精密制御用サイクロ UAシリーズ. No.F2005E-1.0 No.F No.F No.F2005E-1. 住友重機械精機販売株式会社 Worldwide Locations

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1 営業所 住友重機械精機販売株式会社 TEL FAX 北海道 札幌市東区北 47 条東 仙台 仙台市青葉区一番町 オー エックス芭蕉の辻ビル Worldwide Locations Singapore France U.S.A 茨城 水戸市城南 南ウイング水戸ビル Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. SM-Cyclo France SAS (SMFR) Sumitomo Machinery Corporation of America 北関東 さいたま市大宮区桜木町 鐘塚ビル Ltd. (SCA) (SMA) 8 Avenue Christian Doppler, Serris, France 5 Kwong Min Road, Singapore Holland Blvd. Chesapeake, VA 23323, U.S.A. TEL (33)64777 千葉 千葉市中央区弁天 -5- 細川ビル FAX (33) TEL (65) FAX (65) TEL () FAX () 東京 東京都品川区大崎 2-- ThinkPark Tower Italy Philippines Canada 横浜 横浜市西区南幸 南幸折目ビル SM-Cyclo Italy Srl (SMIT) Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. SM Cyclo of Canada, Ltd. (SMC) Via dell' Artigianato 23, 2000 Cornaredo (MI), Italy 長野 長野市岡田町 66 森ビル Ltd. (SCA) 453 Cornwall Road, Oakville, Canada ON L6J 7T5 TEL (39) FAX (39) Philippines Branch Office TEL北陸 () FAX () 富山市上袋 B2B Granville Industrial Complex, Carmona, Spain 金沢 金沢市南町 4-55 住友生命金沢ビル Cavite 46, Philippines Mexico SM-Cyclo Iberia, S.L.U. (SMIB) TEL (63) FAX (63) 静岡 静岡市駿河区中田 2--6 村上石田街道ビル SM Cyclo de Mexico, S.A. de C.V. (SMME) C/Landabarri No. 3, 6 B, Leioa, Vizcaya, Spain TEL (63) Av. Desarrollo 54, Col. Finsa, Guadalupe, TEL (34) FAX (34) 中部 名古屋市中区錦 HF 伏見ビル TEL (63) Nuevo León, México, CP6732 TEL四日市 (52) FAX (52) 三重県四日市市新正 Sweden Vietnam SM-Cyclo 334 Scandinavia AB (SMSC) 滋賀 滋賀県蒲生郡日野町大字松尾 SM-Cyclo (Vietnam) Co., Ltd. (SMVN) Brazil Industrigatan 2B, Lomma, Sweden Factory 2B, Lot K-2-5, Road No A, 京都 Industrias 京都御池第一生命ビル Sumitomo Pesadas 京都市中京区御池通東洞院西入ル笹屋町 do Brasil Ltda. TEL (46) Le Minh Xuan Industrial Park, Binh Chanh Dist., (SHIB) 大阪do Acucar (SP-075) 大阪市北区中之島 大阪三井物産ビル HCMC, Vietnam Rodovia Km 26 United Kingdom TEL (84) FAX (84) Itu,神戸 Sao Paulo, Brasil 神戸市中央区東川崎町 -3-3 神戸ハーバーランドセンタービル SM-Cyclo UK Ltd. (SMUK) TEL (55) FAX (55) Unit 29, Bergen Way, Sutton Fields Industrial Estate, 岡山 岡山県倉敷市栗坂 Malaysia Kingston upon Hull, HU7 0YQ, East Yorkshire, SM-Cyclo (Malaysia) Sdn. Bhd. (SMMA) Chile 広島 広島市南区稲荷町 4- 住友生命広島ビル United Kingdom No.7C, Jalan Anggerik Mokara 3/56, Kota Kemuning, SM-Cyclo de Chile Ltda. (SMCH) TEL (44) FAX (44) 愛媛県新居浜市新田町 SES ビル Seksyen 3, Shah Alam, Selangor Darul Ehsan, San四国 Pablo 3507, Quinta Normal, Santiago, Chile Malaysia TEL北九州 (56) FAX (56) 北九州市小倉北区浅野 2-4- KMM ビル Turkey TEL (60) FAX (60) SM Cyclo Turkey Güç Aktarım Sis. Tic. Ltd. Sti. 福岡 福岡市博多区中洲 明治安田生命福岡ビル Argentina (SMTR) Indonesia SM-Cyclo de Argentina S.A. (SMAR) Büyükdere Çayırbaşı Cd. Dede Yusuf Sk. No:, PT. SM-Cyclo Indonesia (SMID) Ing. Delpini, 2236 Area de Promocion el Triangulo, Sarıyer Istanbul, Turkey Jalan Sungkai Blok F 25 No. 09 K, Delta Silicon 5, Partido Malvinas Argentinas Grand Bourg, TEL (90) FAX (90) Lippo Cikarang, Bekasi 7530, Indonesia Buenos Aires, Argentina B65KGB 修理 メンテナンスのお問い合わせ TEL (62) FAX (62) TEL (54) FAX (54) China サービスセンター 住友重機械精機販売株式会社 TEL FAX Sumitomo (SHI) Cyclo Drive China, Ltd. (SCT) Thailand Guatemala SMEG Plaza, No. 386 Hongqiao Road, 北海道 札幌市東区北 47 条東F, SM-Cyclo (Thailand) Co., Ltd. (SMTH) SM Cyclo de Guatemala Ensambladora, Ltda. Changning District, Shanghai, China (P.C ) Empire Tower, Unit 203-4, 2st Floor, South Sathorn Road, 東京 GM 埼玉県川口市本蓮 (SMGT) TEL (86) FAX (86) Yannawa, Sathorn, Bangkok 020, Thailand Parque Industrial Unisur, 0 Calle B 9-50 Zona 3, 北陸 富山市上袋 TEL (66) FAX (66) Bodega D- Delta Bárcenas en Villa Nueva, Guatemala Hong Kong TEL名古屋 (502) FAX (502) 愛知県大府市大東町 SM-Cyclo of Hong Kong Co., Ltd. (SMHK) Australia Rm 30, CEO Tower, 77 Wing Hong Street, 大阪 大阪府茨木市横江 Sumitomo (SHI) Hansen Australia Pty. Ltd. Colombia Cheung Sha Wan, Kowloon, Hong Kong (SHAU) 岡山 岡山県倉敷市栗坂 SM Cyclo Colombia, S.A.S. (SMCO) TEL (852) FAX (852) Power St, Glendenning, NSW 276, Australia Carrera, No.93A-53, Office 203, Bogotá, Colombia TEL (6) FAX (6) TEL福岡 (57) 福岡市博多区那珂 Korea Sumitomo (SHI) Cyclo Drive Korea, Ltd. (SCK) India Germany Royal Bldg. 9F Rm. 93, 5 Danju-Dong, Chongro-Ku, Sumi-Cyclo Drive India Private Limited Sumitomo (SHI) Cyclo Drive Germany GmbH Seoul, Korea 0-72 (SMIN) (SCG) TEL (82) FAX (82) 技術的なお問い合わせ Survey No. 30, Hissa No. 02, Jeevan Nagar, Cyclostraße 92, Markt Indersdorf, Germany Off Mumbai-Bangalore Bypass, Tathawade, 住友重機械工業株式会社 PTC 事業部 TELお客様相談センター (49) FAX (49) Taiwan Pune , India Tatung SM-Cyclo Co., Ltd. (TSC) TEL (9) FAX (9) フリーダイヤル 営業時間 Austria 22 Chungshan N. Road 3rd., Sec. Taipei, Taiwan 04, R.O.C. 携帯電話から 月曜日 金曜日 9:00 2:00FAX3:00 7:00 Sumitomo (SHI) Cyclo Drive Germany GmbH TEL (886) (886) Japan (SCG) 土 日 祝日およびGW 夏季 年末年始休暇などの弊社休業日を除く FAX Sumitomo Heavy Industries, Ltd. (SHI) SCG Branch Austria Office ThinkPark Tower, - Osaki 2-chome, Shinagawa-ku, Gruentalerstraße 30A, 4020 Linz, Austria Tokyo , Japan 記載内容は 製品改良などの理由により予告なく変更することがあります TEL (43) FAX (43) TEL (8) FAX (8) Motion Motion Control Control Drives Drives CYCLO Drive for Precise Control 精密制御用サイクロ 減速機 UA series UAシリーズ Belgium Sumitomo (SHI) Cyclo Drive Germany GmbH (SCG) SCG Branch Benelux Office Heikneuterlaan 23, 300 Kessel-Lo, Leuven, Belgium TEL (32) FAX (32) Specifications, dimensions, and other items are subject to change without prior notice. Power Transmission & Controls Group Headquarter ThinkPark Tower, - Osaki 2-chome, Shinagawa-ku, Tokyo , Japan PTC 事業部 東京都品川区大崎 2-- ThinkPark Tower No.F2005E-.0 No.F EA03 Printed JA 印刷 No.F2005- No.F2005E-

2 Table of Contents. Construction Application Examples Nomenclature Products Speed Ratio and Rotation Direction Standard Specifications UA Series Working Principle Rating Engineering Data Stiffness and Lost Motion Angular Transmission Error Efficiency No Load Running Torque No Load Friction Torque on Output Shaft Main Bearings...0. Selection Selection Flow Chart and Calculation Formula Selection Example Notice for Designing Assembly Method and Dimensional precision in assembly Assembly Procedure Bolt Tightening Torque and Allowable Transmission Torque Lubrication Outline Drawing Other...22 Warranty Standard/Safety Precautions...22

3 CYCLO Drive for Precise Control UA series Main bearing Cycloid disc Eccentric shaft gear Eccentric planetary shaft Ring Gear Housing Output flange Features - High stiffness - High efficiency (especially slow speed rotation) - Compact - Low vibration - Low backlash - Long lifetime - External load support (total cost reduction and improvement in the reliability) The UA series of CYCLO Drive for Precise Control is excellent especially in the stiffness, vibration level, efficiency at low speed rotation, etc. thanks to our unique new two-teeth form. Thanks to it, the series is effective especially for purposes which require track accuracy for industrial robots, machine tools, and FA equipment. 2

4 . Construction Ring gear housing Main bearing Frame (angular contact ball bearings) Main bearing (taper roller bearings) Output flange (slow speed shaft) Eccentric planetary shaft Eccentric shaft gear Bearing for the eccentric planetary shaft Output flange (slow speed shaft) Eccentric planetary shaft Eccentric shaft gear Bearing for the eccentric planetary shaft Bearing for eccentric Bearing for eccentric Cycloid disc Oil seal Ring gear housing pin Input shaft gear (high speed shaft) Knock pin Bolt Carrier Cycloid disc Oil seal Ring gear housing pin Input shaft gear (high speed shaft) Bolt Knock pin Carrier Figure. UA25, UA35, UA45 Figure 2. UA65, UA80 2. Application Examples Industrial robot Axis Driving, Robot Slider Machine tool Automatic pallet changer drive Machine tool Magazine drive Machine tool Automatic pallet pool drive Liquid crystal transfer robot Axis Driving, Robot Slider FA equipment (AGV Driving) 3

5 3. Nomenclature Display F 4C F - UA Standard: Blank Special specification: S Frame Size Suffix Shape of Ring gear housing with flange Main bearing type (taper rolling bearing type): 2C Main bearing type (angular contact ball bearing type): 4C Model symbol CYCLO Drive for Precise Control Nominal ratio :: F 4. Products Table Main Rating torque Frame Size nomenclature N.m kgf.m Reduction ratio F4CF UA F4CF UA F4CF UA F2CF UA F2CF UA The rating torque is the value at the output speed of 5r/min. - The UA series has the main bearings. UA25, UA35, UA45: Angular contact ball bearing UA65, UA80: Taper roller bearing 5. Speed Ratio and Rotation Direction Figure 3 Slow speed shaft [] [2] Ring gear housing High speed shaft Reducer Input: High speed shaft Output: Slow speed shaft Fixed: Ring gear housing i =/n Reducer Input: High speed shaft Output: Ring gear housing Fixed: Slow speed shaft i = -/(n-) - i : Speed ratio (= [Output speed]/[input speed]) *"-" indicates opposite direction. + and of the speed ratio i indicate that the input and output are in the same and opposite directions, respectively. - n : Reduction ratio. 4

6 6. Standard Specifications Lubrication Grease lubrication No grease is filled before shipment from the factory, so be sure to prepare the recommended grease and fill it before using the drive. The filling quantity varies according to the mounting direction and peripheral composition of the drive, so for details, see 2-4 "Lubrication" (page 6). Ambient conditions Ambient Temperature Ambient humidity Altitude Atmosphere Mounting location -0 to +40 (Start failure may occur depending on the capacity and speed of the motor in use, so consult us if you use the drive at about -0 to 0.) 85% or less. No condensation. 000m or lower Free from corrosive gas, volatile gas or no steam. Dust-free and well-ventilated area. Indoor (Free from dust, water, other liquids) - Mounting in conditions other than the above requires adherence to special specifications. Please consult with us. - Mount in a location that enables easy operation, such as inspection and maintenance. - Mount on a sufficiently rigid member. Mounting direction Though the mounting direction is free, the grease filling quantity varies according to the mounting direction. For details, see 2-4 "Lubrication" (page 6). Painting Paintless Note) For preservation, make sufficient rustproofing. 7. UA Series Working Principle Working Principle In principle, the UA series of CYCLO Drive for Precise Control is composed of the following three mechanisms. Parallel shaft gear mechanism with involute tooth profiles Internal planetary gear mechanism with trochoid curve tooth form with two-teeth difference tooth profile Constant speed internal gear mechanism with circular tooth In the following description, the arrows in the figure indicates the rotation direction of each shaft. The angle speeds ω to ω 3 indicates values with positive input angle speed direction and - (minus) indicates that the input angle speed is opposite to the rotation direction. Figure 4 Figure 6 Reduction ratio of UA series ω2 ω ω2 ω3 From formulas and 2 ω3 (Formula Zd-Zc Za Zc Zb 3) If n=ω/ω3: Overall reduction ratio n Zb/Za: Reduction ratio in the case that there is no revolution of the eccentric planetary shaft in the parallel shaft gear mechanism n2 Zc/(Zd-Zc): Reduction ratio of the internal planetary gear mechanism then n can be expressed by n and n2 as shown in the following formula Input angle speed: ω Output angle speed: ω3 Eccentric planetary shaft rotation angle speed: ω2 The internal planetary gear mechanism with two trochoid teeth and removal mechanism of the output rotation are performed via the eccentric planetary shaft, but they can be grasped individually for each function as shown in the following figures (7 and 8). n n (n2 ) (Formula 4) Figure 5 Parallel shaft gear mechanism Figure 7 Internal planetary gear mechanism Figure 8 Constant speed gear mechanism ω2 ω Eccentric shaft gear (teeth number Zb) Input shaft gear (teeth number Za) The eccentric planetary shaft revolves at the angle speed of ω3 rotating. At this time, if the angle speed of ω is applied to the input shaft gear, the rotation angle speed ω2 of the eccentric planetary shaft is expressed by the following formula. ω2 Za ω ω3 ω3 (Formula ) Zb ω3 ω2 Planetary gear (teeth number Zc) Crank shaft Circular gear (teeth number Zd) If the angle speed of ω3 is applied to the crank shaft fixing the internal gear, the rotation angle speed of ω3 of the planetary gear is expressed by the following formula. Zd-Zc ω3 ω2 (Formula 2) Zc Pin Op Os Planetary gear (cycloid disc) Op: Planetary gear center Os: Internal pin pitch circle center The planetary gear of the internal planetary gear rotate (ω3) simultaneously at a low speed with high-speed revolution (ω2). The constant speed gear mechanism extracts only the rotation by the internal pin located at regular intervals in the center Os of the crank shaft and concentric circle. e 2e 5

7 8. Rating Table 2. Rating table (in the case of usage as a reducer) Output speed (r/min) Frame Size Actual Reduction reduction ratio ratio Rated output Input torque capacity (Upper/N.m) (kw) (Lower/kgf.m) Input speed (r/min) Rated output Input torque capacity (Upper/N.m) (kw) (Lower/kgf.m) Input speed (r/min) Rated output Input torque capacity (Upper/N.m) (kw) (Lower/kgf.m) Input speed (r/min) Rated output Input torque capacity (Upper/N.m) (kw) (Lower/kgf.m) Input speed (r/min) Rated output Input torque capacity (Upper/N.m) (kw) (Lower/kgf.m) Input speed (r/min) / UA / / / UA / / / UA / / / / / UA / / / / / / UA / / / / Note). Rated output torque The rated output torque indicates the allowable value of the average load torque of the output shaft. The rated output torque to the output speed of 5r/min or less is the same as that at 5r/min. The input capacity is the required input capacity for 00% rated output torque. This value considers the efficiency at the time of deceleration. 2. Allowable peak torque at acceleration and deceleration Allowable peak torque applied to the output shaft at normal start and stop. 3. Allowable maximum momentary torque Allowable maximum momentary torque applied instantaneously to the output shaft due to emergency stop, external heavy shock, etc. This indicates the value in the case of 0 3 times of application during the entire lifetime. 6

8 Allowable peak torque at Rated output Rated output Rated output Input Input Input Input Input Input torque torque torque capacity speed capacity speed capacity speed (Upper/N.m) (Upper/N.m) (Upper/N.m) (kw) (r/min) (kw) (r/min) (kw) (r/min) (Lower/kgf.m) (Lower/kgf.m) (Lower/kgf.m) acceleration and deceleration (Upper/N.m) (Lower /kgf.m) Note Allowable maximum momentary torque (Upper/N.m) (Lower/kgf.m) Note Allowable maximum output 4. Moment of inertia and GD 2 indicate the values converted to the input shaft. To convert these values to inertia (kgf.m.sec 2 ), divide them by g (9.8 m/sec 2 ) for the moment of inertia and by 4g (4 9.8 m/sec 2 ) for GD 2. *: Value including the whole standard input shaft gear. *2: Value considering only the tooth width of the input shaft gear. 5. This rating is applied for 50%ED or less (0-minute cycle). For over 50%ED (0-minute cycle), contact us. For calculation of %ED, see Formula 4 on P The mass includes the input shaft gear (standard specification) speed (r/min) Equivalent on input shaft Upper Moment of inertia ( 0-4 kg.m 2 ) Lower/GD 2 ( 0-4 kgf.m 2 ) Note 4. * * Mass (kg) Note

9 Torsion angle 9. Engineering Data 9-. Stiffness and Lost Motion - Hysteresis curve: Relationship between the load unloaded slowly to zero torque after fixing the input shaft (high-speed shaft) and slowly applying torque up to the rating to the output flange, and the torsion angle of the output flange - Lost motion: Torsion angle under the load of the rating torque ±3% - Stiffness: Inclination of the straight line between two points on the hysteresis curve: the points of rated torque 50% and 00% Lost motion b a -00% -50% Torque 50% 00% (rated) Hysterisis loss -3% 3% Stiffness = b/a (Formula 5) Figure 9. Hysteresis curve Table 3 Frame Size UA25 UA35 UA45 UA65 UA80 Rated output torque At 5r/min Upper stage: N.m Lower stage: kgf.m Lost motion Measurement torque (±) Upper stage: N.m Lower stage: kgf.m Lost motion arc min Note) arc min indicates the angle "minute." The stiffness indicates the average value (representative value). 0.5 Stiffness Upper stage: N.m/arc min Lower stage: kgf.m/arc min Angular Transmission Error Angle transmission error: Difference between the theoretical output rotation angle and actual output rotation angle when any rotation angle is applied to the input without load (measurement value example) Rotation angle error (arc sec) ±4 arc sec One rotation of the output shaft (degree) Figure 0. Angle transmission error 8

10 9-3. Efficiency - The efficiency varies according to the output speed, load torque, grease temperature, frame size, etc. - Figure indicates the average value of the efficiency for the output speed after running-in while the rating load torque and grease temperature are stable. - If the load torque is not the rated torque, correct the efficiency by the efficiency correction curve of Figure 2. - Lubrication: Multemp FZ No.00 Efficiency (%) Figure. Efficiency curve 9-4. No Load Running Torque Output speed (r/min) UA80 UA65 UA45 UA35 UA25 Efficiency correction factor Torque ratio (Load torque/rating torque) Figure 2. Efficiency correction curve Corrected efficiency = Efficiency value (Figure ) Efficiency correction factor (Figure 2) (Formula 6) Note). If the load torque is less than the rated torque, the efficiency value will be smaller. Calculate the efficiency correction factor from Figure If the torque ratio is.0 or more, the efficiency correction factor will be.0. - The no load running torque is the torque on the input shaft side required for rotation of the reducer without load. - Figure 3 shows the average value after running-in. - Lubrication: Multemp FZ No.00 No load running torque Output shaft conversion value (N m) UA80 UA65 UA Output speed (r/min) UA35 UA25 Note) Figure 3 indicates the output shaft conversion value of the no load running torque, so convert to the value of the input shaft by the following formula. No load running torque Output shaft conversion N.m = Output shaft conversion value/reduction ratio (Formula 7) Figure 3 No load running torque value 9-5. No Load Friction Torque on Output Shaft - The no load friction torque on output shaft indicates the torque required to start rotation from the output side of reducer without load. - Table 4 shows the average value after running-in. - Lubrication: Multemp FZ No.00 Table 4 No load friction torque on Frame Size output shaft N.m kgf.m UA UA UA45 08 UA UA

11 0. Main Bearing Pr: Actual radial load (N) Pa: Actual axial load (N). Moment stiffness Indicates the inclination stiffness of the output flange with the external moment. Figure 4. Span between load points External moment M M = Pr.Lr + Pa.La (Formula 8) 2. Allowable moment and Allowable axial load Refer to (Formula9), (Formula 0), and Figure 5 for external moment and external axial load. Equivalent moment Me Me = Cf.Fs.Pr.Lr + Cf.Fs.Pa.La (Formula 9) Equivalent axial load Pae Pae = Cf.Fs.Pa (Formula 0) Cf: Coupling factor (Table 8) Fs: Shock factor (Table 9) Table 5. Span between load points Span between load points Frame Size Bearing type L mm a mm UA25 Angular contact ball bearing UA35 Angular contact ball bearing UA45 Angular contact ball bearing UA65 Taper roller bearing UA80 Taper roller bearing Table 6. Moment stiffness Moment stiffness Frame Size (representative value) N.m/arc min kgf.m/arc min UA UA UA UA UA Table 7. Allowable moment, axial load Frame Size Allowable moment Allowable axial load N.m kgf.m N kgf UA UA UA UA UA Note) If both moment and axial loads occur, confirm the allowable values with Figure 5. Table 8. Coupling factor Cf Load connection factor Cf Chain Gear.25 Timing belt.25 V belt.5 Table 9: Shock factor Fs Load Classification Fs Uniform load (No shock) Moderate shock to.2 Heavy shock.4 to.6 0

12 UA25 UA Equivalent axial load Pae (N) Equivalent axial load Pae (N) Equivalent moment Me (N m) UA45 Equivalent axial load Pae (N) Equivalent axial load Pae (N) Equivalent moment Me (N m) UA Equivalent moment Me (N m) 7056 Equivalent moment Me (N m) UA Equivalent axial load Pae (N) Equivalent moment Me (N m) 0000 Figure 5. Allowable moment and axial load diagram

13 . Selection -. Selection Flow Chart and Calculation Formula Figure 6 Load pattern Table 0 Load torque Output speed NA NR ta tr tb to T A T R T NB tp T B Time Symbol Name Symbol Name N A N R N B ta tr - tb Average output speed at the time of acceleration Output speed with normal running Average output speed at the time of deceleration Acceleration time Normal running time Deceleration time t0 tp T T A T R T B T S Total running time Stand still time Time cycle Acceleration peak torque Normal running torque Peak torque at breaking Shock torque Evaluation of the load characteristics - Calculation of the average output speed NE - Calculation of the average output torque T E - Calculation of the allowable rated output torque at the average output speed Calculation of %ED Table 2 Rating table T E0 Select the frame size of TE =< TE0: (Formula 5) Select tentative frame size NE = ta NA+ t R NR + t B NB (Formula ) to T E= ta NA T + t R NR T A0/3 R 0/3 + t B NB T B 0/3 to N E *If it exceeds 50%ED, reconsider the load characteristics. T EO = %ED= t0 5 NE 0.3 T0 (Formula 3) 00 (Formula 4) T 0.3 F s 2 (Formula 2) T0: Rated output torque at the output speed of 5rpm: Table 2 - Rating table Evaluation of the main bearing Evaluation of the output speed Evaluation of the peak torque at acceleration and decelaration 7 8 Calculation of the equivalent moment Me Calculation of the equivalent axial Pae Me: Formula 9 Pae: Formula 0 0 Maximum output speed Nmax Allowable maximum output speed NO * Nmax 0: Table 2 Rating table Peak torque at acceleration and decelaration T P Evaluation of the shock torque NO Allowable peak * torque at acceleration and decelaration T P0 : Table 2 Rating table 2 9 Me Allowable moment Me 0 Pae Allowable axial Pae 0 NO * Shock torque T S Allowable maxi mum momentary torque NO * T S0 : Table 2 Rating table Me0: Figure 5 Pea 0: Figure 5 3 Shock torque Allowable transmission T =< S torque of the bolt NO * T t0: Table 3 Note) For the * mark parts, return to 6. Select of the frame size Table Fs2 load factor Load conditions Fs 2 Uniform load (No shock) Moderate shock to.2 Heavy shock.4 to.6 2

14 -2. Selection Example Make confirmation assuming F4CF-UA25-24 (actual reduction ratio: 205/7) for the following specifications. (Specifications) T A : Acceleration peak torque 750 N m t A : Acceleration time 0.3sec T R : Normal running torque 400 N m t r : Normal running time 3.0sec T B : Peak torque at braking 550 N m t B : Deceleration time 0.3sec T S : Shock torque 600N m 000 times t P : Stand still time 3.6sec during the whole lifetime t O : Total running time 3.6sec na : Average output speed at the time of acceleration 0.5 r/min T : Time cycle 7.2sec nr : Output speed with normal running 2.r/min nb : Average output speed at the time of deceleration 0.5 r/min P r : Radial load 000 N Pa : Axial load 200 N l r : Radial load position 350mm l a : Axial load position 50mm Assume that there is almost no shock when using the drive. (Calculation) Average output speed Average load torque Allowable rated torque at the average output speed T EO = Calculation of ED ED= Evaluate of the equivalent moment 00=50 Me= =360 (N m) =< 666 (N m) (=Me0) Evaluate of the equivalent axial load Pa=200(N) =< 594(N)(=Pa0) Evaluate of the maximum output speed nmax= 2. (r/min) 50(r/min ) Evaluate of the peak torque at acceleration and deceleration Tp=750 (N m) 250 (N m) Evaluate of the impact torque (maximum momentary torque) Ts= 60 0 (N m) (N m) = 463 (N m) >= 443 (N m)(=te) -> Select F4CF-UA25-24 as a tentative frame size F4CF-UA25-24 is selected based on the following consideration. 3

15 2. Notice for Designing 2-. Assembly Method and Dimensional precision in assembly Example for Assembly Interface Grease fill and drain port Spigot B Spigot A O-ring Seal washer Oil seal - The input parts such as motors shall be assembled referring to spigot A. - Spigot B or D for assembly using output flange. Spigot A or C for assembly using ring gear housing. Output flange - To prevent intrusion of water and dust, apply liquid gasket to the interface. Grease fill and drain port Device casing Example for assembly 2 Spigot C Spigot A O-ring Interface Grease fill and drain port Seal washer Oil seal Output flange Spigot D Motor Adopter Grease fill and drain port Device casing Figure 7 Assembly method c b d e A f Rotation center g A Input shaft center Figure 8 Dimensional precision in Assembly The dimensional precision in assembly shall be within the allowable values of Table 2. 4 Table 2 Spigot dimension Spigot depth Concentricity Frame Size g against the b c d e f rotation axis UA25 37 H7/h7 32 H7/h7 0 H7/h7 37 H7/h7 UA35 60 H7/h7 35 H7/h7 30 H7/h7 60 H7/h UA45 88 H7/h7 47 H7/h7 55 H7/h7 88 H7/h7 UA H7/h7 55 H7/h7 20 H7/h7 255 H7/h7 UA H7/h7 62 H7/h7 238 H7/h7 284 H7/h

16 2-2. Assembly Procedure Figure 9 Example for Assembly [] Spigot A O-ring Example for Assembly 2 [] Spigot C Spigot A O-ring Oil seal Oil seal Motor Adapter Casing of machine Fix the CYCLO Drive to the casing of machine with bolts. (Spigot A) At this time, apply the O-ring to the spigot. Also prepare a seal mechanism between the input shaft gear and casing of machine. Casing of machine Fix the CYCLO Drive and motor adapter to the casing of machine by jointly fastening with bolts. (Spigot A and C) At this time, apply the O-ring to the spigot. Also prepare a seal structure between the input shaft gear and motor adapter. [2] [2] Fix the input shaft gear to the motor shaft with key and bolts. Align the phase of the input shaft gear and eccentric shaft gear, mount the motor to the CYCLO Drive, and fix it with bolts. (When mounting the servo motor, apply the prevention agent for fretting to the motor shaft in advance.) Fix the input shaft gear to the motor shaft with key and bolts. Align the phase of the input shaft gear and eccentric shaft gear, mount the motor to the CYCLO Drive, and fix it with bolts. (When mounting the servo motor, apply the prevention agent for fretting to the motor shaft in advance.) [3] Assembly surface [3] Assembly surface O-ring Grease filler port Grease filler port Oil seal Spigot B Output flange Output flange Grease drain port Spigot D Grease drain port Mount the output shaft of the machine to the output flange with bolts. (Spigot B) At the mounting, apply liquid gasket to the assembly surface. Inject the specified amount of grease from the grease drain port of the casing of machine and then close each grease drain port. Mount the output shaft of the machine to the output flange with bolts. (Spigot D) At this time, apply liquid gasket to the assembly surface. Inject the specified amount of grease from the grease drain port of the motor adapter and then close each grease drain port. Note) The bolts for mounting of the gear reducer shall be fastened by the specified fastening torque. 2. When mounting the output shaft of the device to the CYCLO output flange with bolts, set the length of the bolts to be shorter than the screw depth shown in the output flange of the outline drawing. 3. When fixing the input shaft gear to the motor with bolts, seal between the input shaft gear and bolt by seal washer, etc. Recommended liquid gasket: ThreeBond Co.,Ltd. Liquid gasket ThreeBond 25 5

17 2-3. Bolt Tightening Torque and Allowable Transmission Torque Table 3 Frame Size UA25 UA35 UA45 UA65 UA80 Number and size of bolts 9-M0 6-M0 5-M0 6-M0 8-M0 9-M2 2-M2 2-M2 5-M6 9-M Lubrication Bolt PCD mm Tightening of the output flange Tightening of the reducer part Allowable Allowable Allowable Bolt tightening transmission transmission Number Bolt Bolt tightening transmission torque torque by bolt torque by bolt and size PCD torque torque by bolt (for each pitch) (total) of bolts mm (total) N.m kgf.cm N.m kgf.m N.m kgf.m N.m kgf.cm N.m kgf.m M M M M M Bolt: Use hexagon socket head bolts of strength class 2.9 of JIS B Seat scratch prevention measure: Use conical spring washers (JIS B 252, class 2) when tightening the reducer part. - As a locking measure, use adhesive (Loctite 262, etc) as well in addition to conical spring washers as mentioned above. - Coefficient of friction: For this drive, no grease is filled before shipment, so be sure to prepare the recommended grease (Table 4) and fill the specified filling quantity (Table 5) before operation. The specified filling quantity is for the drive space. Also fill the device-side space ([] and [4]) with grease. Horizontal mounting: Fill grease for about 70% to 80% of the volume of device-side space []. Vertical mounting []: To prevent rise in the internal pressure, secure about 0 to 20% space of the overall volume (drive space + device-side space [2]) in the device-side space [2]. Vertical mounting [2]: Fill grease for the volume of device-side space [4]. To prevent rise in the internal pressure, secure about 0 to 20% space of the overall volume (drive space + device-side space [3] + device-side space [4]) in the device-side space [3]. Excessive grease filling causes rise in the internal pressure, which causes grease leak and oil seal detachment. - The specified filling quantity shown in Table 5 is a guideline so confirm the grease level when filling grease. - For the grease fill position of the output side, see the A dimensions shown in the table and align with the eccentric planetary shaft hole. - In the initial installation, fill grease from the lower grease fill and discharge hole and surely fill inside the drive with grease. - Replace grease every 20,000 hours of operation time or every three to five years. Figure 20 Horizontal mounting Vertical mounting [] Vertical mounting [2] Grease fill and drain port Drive space Device-side space [] Grease fill and drain port Device-side space [2] Grease fill and drain port A Device-side space [3] Grease position A Grease position Grease position B Grease fill and drain port Drive space A Grease fill and drain port Drive space Grease fill and drain port Device-side space [4] 6 Table 4 Recommended Grease Lubrication grease name Supplier Multemp FZ No.00 Kyodo Yushi Co., Ltd. Table 5. Specified grease filling quantity (drive space) Specified grease filling quantity Frame Size Horizontal mounting Vertical mounting [] Grease fill and discharge hole position Grease level ml g ml g A (mm) B (mm) UA UA UA UA65, ,360, UA80,950,700 2,460 2,

18 3. Outline Drawing Mass 6.2kg H7 ( ) 37 h7 ( ) h7 ( ) H7 ( ) 27.8 D (Eccentric shaft gear circumcircle) M8 (Forcing tap) B B M0 Depth 6 Max. R0.5 C JS9 (±0.05) h8 d Details on Part C 5 35 Plunge grinding 5 X Details on the input shaft gear Details on Part X 0 Max. R Details on Part B-B O-ring to apply AS (maximum) UA25 outline drawing Reduction ratio d D Precautions. Apply liquid gasket to the mounting surface with the gear reducer to prevent grease leak. 2. Prepare bolts for mounting, washers, liquid gasket, O-ring, and grease for lubrication by customers. (See P.5 and 6) 3. Note that the dimensions of the outline dimensions may be changed without notice to customers. 4. No paint in the standard specification. 7

19 Mass kg 38 H8 ( ) d 60 h7 ( ) h7 ( ) H7 ( ) 28.9 D (Eccentric shaft gear circumcircle) M8 (Forcing tap) B B A M0 Depth Max. R0.5 C JS9 (±0.08) 24 H7 ( ) h7 ( ) 0.2 Details on Part A Details on Part C Plunge grinding 8 X (maximum) O-ring to apply AS Max. R Details on Part X Details on Part B-B Details on the input shaft gear Precautions. Apply liquid gasket to the mounting surface with the gear reducer to prevent grease leak. 2. Prepare bolts for mounting, washers, liquid gasket, O-ring, and grease for lubrication by customers. (See P.5 and 6) 3. Note that the dimensions of the outline dimensions may be changed without notice to customers. 4. No paint in the standard specification. UA35 outline drawing Reduction ratio d D

20 Mass 7kg 42 h8 ( ) 88 h7 ( ) h7 ( ) H7 ( ) 38.5 D (Eccentric shaft gear circumcircle) M0 (Forcing tap) B B 8 M0 Depth 5 9 M2 Depth 8 A H7 ( ) d h7 ( ) (maximum) C Plunge grinding 8 JS9 (±0.08) X Max. R O-ring to apply AS Max. R Details on Part A Details on Part C Details on the input shaft gear Details on Part X Details on Part B-B Precautions. Apply liquid gasket to the mounting surface with the gear reducer to prevent grease leak. 2. Prepare bolts for mounting, washers, liquid gasket, O-ring, and grease for lubrication by customers. (See P.5 and 6) 3. Note that the dimensions of the outline dimensions may be changed without notice to customers. 4. No paint in the standard specification. UA45 outline drawing Reduction ratio d D

21 Mass 38kg 55 h8 ( ) H7 ( ) 295 D (Eccentric shaft gear circumcircle) 38 H7 ( ) h7 ( ) h7 ( ) M2 (Forcing tap) B B 33 M2 Depth 20 A 0 JS9 (±0.08) d C 5 60 Plunge grinding 25 X Max. R Max. R0.5 O-ring to apply AS (maximum) h7 ( ) Details on Part A Details on Part C Details on the input shaft gear Precautions. Apply liquid gasket to the mounting surface with the gear reducer to prevent grease leak. 2. Prepare bolts for mounting, washers, liquid gasket, O-ring, and grease for lubrication by customers. (See P.5 and 6) 3. Note that the dimensions of the outline dimensions may be changed without notice to customers. 4. No paint in the standard specification. UA65 outline drawing Details on Part B-B Details on Part X Reduction ratio d D

22 Details on Part ADetails on Part C Details on the input shaft gear Details on Part X Details on Part B-B Mass 56kg 60 h8 ( ) H7 ( ) D (Eccentric shaft gear circumcircle) H7 ( ) h7 ( ) h7 ( ) M0 (Forcing tap) B B 24 M6 Depth 24 A C ± d h7 ( ) 5 60 Plunge grinding 25 X (maximum) Max. R O-ring to apply AS Max. R UA80 outline drawing Reduction ratio d D Precautions. Apply liquid gasket to the mounting surface with the gear reducer to prevent grease leak. 2. Prepare bolts for mounting, washers, liquid gasket, O-ring, and grease for lubrication bycustomers. (See P.5 and 6) 3. Note that the dimensions of the outline dimensions may be changed without notice to customers. 4. No paint in the standard specification. 2

23 4. Other The specification shown in this document is based on our evaluation method. Evaluate the performance and durability in the condition of installation in the drive considering the field usage conditions, etc. and confirm that there is no problem, by yourself, before using this product. Be sure not to perform disassembly, inspection, repair, and overhaul in cases of abnormalities of this product by yourself because they have to be performed by our skilled workers with special jigs and tools and expertise. Note that the specifications and dimensions shown in this document may be changed without notice to customers. Warranty standard The scope of warranty of our delivered products is limited only to what we manufactured. Warranty Period Warranty Condition Warranty Exclusions The warranty period for the Products shall be 8 months after the commencement of delivery or 8 months after the shipment of the Products from the seller's works or 2 months from the Products coming into operation, whether comes first. In the event that any problem or damage to the Product arises during the Warranty Period from defects in the Product whenever the Product is properly installed and combined with the Buyer's equipment or machines, maintained as specified in the maintenance manual, and properly operated under the conditions described in the catalog or as otherwise agree upon in writing between the Seller and the Buyer or its customers; the Seller will provide, at its sole discretion, appropriate repair or replacement of the Product without charge at a designted facility, except as stipulated in the Warranty Exclusions as described below. However, if the Product is installed or integrated into the Buyer's equipment or machines, the Seller shall not reimburse the cost of : removal or re-installation of the Product or other incidental costs related thereto, any lost opportunity, any profit loss or other incidental or consequential losses or damages incurred by the Buyer or its customers. Notwithstanding the above warranty, the warranty as set forth herein shall not apply to any problem or damage to the Product that is caused by :. installation, connection, combination or integration of the Product in or to the other equipment or machine that is rendered by any person or entity other than the Seller ; 2. insufficient maintenance or improper operation by the Buyer or its customers, such that the Product is not maintained in accordance with the maintenance manual provided or designated by the Seller ; 3. improper use or operation of the Product by the Buyer or its customers that is not informed to the Seller, including, without limitation, the Buyer's or its customers, operation of the Product not in conformity with the specifications, or use of lubricating oil in the Product that is not recommended by the Seller ; 4. any problem or damage on any equipment or machine to which the Product is installed, connected or combined or on any specifications particular to the Buyer or its customers ; 5. any changes, modifications, improvements or alterations to the Product or those functions that are rendered on the Product by any person or entity other than the Seller ; 6. any parts in the Product that are supplied or designated by the Buyer or its customers ; 7. earthquake, fire, flood, sea-breeze, gas, thunder, acts of God or any other reasons beyond the control of the Seller ; 8. normal wear and tear, or deterioration of the Product's parts, such as bearings, oil-seals ; 9. any other troubles, problems or damage to the Product that are not attributable to the Seller. Safety Precautions - Observe the safety rules necessary for the installation location and device in use. (Ordinance on Industrial Safety and Health, facility's electrical codes, interior wiring code, plant explosion proofing guide, Building Standards Act, etc.) - Select the product suitable for your operating environment and purpose. - If you use the product for any devices for which a breakdown of the product is expected to cause a great loss of human life or facility such as systems for human transport, hoisting equipment, etc., install a protection device in the device side for safety. - When the unit is used in food processing applications, machines for cleanroom and so on, vulnerable to oil contamination, install an oil pan or other such device to cope with oil leakage due to breakdown or failure; 22

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