Examples 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. Settingverifi cation 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 = 2 = 2,16 (times) Q 3 Operating hours of reduction gear per day (h) Q1 cy ( t1+ t 2+ t3 ) Q3 = 6 6 2,16 ( ) Q3 = 6 6 = 1.5( h) Q 4 Operating hours of reduction gear per year (h) Q 4 = Q3 Q2 Q4 = = 548 ( h) Lhour = L hour Reduction gear service life (h) Lhour = Q 4 Lex = 2,74 ( h) T O' Reduction gear rated torque that satisfi es the required life (Nm) 1 Lhour T' N = T m m ( 3 ) K N K : Reduction gear rated life (h) N : Reduction gear rated output speed (rpm) T' =.2 ( ) = 81.5(Nm) 2, , 15 (2) Tentatively select a reduction gear model based on the calculated rated torque. Select a reduction gear for which the rated torque of the reduction gear [T] *1 is equal to or greater than the rated torque of the reduction gear that satisfi es the required life [T ]. Tentative selection of the reduction gear *1 [T]: E series: Page 12 to 13 C series: Page 38 to 39 Original series: Page 58 to 59 Refer to the individual rating tables. (3) Verify the maximum torque for startup and stop. Verifi cation of maximum torque for startup and stop (4) Verify the output speed. Check the following conditions: The allowable accelerationdeceleration torque [Ts1] *1 is equal to or greater than the maximum starting torque [T1] *2 and maximum stopping torque [T3] *2 If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. *1 [Ts1]: E series: Page 12 to 13 C series: Page 38 to 39 Original series: Page 58 to 59 Refer to the individual rating tables. *2 [T1] and [T3]: Refer to page 85 RV-2E that meets the following condition is tentatively selected: [T] 167 (Nm) [T ] 81.5 (Nm) [Ts1] 412 (Nm) [T1] (Nm) [T3] 16.5 (Nm) According to the above conditions, the tentatively selected model should be no problem. N m Average speed per cycle (rpm) Nm = t 1 N 1 +t 2 N 2 +t 3 N Nm = t 4 2 = 1.5 (rpm) Check the following condition: The allowable output speed [Ns] *1 is equal to or greater than the average speed per cycle [Nm] Verifi cation of output speed If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. Contact us regarding use of the model at a speed outside the allowable output speed [Ns] *1. Note: The value of [NS] is the speed at which the case temperature is balanced at 6ºC for 3 minutes. [Ns] 75 (rpm) [Nm] 1.5 (rpm) According to the above condition, the tentatively selected model should be no problem. *1 [NS] and [NS1]: E series: Page 12 to 13 C series: Page 38 to 39 Original series: Page 58 to 59 Refer to the individual rating tables. 86

89 Reduction gear selection method (1) Calculate the required torque based on the load conditions and required life and select a reduction gear. Settingverifi cation item Calculation formula Selection examples (With horizontal rotational transfer) (5) Verify the shock torque at the time of an emergency stop. P em T em N em t em Z 4 C em Expected number of emergency stop times (times) Shock torque due to an emergency stop (Nm) Speed at the time of an emergency stop (rpm) Deceleration time at the time of an emergency stop (s) Number of pins for reduction gear Allowable number of shock torque application times Verifi cation of shock torque due to an emergency stop Based on the operation conditions. Time (s) Set the operation conditions that meet the following requirement: Shock torque due to an emergency stop [Tem] is equal to or less than the momentary maximum allowable torque [Ts2] Model Number of pins (Z4) Model Number of pins (Z4) Model Number of pins (Z4) RV-6E RV-1C RV-15 RV-2E RV-27C RV-3 52 RV-4E RV-5C RV-6 RV-11E 4 RV-1C RV-16 4 RV-16E RV-2C 56 RV-32 RV-32E RV-32C 6 RV-45 RV-45E RV-5C 58 RV T S2 T em 1 3 C em = Z 4 N em t em 6 Note [Ts2]: Momentary maximum allowable torque E series: Page 12 to 13 C series: Page 38 to 39 Original series: Page 58 to 59 Refer to the individual rating tables. Check the following condition: The allowable shock torque application count [Cem] is equal to or greater than the expected emergency stop count [Pem] If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. (6) Verify the thrust load and moment load. (It is not necessary to determine these for the Original series.) W 1 R adial load (N) Output shaft installation surface (N) l W 2 l 2 M Distance to the point of radial load application (mm) Thrust load (N) Distance to the point of thrust load application (mm) Moment load (Nm) Verify the thrust load and moment load b Load torque (Nm) Speed (rpm) Tem Nem a l 2 W 1 W1 ( l + b-a) + W2 l2 M = 1, a,b: Refer to the calculation of the tilt angle on page 99. Check that the thrust load and moment load are within the range in the allowable moment diagram on page 91. When radial load W1 is applied within dimension b, use the reduction gear within the allowable radial load. Wr: Allowable radial load: E series: Page 12 to 13, C series: Page 38 to 39,Original series: Page 58 to 59 Refer to the individual rating tables. If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. l tem W 2 For example, an emergency stop occurs once a month. [Pem] = 1 x 12 x required life (year) [Lex] = 12 x 5 = 6 (times) For example, [Tem] = 5 (Nm) For example, [Nem] = 15 (rpm) For example, [tem] =.5 (s) Number of pins for RV-2E: 4 C em = = 8,497 (times) [Cem] 8,497 [Pem] 6 According to the above condition, the tentatively selected model should be no problem. (mm) In this example, W2 = W A + W B = ( ) 9.8 = 2,548 ( N) Note WA, WB : Refer to page 83. (mm) (As the workpiece center is located on the rotation axis) RV-2E As dimension a = 2.1 (mm) and dimension b = (mm): ( ) + 2,548 M = 1, = (Nm) For this example, Thrust load [W2] = 2,548 (N) Moment load [M] = (N) As the above values are within the range in the allowable moment diagram, the tentatively selected model should be no problem. Technical Information Original series C series E series Select the reduction gear model that satisfi es all the conditions of the above verifi cation items. The actual reduction ratio is determined based on the motor speed, input torque, and inertia moment. Check with the motor manufacturer. Based on the above verification result, RV-2E is selected. 87

90 Product Selection Model Code Selection Examples Reduction gear selection method (2): Tentatively select a reduction gear model and evaluate the service life. Settingverifi cation item Calculation formula Selection examples (With horizontal rotational transfer) (1) Tentatively select a desired reduction gear model. Tentative selection of a reduction gear Tentatively select a desired reduction gear model. For example, tentatively select RV-2E. (2) Verify the maximum torque for startup and stop. Verifi cation of maximum torque for startup and stop Check the following conditions: The allowable accelerationdeceleration torque [Ts1] *1 is equal to or greater than the maximum starting torque [T1] *2 and maximum stopping torque [T3] *2 If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. *1 [Ts1]: E series: Page 12 to 13, C series: Page 38 to 39, Original series: Page 58 to 59 Refer to the individual rating tables. *2 [T1] and [T3]: Refer to page 85 [Ts1] 412 (Nm) [T1] (Nm) [T3] 16.5 (Nm) According to the above conditions, the tentatively selected model should be no problem. (3) Verify the output speed. N m Average speed per cycle (rpm) Nm = t 1 N 1 +t 2 N 2 +t 3 N Nm = t 4 2 = 1.5 (rpm) Verifi cation of output speed Check the following condition: The allowable output speed [NS1] *1 is equal to or greater than the average speed per cycle [Nm] If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. Contact us regarding use of the model at a speed outside the allowable output speed [NS1] *1. Note: The value of [NS] is the speed at which the case temperature is balanced at 6ºC for 3 minutes. *1 [NS] and [NS1]: E series: Page 12 to 13, C series: Page 38 to 39, Original series: Page 58 to 59 Refer to the individual rating tables. (4) Verify the shock torque at the time of an emergency stop. P em Expected number of emergency stop times (times) Based on the operation conditions. [Ns] 75 (rpm) [Nm] 1.5 (rpm) According to the above condition, the tentatively selected model should be no problem. For example, an emergency stop occurs once a month. [Pem] = 1 x 12 x required life (year) [Lex] = 12 x 5 = 6 (times) T em N em Shock torque due to an emergency stop (Nm) Speed at the time of an emergency stop (rpm) Load torque (Nm) Tem For example, [Tem] = 5 (Nm) For example, [Nem] = 15 (rpm) Nem t em Z 4 C em Deceleration time at the time of an emergency stop (s) Number of pins for reduction gear Allowable number of shock torque application times Verifi cation of shock torque due to an emergency stop Speed (rpm) Time (s) Set the operation conditions that meet the following requirement: Shock torque due to an emergency stop [Tem] is equal to or less than the momentary maximum allowable torque [Ts2] Model Number of pins (Z4) Model Number of pins (Z4) Model Number of pins (Z4) RV-6E RV-1C RV-15 RV-2E RV-27C RV-3 52 RV-4E RV-5C RV-6 RV-11E 4 RV-1C RV-16 4 RV-16E RV-2C 56 RV-32 RV-32E RV-32C 6 RV-45 RV-45E RV-5C 58 RV T S2 T em 1 3 C em = Z 4 N em t em 6 Note [Ts2]: Momentary maximum allowable torque, E series: Page 12 to 13, C series: Page 38 to 39, Original series: Page 58 to 59 Refer to the individual rating tables. Check the following condition: The allowable shock torque application count [Cem] is equal to or greater than the expected emergency stop count [Pem] If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. tem For example, [tem] =.5 (s) Number of pins for RV-2E: 4 C em = = 8,497 (times) [Cem] 8,497 [Pem] 6 According to the above condition, the tentatively selected model should be no problem. 88

91 Reduction gear selection method (2): Tentatively select a reduction gear model and evaluate the service life. Settingverifi cation item Calculation formula Selection examples (With horizontal rotational transfer) (5) Verify the thrust load and moment load. (It is not necessary to determine these for the Original series.) W 1 l W 2 l 2 M R adial load (N) Distance to the point of radial load application (mm) Thrust load (N) Distance to the point of thrust load application (mm) Moment load (Nm) Verify the thrust load and moment load (6) Verify the reduction gear service life. L h Q 1cy Life (h) Number of cycles per day (times) b Output shaft installation surface a l 2 W 1 W1 ( l + b-a) + W2 l2 M = 1, a,b: Refer to the calculation of the tilt angle on page 99. l W 2 Check that the thrust load and moment load are within the range in the allowable moment diagram on page 91. Wr: Allowable radial load: E series: Page 12 to 13, C series: Page 38 to 39,Original series: Page 58 to 59 Refer to the individual rating tables. If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. N T L h = 6, N T Q1 6 Q1 cy t 4 m m 1 3 (N) (mm) In this selection example, W2 = ( ) 9.8 = 2,548 ( N) Note 1. WA,WB: Refer to page 83. (mm) (As the workpiece center is located on the rotation axis) RV-2E As dimension a = 2.1 (mm) and dimension b = (mm): ( ) + 2,548 M = 1, = (Nm) For this example, Thrust load [W2] = 2,548 (N) Moment load [M] = (N) As the above values are within the range in the allowable moment diagram, the tentatively selected model should be no problem. L h = 6, = 29,981 (h) = Q1 cy = = 2,16 (times) 2 Q 3 Operating hours per day (h) Q1 ( t1+ t 2+ t 3) Q3 = cy 2,16 ( ) Q3 = = 1. 5( h) Q 4 Operating hours per year (h) Q 4 = Q3 Q2 Q4 = = 548 (h) L year Reduction gear service life (year) Lyear L 29,981 = Lyear = = 54.7 ( year) 548 L ex Required life (year) Based on the operation conditions 5 years Verifi cation of the service life h Q 4 Check the following condition: [Lex] is equal to or less than [Lyear] If the tentatively selected reduction gear is outside of the specifi cations, change the reduction gear model. Select the reduction gear model that satisfi es all the conditions of the above verifi cation items. The actual reduction ratio is determined based on the motor speed, input torque,and inertia moment. Check with the motor manufacturer. 1 3 [Lex] 5 (year) [Lyear] 54.7 (year) According to the above condition, the tentatively selected model should be no problem. Based on the above verification result, RV-2E is selected. Technical Information Original series C series E series 89

92 Product Selection Model Code Selection Examples Limitation on the motor torque A limitation is imposed on the motor torque value so that the shock torque applied to the reduction gear does not exceed the momentary maximum allowable torque. Settingverifi cation item Calculation formula Selection examples (With horizontal rotational transfer) TM1 Motor momentary maximum torque (Nm) Determine based on the motor specifi cations. For example, TM1 = 1 (Nm) TM1OUT Maximum torque generated at the output shaft for the reduction gear (Nm) (When an external shock is applied at the time of an emergency stop or motor stop) Maximum torque generated at the TM2OUT output shaft for the reduction gear (Nm) (When a shock is applied to the output shaft due to hitting by an obstacle) Limitation on motor torque value 1 TM 1out = TM 1 R R: Speed ratio η : Startup effi ciency (%),E series: Page 12 to 13, C series: Page 38 to 39, Original series: Page 58 to 59 Refer to the individual rating tables. TM 2out = TM 1 R 1 Check the following condition: The momentary maximum allowable torque [TS2] *1 is equal to or greater than the maximum torque generated at the output shaft for the reduction gear [TM1OUT] and [TM2OUT] If the above condition is not satisfi ed, a limitation is imposed on the maximum torque value of the motor. *1 [TS2]: E series: Page 12 to 13, C series: Page 38 to 39, Original series: Page 58 to 59 Refer to the individual rating tables. For example, calculate the maximum torque generated at the output shaft for the reduction gear based on the specifi cations when RV-2E-161 was selected. T M 1 out = = 2,147(Nm) T M 2 out = = 1,28(Nm) [TS2] 833 (Nm) [TM1OUT] 2,147 (Nm) and [TM2OUT] 1,28 (Nm) According to the above condition, the torque limit is set for the motor. 9

93 Product Selection Allowable Moment Diagram E series 9,8 29,4 7,84 RV-8E 24,5 RV-45E Thrust force (N) 5,194 3,92 3,41 3,4 2,4 1, Thrust force (N) RV-2E RV-6E RV-4E ,45 1,666 1,735* 2,156 RV-1C 13,72 RV-5C 11,76 RV-27C 8,82 5,88 RV-1C 3,1 2,48 1,715 1,5 Backdriving torque Allowable moment (Nm) * Value is for the pinbolt-clamping output-shaft type. C series ,764 2,45 Allowable moment (Nm) 2,94 1,78 7,92 7,37 4,89 4,38 2,94 3,92 8,82 9,8 2,17 2,52 4,98 5,56 6,174* 7,56 Allowable moment (Nm) The backdriving torque refers to a torque required for starting the output shaft. If the input shaft (input gear) is released while a torque equal to or more than the backdriving torque is kept applied to the output shaft, the input shaft (input gear) starts running at an augmented speed. Special care should be given to the backdriving torque required to start the reduction gear. E series Model Backdriving torque Nm RV-6E 1 RV-2E 42 RV-4E 47 RV-8E 7 RV-11E 8 RV-16E 11 RV-32E 22 RV-45E 27 Thrust force (N) Thrust force (N) 19,6 14,7 39,2 29,4 21,658 19,6 14,994 9,8 8,134 RV-16E RV-11E RV-5C RV-32C RV-2C C series Model Backdriving torque Nm RV-1C 1 RV-27C 52 RV-5C 95 RV-1C 12 RV-2C 15 RV-32C 22 RV-5C 3 Test conditions Lubricant: grease (Molywhite RE) 6,664 RV-32E 8,82 17,52 2,58 Allowable moment (Nm) 29,16 34,3 Original series Model Backdriving torque Nm RV RV-3 38 RV-6 69 RV RV RV RV Technical Information Original series C series E series 91

94 Technical Data No-load Running Torque Use the following formula to calculate the no-load running torque converted to the motor shaft. [Measurement conditions] Case temperature: 3 (ºC) Lubricant: Grease (Molywhite RE) Torque converted into the output shaft (Nm) No-load running torque converted to the motor shaft (Nm) = (R: speed ratio value) R Note: The values in the following graphs are for the reduction gear alone, and indicate the average values after the break-in period. E series (Nm) (kgf-m) No-load running torque (converted torque on the output shaft side) RV-45E RV-32E 4 RV-16E 2 RV-11E RV-8E RV-4E RV-2E RV-6E Output shaft speed (rmin) C series (Nm) 98 (kgf-m) 1 No-load running torque (converted torque on the output shaft side) RV-5C RV-32C RV-2C RV-1C RV-5C RV-27C RV-1C Output shaft speed (rmin) Original series No-load running torque (converted torque on the output shaft side) (Nm) kgf-m RV-55 6 RV-45 RV-32 4 RV-16 2 RV-6 RV-3 RV Output shaft speed (rmin) 92

95 Technical Data Low Temperature Characteristic When the 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. 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) = E series No-load running torque (Nm) No-load running torque (Nm) No-load running torque (Nm) No-load running torque (Nm) RV-6E RV-2E RV-4E RV-8E Torque converted into the output shaft (Nm) R (kgf-cm) Case temperature ( C) 5 (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) No-load running torque (Nm) No-load running torque (Nm) No-load running torque (Nm) No-load running torque (Nm) RV-11E RV-16E RV-32E RV-45E (R: speed ratio value) Case temperature ( C) [Measurement conditions] Input speed: 2, rpm (E series, Original series) Output speed: 15 rpm (C series) Lubricant: Grease (Molywhite RE) (kgf-cm) Case temperature ( C) (kgf-cm) (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) Technical Information Original series C series E series 93

96 Technical Data Low Temperature Characteristic C series* 49 RV-1C (kgf-m) 5 49 RV-1C (kgf-m) 5 No-load running torque (converted to output shaft) Nm No-load running torque (converted to output shaft) Nm Case temperature ( C) Case temperature ( C) 98 RV-27C (kgf-m) 1 98 RV-2C (kgf-m) 1 No-load running torque (converted to output shaft) Nm No-load running torque (converted to output shaft) Nm Case temperature ( C) Case temperature ( C) 196 RV-5C (kgf-m) 2 98 RV-32C (kgf-m) 1 No-load running torque (converted to output shaft) Nm No-load running torque (converted to output shaft) Nm Case temperature ( C) Case temperature ( C) * Values do not include losses for the center gear. 94

97 Original series RV-15 (kgf-cm) RV-32 (kgf-cm) No-load running torque Nm No-load running torque Nm No-load running torque Nm No-load running torque Nm RV-3 RV-6 RV Case temperature ( C) (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) No-load running torque Nm No-load running torque Nm No-load running torque Nm RV-45 RV Case temperature ( C) (kgf-cm) Case temperature ( C) (kgf-cm) Case temperature ( C) Technical Information Original series C series E series 95

98 Technical Data Efficiency Table [Measurement conditions] Case temperature: 3 (ºC) Lubricant: Grease (Molywhite RE) E series 1 8 RV-6E efficiency curve 1 rmin 3 rmin 6 rmin 1 8 RV-11E efficiency curve 1 rmin 25 rmin 4 rmin Efficiency (%) 6 4 Efficiency (%) (2) 39.2 (4) Output torque (Nm) 58.8 (6) 78.4 (8) Nm (kgf-m) 294 (3) 588 (6) Output torque (Nm) 882 (9) 1,176 (12) Nm (kgf-m) 1 8 RV-2E efficiency curve 1 rmin 3 rmin 6 rmin 1 8 RV-16E efficiency curve 1 rmin 25 rmin 4 rmin Efficiency (%) 6 4 Efficiency (%) (5) 98 (1) Output torque (Nm) 147 (15) 196 (2) Nm (kgf-m) 49 (5) 98 (1) Output torque (Nm) 1,47 (15) 1,96 (2) Nm (kgf-m) 1 8 RV-4E efficiency curve 1 rmin 25 rmin 5 rmin 1 8 RV-32E efficiency curve 1 rmin 2 rmin 3 rmin Efficiency (%) 6 4 Efficiency (%) (1) (2) (3) Output torque (Nm) 392 (4) 49 (5) Nm (kgf-m) 882 (9) 1,764 2,646 (18) (27) Output torque (Nm) 3,528 (36) Nm (kgf-m) 1 8 RV-8E efficiency curve 1 rmin 25 rmin 5 rmin 1 8 RV-45E efficiency curve 5 rmin 15 rmin 25 rmin Efficiency (%) 6 4 Efficiency (%) (25) 49 (5) Output torque (Nm) 735 (75) 98 (1) Nm (kgf-m) 1,225 (125) 2,45 (25) Output torque (Nm) 3,675 (375) 4,9 (5) Nm (kgf-m) 96

99 C series* 1 8 RV-1C efficiency curve 1 rmin 3 rmin 6 rmin 1 8 RV-2C efficiency curve 1 rmin 2 rmin 3 rmin Efficiency (%) Efficiency (%) Efficiency (%) Efficiency (%) (2.5) (5) (7.5) Output torque RV-27C efficiency curve 98 (1) (12.5) Nm (kgf-m) 1 rmin 3 rmin 6 rmin 49 (5) 98 (1) 147 (15) 196 (2) 245 (25) Nm (kgf-m) Output torque RV-5C efficiency curve 98 (1) 196 (2) (2) (3) Output torque RV-1C efficiency curve 392 (4) Output torque 588 (6) 392 (4) 49 (5) 784 (8) 1 rmin 3 rmin 5 rmin Nm (kgf-m) 1 rmin 25 rmin 4 rmin Nm (kgf-m) Efficiency (%) Efficiency (%) Efficiency (%) (5) 98 (1) Output torque 1,47 (15) RV-32C efficiency curve 784 (8) 1,568 2,352 (16) (24) Output torque RV-5C efficiency curve 1,96 (2) Nm (kgf-m) 1 5 rmin 1 rmin 2 rmin 8 1,96 3,92 (2) (4) Output torque 3,136 (32) 4,9 (5) 3,92 (4) 5,88 (6) 5 rmin 1 rmin 2 rmin Nm (kgf-m) Nm (kgf-m) Technical Information Original series C series E series * Values do not include losses for the center gear. 97

100 Technical Data Efficiency Table Original series 1 8 RV-15 efficiency curve 1 rmin 15 rmin 2 rmin 1 8 RV-32 efficiency curve 1 rmin 2 rmin 3 rmin Efficiency (%) 6 4 Efficiency (%) Nm (5) (1) (15) (2) (kgf-m) Output torque(nm) 882 (9) 1,764 (18) Output torque(nm) 2,646 (27) 3,528 (36) Nm (kgf-m) 1 8 RV-3 efficiency curve 1 rmin 15 rmin 2 rmin 1 8 RV-45 efficiency curve 5 rmin 15 rmin 25 rmin Efficiency (%) 6 4 Efficiency (%) (1) 196 (2) Output torque(nm) 294 (3) 392 (4) Nm (kgf-m) 1,225 (125) 2,45 (25) Output torque(nm) 3,675 (375) 4,9 (5) Nm (kgf-m) 1 8 RV-6 efficiency curve 1 rmin 15 rmin 2 rmin 1 8 RV-55 efficiency curve 1 rmin 15 rmin 2 rmin Efficiency (%) 6 4 Efficiency (%) (2) 392 (4) Output torque(nm) 588 (6) 784 (8) Nm (kgf-m) 98 (1) 1,96 (2) 2,94 (3) Output torque(nm) 3,92 (4) 4,9 (5) 5,88 (6) Nm (kgf-m) 1 8 RV-16 efficiency curve 1 rmin 25 rmin 4 rmin Efficiency (%) (5) 98 (1) Output torque(nm) 1,47 (15) 1,96 (2) Nm (kgf-m) 98

101 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 l 3 is larger than b.) 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. = E series Moment rigidity Size (mm) Model Nmarc.min. *3 a b RV-6E RV-2E RV-4E RV-8E*1 1, RV-8E*2 1, RV-11E 1, RV-16E 2, RV-32E 4, RV-45E 7, *1 Bolt mounting output-shaft type *2 Pinbolt clamping output shaft type *3 The moment rigidity values are typical values. Calculation of torsion angle Calculate the torsion angle when the torque is applied in a single direction, using an example of RV-16E. 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 1 (arc.min.) ST1 = =.32(arc.min.) or less ) When the load torque is 1,3 Nm...Torsion angle (ST 2) When the load torque is more than 3% of the rated torque and less than the rated torque 1 1,3-47. ST2 = + = 3.7 (arc.min.) Note: The torsion angles that are calculated above are for a single reduction gear. E series Model W1l1 + W2l2 M1 1 3 Torsional rigidity Nmarc.min. M 1 W 1, W 2 l 1, l 2 l 1 l Lost motion arc.min. Lost motion Measured torque Nm Backlash arc.min. RV-6E 2 MAX1.5 ± 1.76 MAX1.5 RV-2E 49 ± 5. RV-4E 18 ± 12.3 RV-8E 196 ± 23.5 RV-11E 294 MAX1 ± 32.3 MAX1 RV-16E 392 ± 47. RV-32E 98 ± 94. RV-45E 1,176 ±132. : Tilt angle of the output shaft (arc.min.) : Moment rigidity (Nmarc.min.) : Load (N) : Distance to the point of load application (mm) : l + b a 2 : Distance from the output shaft installation surface to the point of load application (mm) C series Moment rigidity Size (mm) Model Nmarc.min. *3 a b RV-1C RV-27C 1, RV-5C 1, RV-1C 2, RV-2C 9, RV-32C 12, RV-5C 24, Original series Model C series Model b Torsional rigidity Nmarc.min. Torsional rigidity Nmarc.min. b2 Lost motion arc.min. Output shaft installation surface Lost motion Measured torque Nm ± 2.94 RV-1C 47 RV-27C 147 ± 7.94 RV-5C 255 ± 14.7 RV-1C 51 MAX1 ± 29.4 RV-2C 98 ± 58.8 RV-32C 1,96 ± 94.1 RV-5C 3,43 ±147. l3 Lost motion arc.min. a l1 Lost motion l Measured torque Nm ± 4.12 RV RV-3 98 ± 1. RV ± 19.1 RV MAX1 ± 47. RV ± 94. RV-45 1,176 ±132. RV-55 1,666 ±161.7 W1 l2 Backlash arc.min. MAX1 Backlash arc.min. MAX1 W2 Technical Information Original series C series E series 99

102 Design Points Mounting Bolts 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 hexagon 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. Hexagon socket head cap screw <Bolt tightening torque and tightening force> Hexagon socket head Tightening torque cap screw nominal size x pitch (mm) (Nm) Tightening force F (N) M ±.49 9,31 M ±.78 13,18 M ± ,96 M ± ,8 M ± ,1 M ± ,41 M ± ,72 Bolt specifi cation Hexagon socket head cap screw JIS B 1176: 26 Strength class JIS B 151: Thread JIS B 29: 21 6g Note: 1. The tightening torque values listed are for steel or cast iron material. 2. 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> T Allowable transmission torque by tightening bolt (Nm) F Bolt tightening force (N) D D Bolt mounting P.C.D. (mm) T = F μ n μ Friction factor 2 1, μ=.15: When Iubricant remains on the mating face. μ=.2: When Iubricant is removed from the mating face. n Number of bolts (pcs.) Serrated lock washer for hexagon socket head cap screw Name: Belleville spring washer (made by Heiwa Hatsujyo Industry Co., Ltd.) Corporation symbol: CDW-H CDW-L (Only for M5) Material: S5C to S7C Hardness: HRC4 to 48 t Nominal size ID and OD of Belleville spring washer Ød ØD t (Unit: mm) H Ød H ØD Note: When using any equivalent washer, select it with special care given to its outside diameter. 1

103 Design Points Input Gears Pass-through capacity of input gear Lower ratio input gears may have diameters too large to pass through the RV gear center. The following table shows which ratios can and can not allow the input gear to pass through. E series Hole dia. Depth Speed ratio adequate for shaft passage (1-piece input gear) (Unit: mm) Speed ratio inadequate for shaft passage (2-piece input gear) Model d1 d2 l Shaft revolution Case revolution Shaft revolution Case revolution RV-6E , 59, 79, , 58, 78, 12 31, 43 3, 42 RV-2E , 15, 121, 141 8, 14, 12, RV-4E , 15, 121, 153 8, 14, 12, RV-8E , 11, 121, 153 8, 1, 12, , 111, , 11, RV-11E , , RV-16E , 11, 129, 145, 171 8, 1, 128, 144, 17 66* 65* 81, 11, , 1, RV-32E * 65* 129, 141, 171, , 14, 17, 184 RV-45E , 11, , 155, 171, 192 8, 1, , 154, 17, 191 *Not described on the rating table. Please consult Nabtesco if needed. Original series Hole dia. Depth Speed ratio adequate for shaft passage (1-piece input gear) 66* 65* (Unit: mm) Speed ratio inadequate for shaft passage (2-piece input gear) Model d1 d2 l Shaft revolution Case revolution Shaft revolution Case revolution RV , 15, 121, 141 8, 14, 12, RV , 15, 121, 153 8, 14, 12, RV , 11, 121, 153 8, 1, 12, RV , 11, 129, 145, 171 8, 1, 128, 144, 17 66* 65* RV , 11, , 141, 171, , 11, 118.5, , 171, , 1, , 14, 17, 184 8, 1, 117.5, , 17, * 65* RV * 65* RV , 141, 163.5, , 14, 162.5, *Not described on the rating table. Please consult Nabtesco if needed. An example of installation for the reduction gear with lower speed ratio The lower the speed ratio, the larger the outside diameter of the input gear. Therefore, the installation of the input gear through the reduction gear is not possible with all ratios. In such cases a two-piece input gear is required. Refer to External Dimensions. Deep groove ball bearing C type snap ring for shaft JISB284 Input gear E series, Original series C type snap ring for hole JISB284 Input spline (Unit: mm) Model L LA LB D D1 LC LD +.1 LE LG ±.1 LH Deep groove ball bearing RV-6E RV-2E, RV RV-4E, RV RV-8E* 1, RV RV-8E* 2, RV RV-16E, RV RV-32E, RV RV-45E, RV Note: Deep groove ball bearing and C-shaped snap rings are to be provided by the customer. *1: Bolt clamping output shaft type *2: Pinbolt clamping output shaft type Technical Information Original series C series E series 11

104 Design Points Input Gears Accuracy of center gear and input gear for C series Poor installation accuracy of center gear and input gear may cause noise and backlash, so design center gear and input gear to the following accuracy. Note: Attach a bearing to the input gear to accommodate the reaction torque from the center gear. Accuracy of center gear and input gear Tolerance of Tolerance of Tooth grade of Tooth grade of Tooth grade of fi tting X concentricity a small center gear large center gear input gear h6 MAX.3 JIS 5 class or lower JIS 4 class or lower JIS 5 class or lower (Unit: mm) Small center gear Large center gear Tolerance of fitting X Input gear (Unit: mm) Backlash between input gear and large center gear RV-1C.35 to.9 RV-27C.4 to.11 RV-5C.5 to.13 RV-1C.6 to.14 RV-2C RV-32C.75 to.18 RV-5C Specifications of small center gear tooth Module Number of teeth Addendum modifi cation coeffi cient RV-1C RV-27C RV-5C RV-1C RV-2C RV-32C 2 78 RV-5C 2 83 Standard center gear The standard center gears for C series are available from Nabtesco. If the standard center gear is needed, please specify when ordering. Specifications of standard large center gears are shown below. Refer to the external dimension for installation. Specifications of standard large center gear Module Number of teeth Addendum modifi cation coeffi cient Base tangent length (mm) Number of teeth for measuring base tangent length RV-1C RV-27C RV-5C RV-1C RV-2C RV-32C RV-5C

105 We provide a variety of standard input gears for each speed ratio that can be additionally machined by customers for the E series and Original series. Please machine and install the standard input gear based on the customer s intended use, by referring to the following examples. Note: For the model and reduction speed ratio provided with the standard input gears, refer to Dimensions of standard input gear on page 17 and 18. Standard input gear specifications Heat treatment Surface hardness Material <Standard input gear A: For small motors> <Standard input gear B: For large motors> Note: The above drawing shows the shape before the additional machining is performed. Check the dimensions of each section in the Dimensions table on pages 17 and 18. Standard input gears come equipped with center holes and ground boss outer diameter (D1). When modifying them, use the center hole or boss outer diameter (D1) as the reference surface. Design of the input gear Please refer to the chart below. Use it as a reference when the customer designs an input gear on their own. Design flow Material Carburizing, quenching and tempering HRC58 to 62 (excluding the carburizing prevention range) SCM415 Normalizing or equivalent material Carburizing prevention range Reference for additional machining When modifying the standard input gear NO Start designing Select the input gear type (standard gear A or B) Design of the motor mounting area Oil-seal on D2 area? 6 C center hole, type A 6 C center hole, type A Refer to page 14 Refer to pages 14 to 16 Carburizing prevention range When manufacturing a special input gear NO Start designing Check the gear tooth specifications Design of the motor mounting area Oil-seal on D2 area? Refer to pages 19 and 11 Refer to pages 14 to 16 Technical Information Original series C series E series YES YES Manufacture a special input gear Design the oil seal area Refer to page 16 Completed Completed 13

106 Design Points Input Gears Selection of the input gear type There are the following two types of standard input gear: Standard input gear A: For small motors Standard input gear B: For large motors Select the type of input gear to be used by referring to the tables below. Applicable motor shaft diameters for standard input gear (Unit: mm) Model Standard input gear A Standard input gear B RV-6E ø16 or less RV-2E, RV-15 Less than ø14 ø14 or more RV-4E, RV-3 Less than ø19 ø19 or more RV-8E, RV-6 Less than ø24 ø24 or more RV-11E ø24 or less Note: Some models have only standard input gear A. (Unit: mm) Model Standard input gear A Standard input gear B RV-16E, RV-16 Less than ø28 ø28 or more RV-32E, RV-32 Less than ø32 ø32 or more RV-45E, RV-45 Less than ø42 ø42 or more RV-55 ø4 or less Design of the motor mounting area <(Design example 1: For straight shafts (attached to motor shaft tip)> d5 drill Drill both at the same time Image of assembly Detailed drawing of section E Installation reference surface Clearance Note 1. When a tapped hole is used for the motor shaft, fix the input gear to the motor shaft with a bolt. 2. For the bolt through hole diameter (d3), radial runout, and the shaft hole position (LC), refer to Dimensions after modification in the Dimensions table on pages 17 and If the bolt through hole diameter (d3) is larger than the center hole diameter on the tooth surface side (d4), it is necessary to process the carburized surface. In such a case, confirm the applicable tools and processing conditions, etc. 4. The clearance hole diameter for the keyway (d5) is keyway width (k) + 2 mm, approximately. (The clearance hole diameter must be larger than the keyway width (k).) 5. Design the motor shaft hole diameter (d1) according to the motor shaft diameter to be used. 6. For the keyway width (k) and keyway height (a), refer to the specifications of the key to be used. 14

107 <Design example 2: For straight shafts (attached to motor shaft base)> Plunge grinding range Tapped hole for set screw Note 1. When a tapped hole is not used for the motor shaft, fix the input gear to the motor shaft with a set screw. 2. If a clearance hole for the keyway cannot be drilled due to some reason, such as the plunge grinding area being located on the outer periphery, create a recessed groove instead. 3. For the radial runout and the shaft hole position (LC), refer to Dimensions after modification in the Dimensions table on pages 17and Design the motor shaft hole diameter (d1) according to the motor shaft diameter to be used. 5. For the keyway width (k) and keyway height (a), refer to the specifications of the key to be used. 6. Design the diameter of the recessed groove for the keyway (d2) according to the following instructions. Recessed groove diameter for keyway Selection examples of recessed groove diameter (d2) (Unit: mm) Motor shaft hole diameter ød1 Keyway width k d1 a k d1 k d2 2 a (Recessed groove diameter) Keyway height a Set the diameter of the recessed groove (d2) so that it is larger than the corner of the keyway. 2 2 d1 k d2 2 a Although the above calculation formula is used in this example, design the diameter using appropriate values, based on the keyway tolerance, processing tolerance, etc. The following is an example of when the diameter of the recessed groove is selected based on the above calculation formula. Use it as a reference when designing. Recessed groove diameter ød2 Drill both at the same time Motor shaft hole diameter ød1 Image of assembly Keyway width k Clearance Installation reference surface (Unit: mm) Recessed groove Keyway height diameter a ød Technical Information Original series C series E series 15

108 Design Points Input Gears <Design example 3: For tapered shafts> d5 drill Tapered to 11 Note 1. For the bolt through hole diameter (d3), radial runout, and the shaft hole position (LC), refer to Dimensions after modification in the Dimensions table on pages 17 and Design the motor shaft hole diameter (d1) according to the motor shaft diameter to be used. 3. For the keyway width (k) and keyway height (a), refer to the specifications of the key to be used. 4. There are two ways to fix the tapered shaft to the motor shaft: draw nut and draw bolt. Fix the shaft using either of them, referring to the drawings below. 5. You can manufacture the draw nut and draw bolt on your own, or contact us. When fixing with a draw nut When fixing with a draw bolt Clearance 1 MIN Z Dihedral chamfer Clearance 1 MIN Z Dihedral chamfer Clearance.5 MIN Z Clearance.5 MIN Cross section Z-Z Clearance.5 MIN Z Clearance.5 MIN Cross section Z-Z Design of the oil seal area <Design example 4> If a lip surface is required for the oil seal, manufacture a new input gear and quench the D2 section, and then perform plunge grinding. Plunge grinding range Ø.5 No edge.4 G (Plunge grinding) Oil seal inside diameter Seal with seal washer, etc. 16 Note 1. The design specifications vary depending on the oil seal manufacturer. When designing, be sure to confirm with the manufacturer of the oil seal to be used. 2. The standard input gear is not compatible with the oil seal surface. If the lip surface is required for the oil seal, manufacture a new input gear. 3. Rubber containing fluorine is recommended for the material of the oil seal. 4. When assembling the oil seal, be careful to avoid any contact between the lip section and the gear, as it causes scratches. 5. Design the oil seal assembly position so that the lip section of the oil seal does not fall off from the plunge grinding range.

109 Dimensions of standard input gear <Model: RV-6E > (Unit: mm) <Model: RV-2E, RV-15 > (Unit: mm) <Model: RV-4E, RV-3 > (Unit: mm) <Model: RV-8E, RV-6 > (Unit: mm) (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN * * (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN * (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN * (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN * The ratio code marked with * indicates the dimensions of the standard input spline. For the gear tooth specifi cations, refer to Gear tooth specifi cations for each input spline model on page 11. Technical Information Original series C series E series 17

110 Design Points Input Gears <Model: RV-11E > (Unit: mm) <Model: RV-16E, RV-16 > (Unit: mm) <Model: RV-32E, RV-32 > (Unit: mm) <Model: RV-45E, RV-45 > (Unit: mm) <Model: RV-55 > (Unit: mm) (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN (Unit: mm) Dimensions before modifi cation (when shipped) Dimensions after modifi cation Ratio code ØD3 LE LD +2. [Standard input gear A] [Standard input gear B] Ø Radial [Standard input gear A] [Standard input gear B] L LA Ød4 ØD2 L LA Ød5 ØD1 d3 MAX runout LC MIN LC MIN

111 Gear tooth specifications Refer to the specifications and materials shown in the following tables when designing a system with a processed or non-standard input gear. For a model or speed ratio other than those listed below, contact us. Common specifi cations Tooth profi le Full depth Pressure angle ( ) 2 Precision JIS B 172: 1976 Grade 5 Spur gear tooth surface hardness and material Heat treatment Carburizing, quenching and tempering Surface hardness HRC 56 to 62 Effective case depth <HV513> (mm).3 to.7 *1 Material SCM415 Normalizing Alternate material SCM42 Normalizing *1 The value will differ depending on the module. Module 1 or lower More than 1 Effective case depth <HV513> (mm).2 to.6.3 to.7 Input gear tooth specifications for each model Model RV-6E Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (2) (2) (2) (2) Min. effective face width (mm) Model RV-2E, RV-15 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (2) (2) (2) (2) (3) (3) Min. effective face width (mm) Model RV-4E, RV-3 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (2) (2) (3) (2) Min. effective face width (mm) Model RV-8E, RV-6 Ratio code (for RV-6) 81 (for RV-8E) Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (3) (3) (3) (2) Min. effective face width (mm) Model RV-11E Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (3) (3) Min. effective face width (mm) Effective face width Technical Information Original series C series E series 19

112 Design Points Input Gears Model RV-16E, RV-16 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (2) (3) (3) Min. effective face width (mm) Model RV-32E, RV-32 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (3) (3) (2) (3) (3) Min. effective face width (mm) Model RV-45E, RV-45 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (3) (3) (3) (3) (3) Min. effective face width (mm) Model RV-55 Ratio code Module No. of teeth Shift coeffi cient Base tangent length(mm) No. of teeth (3) (3) (3) (3) Min. effective face width (mm) Input gear tooth specifications for each model Refer to the specifications shown in the following tables when designing with a processed or non-standard input spline. The specifications of the hardness and material are the same as those of the input gear. Detailed drawing of spline section Detailed drawing of spline section Detailed drawing of spline section RV-6E Automotive involute spline (shaft) 1x11x.75 (JIS D21) Shift coeffi cient Tooth profi le Stub tooth Tool Module.75 Pressure angle 2 No. of teeth 11 Reference pitch diameter 8.25 Face width Over-pin diameter Pin diameter Ø1.4 (Pin diameter Ø1.5) Grade Remarks b Side fi t RV-2E Automotive involute spline (shaft) 12x1x1. (JIS D21) Shift coeffi cient +.8 Tooth profi le Stub tooth Tool Module 1. Pressure angle 2 No. of teeth 1 Reference pitch diameter 1 Face width Over-pin diameter Pin diameter Ø1.8 (Pin diameter Ø2.) Grade Remarks b Side fi t RV-4E, RV-8E Automotive involute spline (shaft) 15x1x1.25 (JIS D21) Shift coeffi cient +.8 Tooth profi le Stub tooth Tool Module 1.25 Pressure angle 2 No. of teeth 1 Reference pitch diameter 12.5 Over-pin diameter Pin diameter Ø2.25 Face width (Pin diameter Ø2.381) Grade Remarks b Side fi t 11

113 Design Points Lubricant VIGOGREASE Lubricant The standard lubricant for RV precision reduction gears is grease. In order to take advantage of the performance of RV precision reduction gears, we recommend that you use Nabtesco VIGOGREASE grease. VIGOGREASE was specifically developed for use with Nabtesco products and does not take into account the use with products from other companies. It is therefore recommended that you refrain from using VIGOGREASE with products from any other company. Should for any reason it be necessary to use VIGOGREASE with another company s product, Nabtesco assumes no responsibility whatsoever for any breakdown, malfunction, or other trouble such as with the corresponding reduction gear, the equipment or system it is used in. In such cases, it should also be understood that Nabtesco cannot comply with any request to inspect the quality of the corresponding grease, etc. <Approved lubricant brand (standard specified brand)> Grease Nabtesco VIGOGREASE RE Note: Do not mix with other lubricants. Amount of lubricant RV precision reduction gears are not applied with lubricant when shipped. Be sure to design your equipment so that the necessary amount of our authorized lubricant can be applied. (When pneumatic pressure is used for applying the lubricant, set the pressure below.3 MPa.) For the E series and Original series The amount of lubricant required for the reduction gear and the target range (the areas in the diagram) when the reduction gear is installed in the horizontal shaft are indicated in Fig. 1 and when the reduction gear is installed in the vertical shaft are indicated in Fig. 2. Each amount does not include the space (the areas in the diagram) on the motor mounting side. Therefore, if there is a blank space, also fill the space. Leave a space about 1% of the total volume of the internal capacity of the reduction gear (the areas in the diagram) and the space on the motor mounting side (the areas in the diagram). <Horizontal shaft installation> E series Shaft installation component Tapped hole for injectingdraining grease Target range Motor Tapped hole for injectingdraining grease Model Required amount Dimensions a (cc) (g)* 1 (mm) RV-6E 42 (38) 17 RV-2E 87 (78) 15 RV-4E 195 (176) 21 RV-8E(1)* (345) 21 RV-8E(2)* (311) 21 RV-11E 432 (389) 6.5 RV-16E 63 (567) 1.5 RV-32E 1,4 (936) 15.5 RV-45E 1,596 (1,436) 18 Tapped hole for injectingdraining grease Fig. 1 Original series Shaft installation component Target range Tapped hole for injectingdraining grease Model Required amount Dimensions a (cc) (g)* 1 (mm) RV (79) 17 RV (146) 15.5 RV (232) 1.5 RV (43) 17 RV (796) 21.6 RV-45 1,453 (1,38) 21 RV-55 1,967 (1,77) 24 *1. Density of VIGOGREASE RE:.9 gcc *2. (1) indicates the amount of lubricant for the bolt-clamping output shaft type, and (2) for the pinbolt clamping output shaft type. Motor Technical Information Original series C series E series 111

114 Design Points Lubricant VIGOGREASE <Vertical shaft installation (with shaft facing upward)> Lubricant surface Tapped hole for Shaft installation injectingdraining grease component Tapped hole for injecting draining grease Shaft installation component Target range Lubricant surface Target range Motor Tapped hole for injecting draining grease Tapped hole for injecting draining grease Motor E series Original series <Vertical shaft installation (with shaft facing downward)> Motor Tapped hole for injecting draining grease Lubricant surface Tapped hole for injecting draining grease Motor Lubricant surface Target range Target range Shaft installation component Tapped hole for injecting draining grease Shaft installation component Tapped hole for injecting draining grease E series Original series Fig. 2 Model Required amount Dimensions a (cc) (g)* 1 (mm) RV-6E 48 (43) 17 RV-2E 1 (9) 15 RV-4E 224 (22) 21 RV-8E(1)* (395) 21 RV-8E(2)* (356) 21 RV-11E 495 (446) 6.5 RV-16E 694 (625) 1.5 RV-32E 1,193 (1,74) 15.5 RV-45E 1,831 (1,648) 18 Model Required amount Dimensions a (cc) (g)* 1 (mm) RV (91) 17 RV (167) 15.5 RV (266) 1.5 RV (463) 17 RV-32 1,14 (913) 21.6 RV-45 1,663 (1,497) 21 RV-55 2,257 (2,31) 24 *1. Density of VIGOGREASE RE:.9 gcc *2. (1) indicates the amount of lubricant for the bolt-clamping output shaft type, and (2) for the pinbolt clamping output shaft type. 112

115 For the C series The amount of lubricant required for the reduction gear and the target range (the areas in the diagram) when the reduction gear is installed in the horizontal shaft are indicated in Fig. 3 and when the reduction gear is installed in the vertical shaft are indicated in Fig. 4. If there is a blank space inside (e.g., when a center tube is used), exclude the volume of the blank space. Each amount does not include the space (the areas in the diagram) on the motor mounting side. Therefore, if there is a blank space, also fill the space. Leave a space about 1% of the total volume of the internal capacity of the reduction gear (the areas in the diagram) and the space on the motor mounting side (the areas in the diagram). The space on the motor mounting side (the areas in the diagram) includes the center gear external capacity (the areas in the diagram) and the external capacity of the reduction gear (the areas in the diagram). Therefore, when calculating the volume of the space on the motor mounting side, exclude the relevant external capacity. Model Required amount Dimensions a Dimensions b Reduction gear external Center gear external (cc) (g)* 1 (mm) (mm) capacity(cc) capacity (cc) RV-1C 147 (132) RV-27C 266 (239) RV-5C 498 (448) RV-1C 756 (68) RV-2C 1,831 (1,648) RV-32C 3,536 (3,182) ,275 RV-5C 5,934 (5,341) ,83 <Horizontal shaft installation> Shaft installation component Tapped hole for injectingdraining grease Target range Fig. 3 Tapped hole for injectingdraining grease Center gear external capacity Reduction gear external capacity Motor Technical Information Original series C series E series 113

116 Design Points Lubricant VIGOGREASE <Vertical shaft installation (with shaft facing upward)> Lubricant surface Tapped hole for injecting draining grease Shaft installation component Target range <Vertical shaft installation (with shaft facing downward)> Tapped hole for injectingdraining grease Motor Reduction gear Center gear external capacity external capacity Reduction gear external capacity Motor Center gear external capacity Tapped hole for injecting draining grease Fig. 4 Target range Shaft installation component Lubricant surface Tapped hole for injectingdraining grease Model Required amount Dimensions a Dimensions b Reduction gear Center gear external (cc) (g)* 1 (mm) (mm) external capacity (cc) capacity (cc) RV-1C 167 (15) RV-27C 35 (275) RV-5C 571 (514) RV-1C 857 (771) RV-2C 2,76 (1,868) RV-32C 4,47 (3,642) ,275 RV-5C 6,9 (6,21) ,83 *1. Density of VIGOGREASE RE:.9 gcc Grease replacement time During proper operation of the reduction gear, the standard grease replacement time due to lubricant degradation is 2, hours. However, when operation involves a reduction gear surface temperature above 4 C 6 (the area in the right diagram), the state of the lubricant should be checked in advance and the grease replaced earlier as necessary. 4 Reduction gear surface temperature( C) -1-1 Ambient temperature( C) 4 Running-in operation It is recommended that the running-in operation is performed after the Nabtesco-specified lubricant is added. Abnormal noise or torque irregularity may occur during operation, depending on the characteristics of the lubricant. There is no problem with the quality when the symptom disappears after the running-in operation is performed for 3 minutes or more (until the surface temperature of the reduction gear body reaches around 5 C). 114

117 Appendix Inertia Moment Calculation Formula Shape I(kgm 2 ) Shape I(kgm 2 ) 1. Cylinder solid 6. Horizontal movement by conveyor M(kg) Z X a(m) 2. Cylinder hollow M(kg) Z X a(m) 3. Oval cross section M(kg) Z X Y a(m) 4. Rectangle M(kg) Z X Y a(m) 5. General application V(mmin) M(kg) 2R(m) Y 2R1(m) 2R2(m) Z R(m) Z R1(m) Y R2(m) Z b(m) Z c(m) c(m) b(m) R(m) N(rpm) I I x y I z I x I y I z I x I y I z I x I y I z = = = = = = = I y I y M R M M 2 M3(kg) V(mmin) M2(kg) M1(kg) 2 2 R(m) + R 2 R + a ( R + R ) 2 2 ( + ) M R R 1 = M b 2 +c 2 16 = 1 M M 1 = M 12 1 = M 12 1 = M ( ) ( b 2 +c 2 ) ( a 2 +c 2 ) ( a 2 +b 2 ) c + a b + a M 2 V I = = MR 4 N 2 a 3 R(m) 7. Horizontal movement by lead screw M(kg) 8. Updown movement by hoist M2(kg) R(m) M1(kg) 9. Parallel axis theorem M(kg) (m) V(mmin) M4(kg) Lead: P(mrev) N(rpm) V(mmin) I I N(rpm) N(rpm) Center axis Rotation axis M 1 M I = 2 + M3 + M 4 2 I = M 4 V N 1 I = M 1 R 2 + M 2 2 R 2 I = I I + M M = 4 P : Moment of inertia of any object about an axis through its center of mass I : Moment of inertia about any axis parallel to the axis through its center of mass : Perpendicular distance between the above two axes Technical Information Original series C series E series 115

118 Troubleshooting Checksheet Check the following items in the case of trouble like abnormal noise, vibration, or malfunctions. When it is not possible to resolve an abnormality even after verifying the corresponding checkpoint, obtain a Reduction Gear Investigation Request Sheet from the download page in our Website, fill in the necessary information, and contact our Customer Support Center at Tsu Plant. [URL]: The trouble started immediately after installation of the reduction gear Checked Checkpoint Make sure the equipment s drive section (the motor side or the reduction gear output surface side) is not interfering with another component. Make sure the equipment is not under a greater than expected load (torque, moment load, thrust load). Make sure the required number of bolts are tightened uniformly with the specified tightening torque. Make sure the reduction gear, motor, or your company s components are not installed at a slant. Make sure the specified amount of Nabtesco-specified lubricant has been added. Make sure there are no problems with the motor s parameter settings. Make sure there are no components resonating in unity. Make sure the input gear is appropriately installed on the motor. Make sure there is no damage to the surface of the input gear teeth. Make sure the input gear specifications (precision, number of teeth, module, shift coefficient, dimensions of each part) are correct. Make sure the flange and other components are designed and manufactured with the correct tolerances. The trouble started during operation Checked Checkpoint Make sure the equipment has not been in operation longer than the calculated service life. Make sure the surface temperature of the reduction gear is not higher than normal during operation. Make sure the operation conditions have not been changed. Make sure there are no loose or missing bolts. Make sure the equipment is not under a greater than expected load (torque, moment load, thrust load). Make sure the equipment s drive section is not interfering with another component. Make sure an oil leak is not causing a drop in the amount of lubricant. Make sure there are no external contaminants in the gear, such as moisture or metal powder. 116 Make sure no lubricant other than that specified is being used.

119 APPLICATION WORKSHEET Please supply us the following items when ordering RV series Reduction Gears. 1. How used Name of Machine: Applied to: 5. Operating environment Operating environment temperature C 6. Installation Upper motor Horizontal Vertical Lower Motor Illustration for installation 2. Model RV- 3. Conditions of load T1 MAX. starting torque T2 Constant speed torque Output torque O T3 time MAX. stopping torque t1 t2 t3 Output Speed Acceleration Constant time speed operating time N2 N1 Time Deceleration time N3 t4 Cycle time 7. Input gear specification Reduction speed ratio: i= For starting For constant For stopping (MAX) speed (MAX) Load torque T1 T2 T3 (Nm) Speed N1 N2 N3 (rpm) Time t1 t2 t3 t4 (s) Cycle time Standard size, Other Input gear Prepared by User TS Corporation Required dimension of input gear (Illustration) Working hours CycleDay: DayYear: Year 4. External load conditions Output shaft mounting surface (Typical Example) W1 W2 8. Driving portion (Servo motor) Manufacturer Model Capacity: (kw) Rated torque: (Nm) Speed: (rpm) Shape of the shaft (mm) 9. Other 117

120 VIGOGREASE Ordering Information Application and features This product is a lubricant specially made for Nabtesco precision reduction gears and can achieve high efficiency and extended service life for our reduction gears. Package Select from among the following container sizes. Package 2kg 16kg 17kg Part number VIGOG-RE-2KG VIGOG-RE-16KG VIGOG-RE-17KG Style of packing Can (in cardboard box) Pail Drum Caution Be sure to use this product only after fully and carefully reading the cautions, etc., on the container. Contact Information Asia and others (Customer Support Center, Tsu Plant, Nabtesco Corporation) Phone: FAX: Europe & Africa (Nabtesco Precision Europe GmbH) Phone: FAX: info@nabtesco-precision.de North & South Ameria (Nabtesco Motion Control, Inc.) Phone: FAX: info@nabtescomotioncontrol.com China (Shanghai Nabtesco Motion-equipment Trading Co., Ltd.) Phone: FAX: info@nabtesco-motion.cn 118

121 Warranty 1. In the case where Nabtesco confirms that a defect of the Product was caused due to Nabtesco s design or manufacture within the Warranty Period of the Product, Nabtesco shall repair or replace such defective Product at its cost. The Warranty Period shall be from the delivery of the Product by Nabtesco or its distributor to you ( Customer ) until the end of one (1) year thereafter, or the end of two thousand (2,) hours running of the Product installed into Customer s equipment, whichever comes earlier. 2. Unless otherwise expressly agreed between the parties in writing, the warranty obligations for the Product shall be limited to the repair or replacement set forth herein. OTHER THAN AS PROVIDED HEREIN, THERE ARE NO WARRATIES ON THE PRODUCT, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. 3. The warranty obligation under the Section 1 above shall not apply if: a) the defect was caused due to the use of the Product deviated from the Specifications or the working conditions provided by Nabtesco; b) the defect was caused due to exposure to foreign substances or contamination (dirt, sand etc.) c) lubricant or spare part other than the ones recommended by Nabtesco was used in the Product; d) the Product was used in an unusual environment (such as high temperature, high humidity, a lot of dust, corrosivevolatileinflammable gas, pressurizeddepressurized air, under waterliquid or others except for those expressly stated in the Specifications); e) the Product was disassembled, re-assembled, repaired or modified by anyone other than Nabtesco; f ) the defect was caused due to the equipment into which the Product was installed; g) the defect was caused due to an accident such as fire, earthquake, lightning, flood or others; or h) the defect was due to any cause other than the design or manufacturing of the Product. 4. The warranty period for the repairedreplaced Productpart under the Section 1 above shall be the rest of the initial Warranty Period of the defective Product subjected to such repairreplace.

122 Rev. 7 Europe and Africa North and South America China India Asia and others Nabtesco Precision Europe GmbH Tiefenbroicher Weg 15, 4472 Düsseldorf, Germany TEL: FAX: info@nabtesco.de Nabtesco Motion Control Inc Freeway Park Drive, Farmington Hills, MI 48335, USA TEL: FAX: engineer@nabtescomotioncontrol.com Shanghai Nabtesco Motion-equipment Co., Ltd. Room 176, No. 388 Fu Shan Road, Pudong New Area, Shanghai 2122, China TEL: FAX: info@nabtesco-motion.cn Nabtesco India Private Limited No. 56, Prestige Meridian - No.38, M.G. Road, Bangalore-56 1 India TEL: FAX: Nabtesco Corporation Osaka Sales Office 21st Fl, Dojima Avanza, Dojima, Kita-ku, Osaka 53-3, Japan TEL: FAX: Tsu Plant 594 Icchoda, Katada-cho, Tsu, Mie , Japan TEL: FAX: P_Information@nabtesco.com CAT.1811 (Issued on January 1, 218)