TSUBAKI REDUCER FOR SERVO MOTORS TSUBAKI TERVO

Transcription

1 TSUBAKI REDUCER FOR SERVO MOTORS TSUBAKI TERVO HMTK H GMTK U GMTK L TSUBAKI SERVO SWJMKSWMK EWJMKEWMK

2 Tsubaki's TERVO converts equipment to servo drive. Wide-ranging lineup of gears Highly versatile 1

3 TERVO Reducers GMTK L type Helical gear head GMTK U type Helical gear head HMTK H type Hypoid gear head SWJMK/SWMK type Worm gear head EWJMK/EWMK type Worm gear head Standardized clamp for servo motors

4 Tsubaki Reducer for Servo Motors Positioning Arrangement Gears Hypoid gear High efficiency Low height Right angle shafts 7KW Servo motor capacity Rich variety of shaft styles and various mounting methods TERVO Backlash: to 70 arcmin Worm gear Heavy duty Low noise 0W Reduction ratio Parallel shafts Helical gear High efficiency Reduction ratio variations KW Servo motor capacity 0W Highly precise and compact PAT-B Backlash: 3 to 9 arcmin 3 Reduction ratio Right angle shafts Parallel shafts Bevel gear Helical planetary gear High precision Compact Helical planetary gear High precision Compact 3

5 Selection Guide Output shaft style Hollow shaft Type Hypoid gear head HMTK H Model range 0.1 to kw Page 1 Selection Guide Solid shaft Hypoid gear head HMTK U 0.1 to kw Page 1 Hollow shaft Worm gear head SWJMK, SWMK 0.1 to 7kW Page 3 Solid shaft Worm gear head EWJMK, EWMK 0.1 to 7kW Page Solid shaft Face mount, flange installation Helical gear head GMTK U, GMTK F 0.1 to kw Page 19 Solid shaft Foot mount Helical gear head GMTK L 0.1 to kw Page 19 Solid shaft High precision planetary gearbox PAT-B Series Right angle type 0.0 to kw Page 39 Solid shaft High precision planetary gearbox PAT-B Series In line type 0.0 to kw Page 39 4

6 Standard Specifications and Models Standard Specifications 1. Hypoid gear head HMTK type and helical gear head GMTK type Reduction ratio to Reducer Ambient conditions Lubrication Output shaft key Color Rust proofing specifications Installation location Ambient temperature Ambient humidity Altitude Atmosphere Grease Solid shaft: new JIS key (JIS B ), hollow shaft: new JIS keyway, key supplied for solid shaft Light gray (Munsell N7.) Rust proof effective for 6 months (after shipping) when stored indoors Indoors free of dust and water -0 C to 40 C 9 % or less (no condensation) No more than 1,000 m above sea level Area must be free of corrosive and explosive gases and steam. Mounting direction The product can be installed horizontally, vertically, or at an angle. There are no limits on the installation angle. Note) Regarding the ambient conditions, use the product within the ranges supported by the servo motor on which the product is mounted.. Worm gear head SWJMK/SWMK and EWJMK/EWMK types Reduction ratio to 60 Reducer Ambient conditions Lubrication Output shaft key Color specifications Installation location Ambient temperature Ambient humidity Altitude Atmosphere Oil lubrication (specified oil) Solid shaft: new JIS key (JIS B ), hollow shaft: new JIS keyway, key supplied for solid shaft Light gray (Munsell N7.) Rust proof effective for 6 months (after shipping) when stored indoors Indoors free of dust and water - C to 40 C 9 % or less (no condensation) No more than 1,000 m above sea level Area must be free of corrosive and explosive gases and steam. Mounting direction The product can be installed horizontally or vertically (models SWJMK3 to SWJMK70 and EWJMK3 to EWJMK70 can be installed in any direction). Note) Regarding the ambient conditions, use the product within the ranges supported by the servo motor on which the product is mounted.

7 TSUBAKI Models 1. Hypoid gear head HMTK type Reduction ratio Motor capacity kW HMTK0H/0U kw HMTK04H/04U HMTK043H/043U Models 0.7kW HMTK073H/073U HMTK074H/074U 1.kW HMTK14H/14U HMTK1H/U.kW HMTK4H/4U HMTKH/0U. Helical gear head GMTK type Reduction ratio Motor capacity kW GMTK01U/L GMTK04U/L GMTK0U/L 0.4kW GMTK044U/L GMTK04U/L GMTK043U/L 0.7kW GMTK07U/L GMTK073U/L GMTK074F/L 1.kW GMTK13U/L GMTK14F/L GMTKF/L.kW GMTK4F/L GMTK0F/L GMTK 63F/L 3. Worm gear head SWJMK/SWMK and EWJMK/EWMK types Reduction ratio Transfer capacity (in kw) with an input of 0 r/min 0.19 Upper half: SWJMK/SWMK Lower half: EWJMK/EWMK

8 Sizing Sizing 1. Conditions (1) Motion profile Output shaft speed nt nt : Maximum output shaft speed (r/min) t1 : Acceleration time (s) n0 t1 t t3 t4 tt t t3 t4 tt : : : : Constant speed time (s) Deceleration time (s) Stopped time (s) Time for 1 cycle (s) Output torque Ta Tc Ta : Tc : Tb Tb : () Load moment of inertia Ir Use the tables on page 13 to calculate Ir, the load moment of inertia on the output shaft of the reducer. ) Ir=I b a a I Reducer Ir b (3) Acceleration torque Ta and deceleration torque Tb Acceleration torque Ta=Ta+Tc Ta= Ir na 60 t1 Deceleration torque Tb=Tb Tc Ir ) Ta na : Speed difference (r/min) na =nt no Tb Tb= Ir nb 60 t3 nb : Speed difference (r/min) nb =nt no (4) Constant speed torque Tc Chain M (kg/m) Workpiece M 1 (kg) Drive sprocket Te (m) μ: Coefficient of friction of the chain and guide L(m) D r= (m) Tc=G(M1+1.1 M L) μ r G=Gravitational acceleration: m/s Tc Table M (kg/m) μ: Coefficient of friction of the guide Workpiece M 1 (kg) Screw Screw lead(m) Screw efficiency Tc= G(M1M) μ Tc D(m) M(kg) D r= (m) Tc=GM r 7

9 TSUBAKI. Sizing procedure (1) Calculate the reduction ratio i. (1) i Nm nt Nm: Motor speed () Calculate the average output torque. () nt 3 t1 Tant t Tc+ t3 Tb Tave.= nt 3 3 nt 3 t1+nt t+ nt t3 Sizing (3) Determine the size. Average torque Tave.< rated torque of the output shaft of the reducer Maximum torque Ta< rated torque of the output shaft of the reducer series factor fs Tb< rated torque of the output shaft of the reducer series factor fs (3) fs: Series factor GMTKHMTK : 1.4 EWJMKEWMKSWJMKSWMK : 1.0 (4) Calculate nave., the average output shaft speed. (4) nave. = nt t1t+t3 nt t1+nt t+ t3 () Check the speed. nave.xi < rated input speed of the reducer ntxi < maximum input speed of the reducer () Series GMTKHMTK SWJMKEWJMK Input speed (r/min) Rating Maximum SWMK0EWMK (6) Check the load time percentage.only for worm gear heads SWMK0EWMK0 0 0 Load time percentage %ED= t1t+t3 0 %ED < 0% and t 1 + t + t 3 < 0 minutes tt (7) Check the output shaft radial load. (7) O.H.L < N: Allowable radial load of the reducer* 0 Ta Lf O.H.L = D D: Pitch diameter (mm) of sprockets and similar objects * See the allowable radial loads in the transfer capacity tables. f: O.H.L factor Standard length: Q For hollow output shafts Chain 1.0 Gear toothed belt 1. Lf: Point of action factor /Q Lf Hollow output shaft Q: Standard length : Point of action Driven shaft V belt 1. Q: See the tables to the right for the standard length. HMTK Model no. Reduction ratio HMTK0H to 36 HMTK04H to 0 4 HMTK043H 60 to HMTK073H to 0 HMTK074H 60 to HMTK14H to 0 66 HMTK4H to 60 HMTK1H 0 to HMTKH 0 to 10 Q Hollow output shaft Spigot Mounting surface Solid output shaft Point of action of the load Q: See each type's dimensions for the standard length. SWJMK SWMK Model no. Reduction ratio Q SWJMK3 to 60 0 SWJMK4 to 60 SWJMK0 to 60 SWJMK63 to 60 3 SWJMK70 to SWMK0 to 60 0 SWMK0 to 60

10 Sizing Motor Mount Codes (Hypoid and Helical Gear Heads) The dimensions corresponding to the servo motors of various companies are shown as mount codes. The product has been set with the capacities of each motor as standards, but be sure to use the product within the transfer capacity range of each gear head. Note) The mount code interaction tables are representative examples that are current as of December 01. It may be possible to support servo motors not shown in the tables, so contact us for details. Note) The servo motor specifications may be changed depending on the situation of the motor manufacturer, so be sure to check the motor mounting dimensions and the mounting with our gear heads. 1. Mitsubishi Electric J4 Series servo motors Motor capacity Rated speed Model no. II Series servo motors Mount code Hypoid gear head Helical gear head 0 W HG-KR13 B3DC * HMTK0 GMTK0 W HG-KR3 HMTK0 GMTK0 00 r/min 400 W HG-KR43 HMTK04 GMTK04 70 W HG-KR73 GLC HMTK07 GMTK07 0 W HG-MR13 B3DC * HMTK0 GMTK0 W HG-MR3 HMTK0 GMTK0 00 r/min 400 W HG-MR43 HMTK04 GMTK04 70 W HG-MR73 GLC HMTK07 GMTK07 00 W HG-SR K3YC HMTK07 GMTK07 00 W HG-SR K3YC HMTK1 GMTK1 0 r/min 0 W HG-SR1 K3YC HMTK1 GMTK1 0 W HG-SR0 L1RC HMTK GMTK 00 W HG-SR61 K3YC HMTK1 GMTK1 0 W 00 r/min HG-SR1 K3YC HMTK1 GMTK1 1 W HG-SR11 L1RC HMTK GMTK. Yaskawa Electric -V Series servo motors Motor capacity 0 W SGMAV-01A B3DC * HMTK0 GMTK0 W 00 r/min SGMAV-0A HMTK0 GMTK0 400 W SGMAV-04A HMTK04 GMTK04 0 W SGMJV-01A B3DC HMTK0 GMTK0 W 00 r/min SGMJV-0A HMTK0 GMTK0 400 W SGMJV-04A HMTK04 GMTK04 Motor capacity Rated speed Rated speed Model no. Model no. Mount code Mount code Hypoid gear head Helical gear head Hypoid gear head Helical gear head J3 Series servo motors 0 W HF-KP13 B3DC * HMTK0 GMTK0 W HF-KP3 HMTK0 GMTK0 00 r/min 400 W HF-KP43 HMTK04 GMTK04 70 W HF-KP73 GLC HMTK07 GMTK07 0 W HF-MP13 B3DC * HMTK0 GMTK0 W HF-MP3 HMTK0 GMTK0 00 r/min 400 W HF-MP43 HMTK04 GMTK04 70 W HF-MP73 GLC HMTK07 GMTK07 00 W HF-SP K3YC HMTK07 GMTK07 00 W HF-SP K3YC HMTK1 GMTK1 0 r/min 0 W HF-SP1 K3YC HMTK1 GMTK1 0 W HF-SP0 L1RC HMTK GMTK 00 W HC-LP K3YC HMTK07 GMTK07 00 W HC-LP K3YC HMTK1 GMTK1 0 r/min 0 W HC-LP1 K3YC HMTK1 GMTK1 0 W HC-LP0 L1RC HMTK GMTK Series servo motors 0 W SGMAH-01 B3DC * HMTK0 GMTK0 0 W SGM-01 B3DC * HMTK0 GMTK0 W SGMAH-0 HMTK0 GMTK0 W SGM-0 HMTK0 GMTK0 00 r/min 400 W SGMAH-04 HMTK04 GMTK04 0 W 00 r/min SGM-03 HMTK04 GMTK04 70 W SGMAH-0 GKC HMTK07 GMTK W SGM-04 HMTK04 GMTK04 0 W SGMPH-01 E4DC HMTK0 GMTK0 70 W SGM-0 GKC HMTK07 GMTK07 W SGMPH-0 GHC HMTK0 GMTK0 0 W SGME-01 B3DC * HMTK0 GMTK0 400 W 00 r/min SGMPH-04 GHC HMTK04 GMTK04 W SGME-0 HMTK0 GMTK0 70 W SGMPH-0 KKC HMTK07 GMTK07 0 W 00 r/min SGME-03 HMTK04 GMTK04 0 W SGMPH-1 KLC HMTK1 GMTK1 400 W SGME-04 HMTK04 GMTK04 40 W SGMGH-0 A K3LC HMTK07 GMTK07 70 W SGME-0 GKC HMTK07 GMTK07 0 W SGMGH-09 A K3LC HMTK1 GMTK1 0 W SGML-01 B3DC * HMTK0 GMTK0 0 r/min 10 W SGMGH-13 A K3MC HMTK1 GMTK1 W SGML-0 HMTK0 GMTK0 100 W SGMGH-0 A L1RC HMTK GMTK 0 W 00 r/min SGML-03 HMTK04 GMTK04 00 W SGMSH- J3YC HMTK1 GMTK1 400 W SGML-04 HMTK04 GMTK04 0 W 00 r/min SGMSH-1 J3YC HMTK1 GMTK1 70 W SGML-0 GKC HMTK07 GMTK07 0 W SGMSH-0 J3YC HMTK GMTK 0 W SGMP-01 E4DC HMTK0 GMTK0 W 0 r/min SGMDH- P1PC HMTK GMTK W SGMP-0 G3HC HMTK0 GMTK0 0 W SGMAJ-01 B3DC HMTK0 GMTK0 0 W SGMP-03 G3HC HMTK04 GMTK04 00 r/min W 00 r/min SGMAJ-0 HMTK0 GMTK0 400 W SGMP-04 G3HC HMTK04 GMTK04 0 W SGMAJ-03 HMTK04 GMTK04 70 W SGMP-0 KKC HMTK07 GMTK07 0 W SGMP-1 KLC HMTK1 GMTK1 40 W SGMG-0A A K3LC HMTK07 GMTK07 0 W SGMG-09A A K3LC HMTK1 GMTK1 0 r/min 10 W SGMG-13A A K3MC HMTK1 GMTK1 : Standard package : Supported as necessary 100 W SGMG-0A A L1RC HMTK GMTK Regarding items indicated by the "*" symbol, the reducer's no-load loss in relation to the motor output torque is large, so operation may not be possible depending on the load. Also, note that the reducer's inertia becomes large in relation to the motor. Motor capacity Motor capacity Rated speed Rated speed Model no. III Series servo motors Motor capacity Rated speed Model no. Model no. Mount code Mount code Mount code Hypoid gear head Helical gear head Hypoid gear head Helical gear head 0 W SGMAS-01A B3DC * HMTK0 GMTK0 W SGMAS-0A HMTK0 GMTK0 400 W SGMAS-04A HMTK04 GMTK04 00 r/min 600 W SGMAS-06A HMTK07 GMTK07 70 W SGMAS-0A GKC HMTK07 GMTK07 1 W SGMAS-1A GKC HMTK1 GMTK1 0 W SGMPS-01A E4DC HMTK0 GMTK0 W SGMPS-0A GHC HMTK0 GMTK0 400 W 00 r/min SGMPS-04A GHC HMTK04 GMTK04 70 W SGMPS-0A KKC HMTK07 GMTK07 0 W SGMPS-1A KLC HMTK1 GMTK1 Hypoid gear head Helical gear head 9

11 TSUBAKI 3. Fuji Electric FA Components & Systems 4. SANYO DENKI P Series servo motors Motor capacity Rated speed Model no. Mount code Hypoid gear head Helical gear head 0 W GYS1 B3DC HMTK0 GMTK0 W GYS01 HMTK0 GMTK0 37 W GYS371 HMTK04 GMTK W GYS401 HMTK04 GMTK04 00 r/min 70 W GYS71 GKC HMTK07 GMTK07 00 W GYS J4YC HMTK1 GMTK1 0 W GYS1 J4YC HMTK1 GMTK1 0 W GYS0 J4YC HMTK GMTK 0 W GYC1 E4DC HMTK0 GMTK0 W GYC01 GHC HMTK0 GMTK0 400 W GYC401 GHC HMTK04 GMTK04 70 W 00 r/min GYC71 JKC HMTK07 GMTK07 00 W GYC K3YC HMTK1 GMTK1 0 W GYC1 K3YC HMTK1 GMTK1 0 W GYC0 K3YC HMTK GMTK 00 W GYG01C K3LC HMTK07 GMTK07 70 W GYG71C K3LC HMTK07 GMTK07 00 W 0 r/min GYGC K3MC HMTK1 GMTK1 0 W GYG1C K3MC HMTK1 GMTK1 0 W GYG0C K3MC HMTK GMTK 00 W GYG01B K3LC HMTK07 GMTK07 0 W 0 r/min GYG1B K3LC HMTK1 GMTK1 10 W GYG13B K3LC HMTK1 GMTK1 Motor capacity 0 W Rated speed Model no. Mount Hypoid gear head Helical gear head code PB0 J1KC HMTK04 GMTK04 HMTK07 70 W PB07 J1KC GMTK07 00 W PB10 K3LC HMTK07 GMTK07 0 r/min 00 W PB1 K3LC HMTK1 GMTK1 0 W PB13 K3MC HMTK1 GMTK1 0 W PB1 L1RC HMTK GMTK 0 W PB040 B3DC HMTK0 GMTK0 W PB0600 HMTK0 GMTK0 00 r/min 400 W PB06040 HMTK04 GMTK04 70 W PB007 GKC HMTK07 GMTK07 00 W P60B10 K3MC HMTK07 GMTK07 00 W P60B1 K3MC HMTK1 GMTK1 0 W 0 r/min P60B13 K3MC HMTK1 GMTK1 0 W P60B13 K3MC HMTK GMTK 0 W P60B1 L1RC HMTK GMTK Sizing. Panasonic MINAS A Series servo motors Motor capacity Rated speed Model no. Mount code Hypoid gear head Helical gear head W MSMD0 HMTK0 GMTK0 400 W 00 r/min MSMD04 HMTK04 GMTK04 70 W MSMD0 GLC HMTK07 GMTK W MSME04 E4DC HMTK04 GMTK04 00 r/min 70 W MSME0 GLC HMTK07 GMTK07 00 W MSME K3MC HMTK1 GMTK1 0 W 00 r/min MSME1 K3MC HMTK1 GMTK1 0 W MSME0 K3MC HMTK GMTK 6. Tamagawa Seiki TBL-i Series servo motors Motor capacity Rated speed Model no. Mount code Hypoid gear head Helical gear head 0 W TS403 B3DC * HMTK0 GMTK0 0 W TS406 HMTK0 GMTK0 W 00 r/min TS407 HMTK0 GMTK0 400 W TS409 HMTK04 GMTK W TS413 GLC HMTK07 GMTK07 TBL-i II Series servo motors Motor capacity Rated speed Model no. Mount code Hypoid gear head Helical gear head 0 W TS4603 B3DC * HMTK0 GMTK0 W 00 r/min TS4607 HMTK0 GMTK0 400 W TS4609 HMTK04 GMTK04 0 W TS4606 E4DC HMTK0 GMTK0 W TS4611 GHC HMTK0 GMTK0 400 W 00 r/min 600 W TS461 TS4613 GHC GLC HMTK04 HMTK07 GMTK04 GMTK07 70 W TS4614 GLC HMTK07 GMTK07 : Standard package : Supported as necessary Regarding items indicated by the "*" symbol, the reducer's no-load loss in relation to the motor output torque is large, so operation may not be possible depending on the load. Also, note that the reducer's inertia becomes large in relation to the motor.

12 Sizing Motor Mount Codes (Worm Gear Heads) The dimensions corresponding to the servo motors of various companies are shown as mount codes. Check the mount code corresponding to the servo motor being used, and then select a gear head whose size and reduction ratio match the operating conditions according to the information found under "Standard Mount Codes Categorized by Worm Gear Heads" and "Transfer Capacity Table" for each series. Be sure to select a model within the performance range of each gear head corresponding to the load conditions. Note) The mount code interaction tables are representative examples that are current as of December 01. It may be possible to support servo motors not shown in the tables, so contact us for details. Note) The servo motor specifications may be changed depending on the situation of the motor manufacturer, so be sure to check the motor mounting dimensions and the mounting with our gear heads. Standard Mount Codes Categorized by Worm Gear Heads Flange Mount code SWJMK/SWMK type EWJMK/EWMK type SWJMK3 SWJMK4 SWJMK0 SWJMK63 SWJMK70 SWMK0 SWMK0 EWJMK3 EWJMK4 EWJMK0 EWJMK63 EWJMK70 EWMK0 EWMK0 E4DC GHC GLC KLC K3YC K4PC L1MC L1PC L1RC : Standard package : Supported as necessary Mount Code Tables Categorized by Motor Manufacturer 1. Mitsubishi Electric J4 Series servo motors Motor capacity Rated speed Model no. Mount code W HG-KR3 400 W 00 r/min HG-KR43 70 W HG-KR73 GLC W HG-MR3 400 W 00 r/min HG-MR43 70 W HG-MR73 GLC 00 W HG-SR K3YC 00 W HG-SR K3YC 0 r/min 0 W HG-SR1 K3YC 0 W HG-SR0 L1RC 00 W HG-SR1 K3YC 0 W HG-SR1 K3YC 00 r/min 1 W HG-SR11 K3YC 0 W HG-SR01 L1RC 0 W HG-SR3 L1RC 000 W 0 r/min HG-SR0 L1RC 7000 W HG-SR70 L1RC 00 W HG-SR1 L1RC 00 r/min 4 W HG-SR401 L1RC J3 Series servo motors Motor capacity Rated speed Model no. Mount code W HF-KP3 400 W 00 r/min HF-KP43 70 W HF-KP73 GLC W HF-MP3 400 W 00 r/min HF-MP43 70 W HF-MP73 GLC 00 W HF-SP K3YC 00 W HF-SP K3YC 0 r/min 0 W HF-SP1 K3YC 0 W HF-SP0 L1RC 00 W HC-LP K3YC 00 W HC-LP K3YC 0 r/min 0 W HC-LP1 K3YC 0 W HC-LP0 L1RC 11

13 TSUBAKI. Yaskawa Electric -V Series servo motors Motor capacity Rated speed Model no. Mount code W SGMAV-0A 00 r/min 400 W SGMAV-04A W SGMJV-0A 00 r/min 400 W SGMJV-04A Series servo motors Motor capacity Rated speed Model no. Mount code W SGM-0 0 W SGM r/min 400 W SGM W SGM-0 GKC W SGME-0 0 W SGME r/min 400 W SGME W SGME-0 GKC 40 W SGMG-0A A K3LC 0 W SGMG-09A A K3LC 0 r/min 10 W SGMG-13A A K3MC 100 W SGMG-0A A L1RC W SGML-0 0 W SGML r/min 400 W SGML W SGML-0 GKC III Series servo motors Motor capacity Rated speed Model no. Mount code W SGMAS-0A 400 W SGMAS-04A 600 W 00 r/min SGMAS-06A 70 W SGMAS-0A GKC 1 W SGMAS-1A GKC W SGMPS-0A GHC 400 W SGMPS-04A GHC 00 r/min 70 W SGMPS-0A KKC 0 W SGMPS-1A KLC Motor capacity Rated speed Model no. Mount code W SGMAH W 00 r/min SGMAH W SGMAH-0 GKC 0 W SGMPH-01 E4DC W SGMPH-0 GHC 400 W 00 r/min SGMPH-04 GHC 70 W SGMPH-0 KKC 0 W SGMPH-1 KLC 40 W SGMGH-0 A K3LC 0 W SGMGH-09 A K3LC 0 r/min 10 W SGMGH-13 A K3MC 100 W SGMGH-0 A L1RC W SGMAJ-0 00 r/min 0 W SGMAJ-03 Sizing 3. Fuji Electric FA Components & Systems Motor capacity Rated speed Model no. Mount code 0 W GYC1 E4DC W GYC01 GHC 400 W GYC401 GHC 70 W 00 r/min GYC71 JKC 00 W GYC K3YC 0 W GYC1 K3YC 0 W GYC0 K3YC W GYS01 37 W GYS r/min 400 W GYS W GYS71 GKC 00 W GYA01 K3YC 0 r/min 0 W GYA1 K4PC 4. SANYO DENKI P Series servo motors Motor capacity Rated speed Model no. Mount code 0 W PB0 J1KC 70 W PB07 J1KC 00 W PB10 K3LC 0 r/min 00 W PB1 K3LC 0 W PB13 K3MC 0 W PB1 L1RC W PB W 00 r/min PB W PB007 GKC 00 W P60B10 K3MC 00 W P60B1 K3MC 0 W 0 r/min P60B13 K3MC 0 W P60B13 K3MC 0 W P60B1 L1RC 70 W P0B7 L1PC 0 r/min 1 W P0B110 MMC. Panasonic MINAS A Series servo motors Motor capacity Rated speed Model no. Mount code W MSMD0 400 W 00 r/min MSMD04 70 W MSMD0 GLC 400 W MSME04 00 r/min 70 W MSME0 GLC 00 W MDME K3MC 0 W 0 r/min MDME1 K3MC 0 W MDME0 K3MC 6. Tamagawa Seiki TBL-i Series servo motors Motor capacity Rated speed Model no. Mount code 0 W TS406 W TS r/min 400 W TS W TS413 GLC TBL-i II Series servo motors Motor capacity Rated speed Model no. Mount code W TS r/min 400 W TS W TS4606 E4DC W TS4611 GHC 400 W 00 r/min TS461 GHC 600 W TS4613 GLC 70 W TS4614 GLC 1

14 Sizing Determining the moment of inertia 1. Moment of inertia of the rotating body Moving body Moment of inertia calculation SI units GD calculation (gravitational units) When the center of movement is the shaft When the center of movement is not the shaft M(kg) W(kgf) M(kg) W(kgf) M(kg) W(kgf) M(kg) W(kgf) M(kg) W(kgf) M(kg) W(kgf) I= 1 Mr ) I= 1 M(r 1 +r ) I= 1 1 M(A +L ) I=M( r I= M 4 ( A +L 3 ) ) GD = 1 WD GD = 1 W(D +d ) GD = 1 3 W(A +L ) +R ) GD =W( 1 D +4R ) ) A +4R ) GD =W ( +L 3 ) I= M 1 (A +4L ) GD = 1 3 W(A +4L ) ) ) ) ) ) +4R ) ) ). Equivalent moment of inertia of a body moving in parallel Chain M (kg) W (kgf) Drive sprocket M3 (kg) W3 (kgf) 1(m) r1 r V(m/min) D1 D (m) (m) Workpiece M1 (kg) W1 (kgf) (m) Driven sprocket M4 (kg) W4 (kgf) I=M1 r 1 +M r 1 + M 3 r 1 + M 4 r ) GD =W1D 1 + W D 1 + W3D 1 +W 4 D ) Table M (kg) W (kgf) V(m/min) Workpiece M1 (kg) W1 (kgf) Screw I= 1 4 (M +M) ( V 1 n ) ) GD =(W 1 +W ) ( V n ) ) n: Motor speed (r/min) in relation to V n: Number of motor rotations in relation to V (r/min) M1 (kg) W1 (kgf) I= 1 M 1 r +M r GD = 1 W 1 D +W D D(m) M (kg) W (kgf) D r= (m) ) ) 13

15 TSUBAKI TSUBAKI Hypoid Gear Head HMTK Type Hypoid Gear Head HMTK Contents Model Number Designation Page 1 Transfer Capacity Table Page 1 Dimensions Page 16 Motor Mount Dimensions Page 17 14

16 Hypoid Gear Head HMTK Type Model Number Designation Hollow output shaft HMTK 04 H C Gear head type Mounting style (H: hollow output shaft) Reduction ratio Mount code Solid output shaft HMTK 04 U S C Gear head type Mounting style (U: face mount) Reduction ratio Mounting style and shaft arrangement [Mounting style] H : Hollow shaft U S : Face mount, single output shaft U T : Face mount, double output shaft L : Foot mount (contact us) Mount code Shaft arrangement (S: single shaft, T: double shaft) [Output shaft rotating direction] As seen from the surface of the through-hole side with rotations made to the H U S U T right when facing the input shaft -stage: Rotations to the left 3-stage: Rotations to the right Transfer Capacity Table HMTK0H HMTK0U HMTK04H HMTK04U HMTK043H HMTK043U HMTK073H HMTK073U HMTK074H HMTK074U Reduction ratio Reduction stages Rated Input speed r/min input 0. kw 0.4 kw 0.7 kw Allowable radial load on output shaft N HMTK14H HMTK14U HMTK1H HMTKU HMTK4H HMTK4U HMTKH HMTK0U Reduction ratio Reduction stages Rated input kw kw HMTK0 to r/min 00 Allowable radial load on output shaft N (1) Reduction ratios other than that shown below are actual reduction ratios. For the 4H- and 4U-size reducers, the actual reduction ratio of reduction ratio 1/0 will be 7/34. () Contact us for details on rated inputs that are less than the input speed 0 r/min. (3) For details on the moment of inertia on input shaft and backlash, see pages 9 and. Maximum input speed 1

17 TSUBAKI Dimensions Hollow shaft details 4G Bolt through hole Opposite side: G1 H: Hollow output shaft Hypoid Gear Head HMTK U: Face mount Unit: mm Reduction ratio 0H/0U 04H/04U 0 043H/043U H/073U 0 074H/074U 60 14H/14U 0 1H/U 0 4H/4U 60 H/0U 0 0 A B C D E F G M M M M M1 M1 M16 M1 M16 G1 M-34L M-34L M1-46L M1-46L M16-44L M16-44L M0-L M16-44L M0-L H I J K L Reduction ratio 0H/0U 04H/04U 0 043H/043U H/073U 0 074H/074U 60 14H/14U 0 1H/U 0 4H/4U 60 H/0U 0 0 M N O P Q R S T U V W X Y Z Z 7-37L 7-37L 9-0L 9-0L 1-60L 1-60L L 1-60L L Note) Four tap holes are present on the mounting surface side of the case. The prepared tap holes are through holes. Note) Mounting style L: The foot mount of solid output shafts is supported by attaching the L feet for the hypoid motor foot mount to mounting style U. Contact us for details. 16

18 Hypoid Gear Head HMTK Type Motor Mount Dimensions HMTK0 HMTK04 HMTK07 HMTK1 HMTK Mount code E4DC E4EC GHC GHC GKC GLC KKC KLC K3YC K3LC K3MC K3YC L1PC L1RC G7 70G7 0G7 70G7 70G7 1G7 1G7 1G G7 Motor mount dimensions M 1 deep (PCD70) M6 deep PCD90 M 1 deep PCD70 M6 deep PCD90 M6 1 deep PCD90 M 13 deep PCD14 M 16 deep PCD14 M 16 deep PCD14 M1 16 deep PCD Unit: mm AD MA MB MC MD ML(min) MS MT M4 M4 M4 M4 M M M M M6 Note) For details on the support of the servo motors of various companies, see pages 9 and. Note) Contact us for details on servo motors that have dimensions other than those listed above. For details, use the sizing inquiry form on page 3 to contact us. 17

19 TSUBAKI TSUBAKI Helical Gear Head GMTK Type Helical Gear Head GMTK Contents Model Number Designation Page 19 Transfer Capacity Table Page 19 Dimensions Page 0 Motor Mount Dimensions Page 1 1

20 Helical Gear Head GMTK Type Model Number Designation Foot mount Gear head type Mounting style (L: foot mount) Reduction ratio GMTK 04 L C Mount code Face mount, flange installation Gear head type Mounting style (U: face mount) Reduction ratio GMTK 04 U C Mount code Mounting style [Mounting style] L Foot mount U Face mount F Flange mount Foot mount Face mount Flange mount L U F Transfer Capacity Table [Output shaft rotating direction] -stage: The same direction as the input 3-stage: The opposite direction to the input GMTK 01L/U GMTK 04L/U GMTK 0L/U GMTK 044L/U GMTK 04L/U GMTK 043L/U GMTK 07L/U GMTK 073L/U Nominal reduction ratio (actual reduction ratio) Reduction stages 7 / / / 74 0 / 70 / 1739 / / / / / 06 0 / / / / / / / / 11 4 / 99 / / / / / / / / / / 4 63 / / / / / / / / / 67 Rated input 0. kw 0.4 kw 0.7 kw Allowable Input speed r/min radial load N Nominal reduction ratio (actual reduction ratio) Reduction stages Rated input Allowable Input speed r/min radial load N 0 7 / GMTK 10 / L/F / 67 kw / / 1 / GMTK 1 1 / L/U 0 13 / / 6 1 / / GMTK 0 9 / kw 14L/F / / / GMTK L/F / / / / 77 / GMTK / L/F 0 91 / / 0 7 / / 146. kw GMTK 0L/F 0 6 / / / GMTK63L/F 0 70 / (1)Contact us for details on rated inputs that are less than or equal to the input speed 0 r/min. ()For details on the moment of inertia on input shaft and backlash, see pages 9 and. Note) Keyed/flatted servo motors that exceed the values listed above can also be supported by the Gear Motor TA Series with an adapter. For details, use the sizing inquiry form on page 3 to contact us. Maximum input speed GMTK0 to r/min 00 19

21 TSUBAKI Dimensions, GMTK U (F) Type Dimensions, GMTK L Type M6 M6 M6 M M6 M M M M M M M M M M M L 04L 0L 044L 04L 043L 07L 073L 074L 13L 14L L 4L 0L 63L Reduction ratio A B C D E F G H I J K L M N O P Q R S T U/L 04U/L 0U/L 044U/L 04U/L 043U/L 07U/L 073U/L 074F/L 13U/L 14F/L F/L 4F/L 0F/L 63F/L Reduction ratio Unit: mm Unit: mm M-3L 4-M-4L 4-M-3L 4-M1-3L 4-M-3L 4-M1-3L 4-M16-34L 4-M1-3L 4-M16-34L M16-34L U 04U 0U 044U 04U 043U 07U 073U 074F 13U 14F F 4F 0F 63F Reduction ratio A B C D E F G H I J K L Unit: mm U type F type Output shaft dimensions Helical Gear Head GMTK 0

22 Helical Gear Head GMTK Type Motor Mount Dimensions GMTK0 GMTK04 GMTK07 GMTK1 GMTK Mount code E4DC E4EC GHC GHC GKC GLC KKC KLC K3YC K3LC K3MC K3YC L1PC L1RC G7 70G7 0G7 70G7 70G7 1G7 1G7 1G G7 Motor mount dimensions AD MA MB MC MD ML(min) MS MT M 1 deep (PCD70) M6 deep PCD90 M 1 deep PCD70 M6 deep PCD90 M6 1 deep PCD90 M 13 deep PCD14 M 16 deep PCD14 M 16 deep PCD14 M1 16 deep PCD Unit: mm M4 M4 M4 M4 M M M M M6 Note) For details on the support of the servo motors of various companies, see pages 9 and. Note) Contact us for details on servo motors that have dimensions other than those listed above. For details, use the sizing inquiry form on page 3 to contact us. 1

23 TSUBAKI TSUBAKI Worm Gear Head SWJMK/SWMK Type EWJMK/EWMK Type Worm Gear Head Contents SWJMK/SWMK Type Model Number Designation Page 3 Transfer Capacity Table Page 3 Dimensions Page 4 EWJMK/EWMK Type Model Number Designation Page Transfer Capacity Table Pages and 6 Dimensions Page 6

24 Worm Gear Head SWJMK/SWMK Type Model Number Designation Hollow output shaft SWMK 0 T LF C 3 Gear head type SWJMK SWMK 3,4,0 63,70 0,0 Transfer Capacity Table SWJMK3 SWJMK4 SWJMK0 SWJMK63 SWJMK70 SWMK0 SWMK0 Mounting position E E E E E T B V T B V Mounting position E T B V Reduction ratio 1/ For the shaft arrangement, see the following table. Allowable torque on output shaft N m Allowable radial load N Allowable axial load N Allowable input kw Reduction ratio Input speed r/min Input speed r/min Input speed r/min Input speed r/min (actual reduction ratio) (1) The maximum input speed is 3,000 r/min for the SWJMK3 to SWJMK70 and SWMK0 and is,000 r/min for the SWMK0. () The allowable torque on output shaft for the SWJMK70, SWMK0, and SWMK0 are values during intermittent operation. Use the product with an operating time percentage (ED percentage) of 0% and for 0 minutes or less of continuous operation. During continuous operation, the rated thermal capacity must be considered, so use the sizing inquiry form on page 3 to contact us. (3) It is necessary to check whether the product can be accelerated by the motor's start torque when the product starts during intermittent operation. For the starting efficiency, use a value that is half the efficiency that can be calculated from the allowable input kw and allowable torque on output shaft. (4) Servo motors that exceed the values listed above can be supported by the Worm Power Drive SWM Series. For details, use the sizing inquiry form on page 3 to contact us. () For details on the moment of inertia on input shaft and backlash, see page. (6) For sections indicated by, the allowable torque of the coupling connecting the servo motor and the reducer may be exceeded depending on the used mount code. For details, see the allowable coupling torque listed in the mount dimensions on page 4. Mount code : Mounting position: E DF : 70 Mounting position: E LF RF : 0 to 0 Mounting position: T LF RF Mounting position: B LF RF Mounting position: V LF RF

25 TSUBAKI Dimensions Pressure vent Oil gauge (opposite side) Drain plug SWJMK3E, 4E SWJMK0E, SWJMK63E, SWJMK70E, SWMK0, SWMK0 Unit: mm A B B1 B C D E F G H J K L M N O P Q R SWJMK SWMK Hollow shaft details Through-hole for 4-M bolts Through-hole for 4-M bolts 4-M-16LPCD10 4-M-1LPCD14 6-M-1LPCD17 6-M-0LPCD10 6-M-0LPCD0 Note) The above diagrams show the dimensions for mounting position B. For mounting positions T and V, the positions of the pressure vent and oil gauge are different from those shown in the above diagrams. s 3, 4, 0, 63, and 70 can be installed in any position (mounting position E) and do not have a pressure vent or oil gauge. s 3, 4, 0, and 63 are double faced flange types. Unit: mm SWJMK SWMK S T U V V W X Y Z Worm Gear Head SWJMK/SWMK Mount Dimensions Connection coupling size NES70W 7 NES0W NES00W 0 NES10W 1 Note) For details on the support of the servo motors of various companies, see pages 11 and 1. Note) Contact us for details on servo motors that have dimensions other than those listed to the right. Note) Use this product in combination with the servo motor to connect to such that the value "maximum torque of the servo motor to connect to 1." is less than or equal to the allowable input torque on coupling. Allowable input torque on coupling N m Mount code Connection coupling size Motor mount dimensions Unit: mm MA MB MC MD ME MF MG ML MS MT SWJMK3 E4DC M deep NES70W 60 0G (PCD70) 14 M3 SWJMK4 E4DC M deep NES70W 60 0G (PCD70) 14 M3 SWJMK0 GHC M6 deep NES0W 0 70G GLC (PCD90) M4 GHC M6 deep NES0W 0 70G GLC (PCD90) M4 KLC M 13 deep NES00W 1 1G SWJMK63 K3YC (PCD14) 4 M6 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 GHC M6 deep NES0W 0 70G GLC (PCD90) M4 KLC M 13 deep NES00W 1 1G SWJMK70 K3YC (PCD14) 4 M6 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 KLC M 13 deep NES00W 1 1G K3YC (PCD14) 4 M6 SWMK0 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 SWMK0 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 4

26 Worm Gear Head EWJMK/EWMK Type Model Number Designation EWMK 0 T L - C EWJMK EWMK 3,4 0,63,70 0,0 Mounting position E E,V T,V Reduction ratio : 1/ For the shaft arrangement, see the following table. Mount code Mounting position: E,T Mounting position: V L R LR LU LD LUD RU RD RUD Transfer Capacity Table, EWJMK3 to EWJMK70 EWJMK3 EWJMK4 EWJMK0 EWJMK63 EWJMK70 Mounting Reduction ratio direction (actual reduction ratio) E E E V E V E V Allowable torque on output shaft N m Allowable radial load N Allowable input kw Input speed r/min Input speed r/min Input speed r/min

27 Transfer Capacity Table, EWMK0 and EWMK0 TSUBAKI EWMK0 EWMK0 Mounting Reduction ratio direction (actual reduction ratio) T V T V Allowable torque on output shaft N m Allowable radial load N Allowable input kw Input speed r/min Input speed r/min Input speed r/min (1) The maximum input speed is 3,000 r/min for the EWJMK3 to EWJMK70 and EWMK0 and is,000 r/min for the EWMK0. () The allowable torque on output shaft for the EWJMK70, EWMK0, and EWMK0 are values during intermittent operation. Use the product with an operating time percentage (ED percentage) of 0% and for 0 minutes or less of continuous operation. During continuous operation, the rated thermal capacity must be considered, so use the sizing inquiry form on page 3 to contact us. (3) It is necessary to check whether the product can be accelerated by the motor's start torque when the product starts during intermittent operation. For the starting efficiency, use a value that is half the efficiency that can be calculated from the allowable input kw and allowable torque on output shaft. (4) Servo motors that exceed the values listed above can be supported by the Worm Power Drive EWM Series. For details, use the sizing inquiry form on page 3 to contact us. () For details on the moment of inertia on input shaft and backlash, see page. (6) For sections indicated by, the allowable torque of the coupling connecting the servo motor and the reducer may be exceeded depending on the used mount code. For details, see the allowable coupling torque listed in the mount dimensions on page 7. Dimensions EWJMK3 and EWJMK4 Pressure vent Oil gauge EWJMK0 to EWJMK70, EWMK0, and EWMK0 Worm Gear Head EWJMK/EWMK * Tsubaki offers optional mounting bolts and mounting feet. See page 7. For details on the output shaft taps, see the following diagrams. A B B1 B C D E F G H I J K L M N O P Q R S Unit: mm EWJMK EWMK Output shaft taps EWJMK3, EWJMK4, EWJMK0, EWJMK63, and EWJMK70 EWMK0 and EWMK0 EWJMK EWMK T U Y Z keyway M6 1 deep keyway M 16 deep 0 7 keyway 11 M 16 deep 63 7 keyway 13 M 0 deep 70 keyway 1 M 0 deep 0 keyway 17 M 16 deep keyway 0 M 0 deep 6

28 Worm Gear Head EWJMK/EWMK Type Motor Mount Dimensions Mount code Connection coupling size Allowable input torque on coupling N m EWJMK3 E4DC NES70W G7 M deep M3 EWJMK4 E4DC M deep NES70W G (PCD70) 14 M3 EWJMK0 GHC M6 deep 14 NES0W 0 70G GLC (PCD90) M4 GLC NES0W 0 M6 deep 70G7 (PCD90) M4 KLC M 13 deep NES00W 0 1 1G7 0 3 EWJMK63 K3YC (PCD14) 4 M6 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 KLC M 13 deep NES00W 0 1 1G K3YC (PCD14) 4 M6 EWJMK70 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 KLC M 13 deep NES00W 0 1 1G K3YC (PCD14) 4 M6 EWMK0 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 EWMK0 L1MC M1 16 deep L1PC NES10W G (PCD) L1RC 79 3 M6 Note) For details on the support of the servo motors of various companies, see pages 11 and 1. Note) Contact us for details on servo motors that have dimensions other than those listed above. Note) Use this product in combination with the servo motor to connect to such that the value "maximum torque of the servo motor to connect to 1." is less than or equal to the allowable input torque on coupling. Mounting Bolts, EWJMK/SWJMK Type Tsubaki offers standard bolts for fl ange mounting, available for separate purchase as an optional item. Flange mount bolts are available in the sizes shown in the table on the right. Bolts are shipped with matching nuts. Mounting Feet, EWJMK Type Motor mount dimensions Unit: mm MA MB MC MD ME MF MG ML MS MT Model no. Applicable size Pieces Bolt size J3-FMB J4-FMB EWJMK3 SWJMK3 EWJMK4 SWJMK4 Unit: mm 4 M 0 4 M 90 Tsubaki offers mounting feet available for separate purchase as an optional item. Feet can also be factory mounted to reducers as a special order. When shipped as an optional item, two feet are supplied complete with two sets of mounting bolts and nuts. Unit: mm Standard dimensions of mounting feet are shown in the table to the right. Model no. Applicable Bolt A B C D E t size size -øc hole EWJ3-L EWJMK M 0 EWJ4-L EWJMK M 90 *Mounting feet have been surface treated and are supplied unpainted. 7

29 TSUBAKI TSUBAKI Technical Data Technical Data Contents Moment of Inertia on Input Shaft Hypoid Gear Heads and Helical Gear Heads Page 9 Worm Gear Heads Page Output Shaft Backlash Hypoid Gear Heads and Helical Gear Heads Page Worm Gear Heads Page

30 Technical Data Moment of Inertia on Input Shaft (Hypoid Gear Heads and Helical Gear Heads) Hypoid gear head HMTK type Moment of inertia 4 kg m (GD ) ( 4 kgf m ) Model no. Reduction Moment of inertia ratio (GD ) 1.1 (4.71) 0.9 (3.90) (3.74) (3.6) 0.91 (3.64) 0.73 (.9) HMTK0H (.91) (.90) (.9) (.90) (.90) (.9) (.9) 0.7 (.9) 1.0 (4.0) 0.9 (3.90) (3.74) HMTK04H (3.6) 0.91 (3.64) 0.91 (3.63) (3.66) (3.6) (3.6) (3.4) HMTK043H * (3.3) (3.1) (3.1) 0.0 (3.1) 3.17 (1.6).74 (11.0) 1.64 (.7) HMTK073H * 0.60 (.4). (.3).7 (.3) 40.9 (.37) 0. (.3) 60.3 (9.7) 0.31 (9.3) HMTK074H 0. (9.1) 10. (9.1) 160. (9.11). (9.11) 6. (6.).60 (.4) 1.3 (1.) 0. (1.1) HMTK14H. (0.9).1 (0.7) 40.7 (1.1) 0. (1.0) 60. (0.9) 0.1 (0.) 0.77 (3.1) HMTK1H (.7) (.7).67 (.7) 17.7 (70.9) 16. (67.) (66.3) (6.) HMTK4H 16.7 (66.) 16. (66.0) (6.) (6.6) (6.) (6.) HMTKH (6.0) (67.) Moment of inertia 4 kg m (GD ) ( 4 kgf m ) Model no. Reduction Moment of inertia ratio (GD ) 1.7 (.06) 0.99 (3.97) (3.77) (3.70) 0.91 (3.6) 0.73 (.93) HMTK0U (.91) (.90) (.90) (.90) (.90) (.9) (.9) 0.7 (.9) 1.0 (4.0) 0.99 (3.97) (3.77) HMTK04U (3.70) 0.91 (3.6) 0.91 (3.63) (3.67) (3.6) (3.6) (3.4) HMTK043U * (3.3) (3.) (3.1) 0.0 (3.1) 3.33 (13.3).7 (11.1) 1.66 (.7) HMTK073U * 0.61 (.).9 (.4). (.3) (.4) 0. (.3) 60.3 (9.) 0.31 (9.4) HMTK074U 0. (9.1) 10. (9.1) 160. (9.11). (9.11) 6.9 (7.).70 (.) 1.43 (1.7) 0. (1.) HMTK14U.4 (1.0).19 (0.) 40. (1.1) 0. (1.0) 60. (0.9) 0.1 (0.9) 0.0 (3.) HMTKU (.) (.7).67 (.7) 1.1 (7.) 16.9 (67.6) (66.) (66.0) HMTK4U 16.7 (66.9) 16. (66.0) (6.9) (6.6) (6.) (6.) HMTK0U (6.0) (67.9) Helical gear head GMTK type Moment of inertia 4 kg m (GD ) ( 4 kgf m ) Model no. Reduction Actual Moment of inertia ratio reduction ratio (GD ) (.97) (.6) GMTK (.4) (.3) (.3) (.) (.) GMTK (.) (.) (.) (.3) GMTK (.3) (.3) (.3) (3.6) (3.13) GMTK (3.0) (3.06) (3.06) (3.11) (3.04) GMTK (3.04) (3.04) (3.03) (3.14) GMTK (3.13) (3.13) (3.13) (9.6) (9.63) GMTK07 * (9.4) (9.34) (9.).31.9 (9.16) (9.4) GMTK073 * (9.47) (9.46) (9.4) (9.76) GMTK074 * (9.76) (9.7) (9.74) (1.) (17.) GMTK (17.) (16.9) (16.7) (16.6) (17) GMTK (17) (16.9) (16.9) (17.9) GMTK (17.) (17.) (17.) (6.) (64.1) GMTK (63.) (63.0) (6.9) (6.7) (64.) GMTK (64.1) (64.1) (64.0) GMTK (64.6) Note) The moment of inertia, GD, is a standalone value for the gear head and is converted to the moment of inertia on input shaft (motor shaft). Regarding items indicated by the "*" symbol, for mount code "K3YC" flanges, add kg m (.9 4 kgf m ) to the values listed in the above table. 9

31 TSUBAKI Moment of Inertia on Input Shaft (Worm Gear Heads) Worm gear head SWJMK/SWMK type Moment of inertia (GD ) 4 kg m ( 4 kgf m ) SWJMK3 SWJMK4 SWJMK0 SWJMK63 SWJMK70 SWMK0 SWMK0 Flange Reduction ratio (1.4) (1.7) (9.6) (1.3) (9.3) (61.) (1.4) (6.) (.0) (46.) (7.6) (17) (1.40) (1.73) (9.) (0.6) (.6) (60.) (17.) (.0) (6.) (44.3) (76.) (11) (1.39) (1.69) (.96) (19.) (7.) (60.0) (17.1) (4.9) (6.) (41.) (73.7) (11) (1.37) (1.6) (.4) (19.3) (7.3) (9.) (1.6) (3.4) (.3) (40.3) (7.1) (111) (1.37) (1.66) (9.1) (0.) (.3) (60.) (16.) (4.3) (6.1) (4.9) (74.7) (117) (1.37) (1.6) (.7) (19.6) (7.6) (9.) (16.7) (4.) (6.4) (41.0) (7.9) (113) (1.36) (1.6) (.7) (19.) (7.) (9.4) (1.3) (3.1) (.0) (39.) (71.6) (1) (1.37) (1.61) (.74) (19.0) (7.0) (9.) (14.6) (.4) (4.) (3.1) (69.9) (6) Note) The moment of inertia, GD, is a standalone value for the gear head and is converted to the moment of inertia on input shaft (motor shaft). Worm gear head EWJMK/EWMK type Moment of inertia (GD ) Note) The moment of inertia, GD, is a standalone value for the gear head and is converted to the moment of inertia on input shaft (motor shaft). 4 kg m ( 4 kgf m ) EWJMK3 EWJMK4 EWJMK0 EWJMK63 EWJMK70 EWMK0 EWMK0 Flange Reduction ratio (14.3) (1.0) (1.4) (1.) (9.) (61.4) (39.6) (71.) (4.) (77.4) (1) (13.9) (17.0) (1.) (0.6) (.6) (60.) (3.7) (70.9) (43.) (7.6) (10) (13.) (16.7) (11.9) (19.) (7.) (60.0) (37.1) (69.3) (41.) (73.4) (114) (13.7) (16.4) (11.) (19.3) (7.3) (9.) (36.4) (6.6) (40.1) (7.0) (111) (13.7) (16.) (1.1) (0.) (.) (60.4) (3.1) (70.3) (4.7) (74.6) (117) (13.7) (16.) (11.9) (19.6) (7.6) (9.) (36.) (69.0) (41.0) (7.) (113) (13.6) (16.) (11.) (19.) (7.) (9.4) (36.) (6.4) (39.7) (71.6) (1) (13.7) (16.0) (11.7) (19.0) (7.0) (9.) (3.) (6.0) (3.0) (69.9) (6) Technical Data Output Shaft Backlash Hypoid gear head HMTK type Reduction ratio to 1 to 0 10 to Angle 60 0 These are approximate values. These values are not guaranteed. Units: arcmin Worm gear head SWJMK/SWMK type Helical gear head GMTK type Units: arcmin Reduction ratio to 1 to 0 10 to Angle These are approximate values. These values are not guaranteed. Units: arcmin SWJMK3 SWJMK4 SWJMK0 SWJMK63 SWJMK70 SWMK0 SWMK0 Angle These are approximate values. These values are not guaranteed. Worm gear head EWJMK/EWMK type Units: arcmin EWJMK3 EWJMK4 EWJMK0 EWJMK63 EWJMK70 EWMK0 EWMK0 Angle 40 3 These are approximate values. These values are not guaranteed.

32 31 Memo

33 TSUBAKI TSUBAKI Handling Contents Handling Handling Pages 33 to 37 Sizing Inquiry Form Page 3 3

34 Handling This section contains general information regarding the handling of the TERVO HMTK, GMTK, SWJMK, SWMK, EWJMK, and EWMK Series. For details, see the manual supplied with the product. Upon receipt of your product Check the following items upon receipt of your reducer. Contact your distributor if any defects are found or if you have any questions. (1) Verify that the specifi cations on the nameplate correspond to your order. Pay special attention to the shaft arrangement and rotational direction. Check these against the positions of the input and output shafts, oil gauge, and plugs. () Make sure all accessories, such as pressure vents, are included. (3) Visually inspect the product for damage sustained during transport. (4) Make sure there are no loose screws or nuts. 1. Nameplate When contacting Tsubaki, please provide us with: (1) TYPE (the model number), () RATIO (the reduction ratio), (3) MFG.NO (the manufacturer's serial number), and (4) DRAWING NO. (the drawing number).. Model number designation Make sure that the model number of the unit delivered matches your order. Storage If you will not use the reducer immediately upon delivery, store it by observing the following precautions. 1. Storage location Store the product in a clean and dry indoor environment. Do not store the product outside or in locations in which it may be exposed to humidity, dust, extreme temperature fluctuations, or corrosive gases.. Storage position The product is packed and shipped in its final mounting position. Store it as delivered, in the upright position. If products with special installation styles are stored in the wrong position or direction, the bearing grease and lubrication may mix or leak from the unit. 3. Storage period (1) The maximum storage period is six months. () Special anti-rust treatment is required for storage lasting longer than six months. Contact us for details. (3) Anti-rust treatment for export models is special and must be done prior to export. Contact us for details. 4. Operating the product after storage (1) Non-metallic parts like oil seals, oil gauges, and oil plugs wear out easily due to environmental conditions such as extreme temperatures and ultraviolet rays. Before operation after a long period of storage, inspect these parts and replace them if damaged. () Make sure that there is no abnormal noise, vibration, or overheating prior to starting operation. If you notice any of these signs, contact your distributor immediately. Transport (1) Exercise caution to prevent the dangerous situations arising from this product falling down or rolling over during transport. If suspension fixtures are present, be sure to use the suspension fixtures with the reducer and ensure that the fixtures are not loose. However, once the device is installed, avoid attaching the suspension fixtures to the device and then raising up the entire device by the suspension fixtures. Doing so may lead to damage to the suspension fixtures and to injuries and equipment damage arising from the product falling down or rolling over. () Prior to suspending the reducer, determine its mass by checking information such as the nameplate, packaging, external diagram, or catalog. Then, do not suspend the reducer if it meets or exceeds the rated load of the suspension fixtures. Doing so may lead to damage to the suspension fixtures and to injuries and equipment damage arising from the product falling down or rolling over. Also, do not place your hands in the terminal box to lift up the product. Doing so may cause the terminal box to fall out. (3) If the packaging is a wooden box, the product will be unstable if you use a forklift to scoop up the box from underneath. Instead, wrap a belt around the box and affi x this belt to the forklift when raising up the product. (4) When transporting the product, insert eye bolts or similar objects into the installation taps on the sides of the housing to suspend the product in a balanced manner. 33

35 TSUBAKI Servo Motor Mounting Procedure For smooth motor shafts (input shaft clamp type) (1) Set the reducer so that the motor mounting surface is on top. () Thoroughly wipe away rust, dust, rust-preventive oil, and any other materials from the motor shaft. (3) Remove the flange's rubber cap, and then turn the input shaft to align the bolt head with the hole position. Use an L wrench or similar tool to check that the set bolt is loose. (4) Smoothly insert the motor shaft into the input shaft bore. Exercise caution to ensure that the motor shaft is not inserted at an angle. () After inserting the spigot facing completely, fasten the motor to the flange using the appropriate bolt and tightening torque. (6) Use a torque wrench to tighten the set bolt on the input shaft with the specified tightening torque. (7) Attach the rubber cap. This completes the motor set up procedure. Tightening the set bolt for the clamp specification Rubber cap Torque wrench, etc. Mounting a keyed/flatted motor on an input shaft clamp type By removing the key, you can use keyed/flatted motor shafts with a clamp type in the same manner as with smooth shafts. Set the motor's key groove (D cut) on the side 10 degrees away from the clamp slit position. Then, mount the motor on the reducer using the same procedure for smooth shafts. GMTK/HMTK clamp specifi cation set bolt tightening torque GMTK 01U/L 04U/L 0U/L 044U/L 04U/L 043U/L 07U/L 073U/L 074F/L HMTK 0H 0U 04H 04U 043H 043U 073H 073U 074H 074U Set bolt size M4 Tightening torque 4.1 N m (0.41 kgf m) 13U/L 14F/L F/L 14H 14U 1H U M. N m (0. kgf m) 4F/L 0F/L 63F/L 4H 4U H 0U M6 14 N m (1.4 kgf m) List of SWJMK/SWMK/EWJMK/EWMK clamp set bolt sizes Handling Mount code E4 G/G K/K3/K4 L1 Worm model no. Spigot diameter 0G7 70G7 1G G7/H7 Mounting pitch PCD70 PCD90 PCD14 PCD EWJMK3, SWJMK3 M3 EWJMK4, SWJMK4 M3 EWJMK0, SWJMK0 M4 EWJMK63, SWJMK63 M4 M6 M6 EWJMK70, SWJMK70 M6 M6 EWMK0, SWMK0 M6 M6 EWMK0, SWMK0 M6 SWJMK/SWMK/EWJMK/EWMK clamp set bolt tightening torque Clamp set bolt size M3 M4 M6 Tightening torque 1.9 N m (0.19 kgf m) 3. N m (0.39 kgf m) 1 N m (1. kgf m) 34

36 Handling Installation 1. Mounting direction HMTK, GMTK, SWJMK, and EWJMK There are no limitations on the mounting direction. The product can be installed horizontally, vertically, or at an angle. SWMK and EWMK For the 0- and 0-size reducers, horizontal is the standard mounting direction. Specify any other mounting directions when ordering. Mounting 1. Foot mount (1) Use a strong and flat mounting surface that is minimally affected by the vibrations during operation. Remove any dirt and foreign materials from the mounting surface, and then use four bolts to securely fix the product in place. () If you will use coupling to connect the product to another device, securely align the devices. Shaft eccentricity will shorten the service lives of bearings, gears, and shafts and will cause noise and vibrations. (3) Correctly align the chains and belts, and adjust their tenseness so that the load applied to the output shaft does not meet or exceed the rated value. (4) Note that, when the product is connected to another device, subjecting the output shaft, coupling, pulley, or sprocket to strong impacts may damage the output shaft bearings.. Flange mounting (1) Use a strong and flat flange mounting surface that is minimally affected by the vibrations during operation. Remove any dirt and foreign materials from the flange mounting surface, and then use four bolts to securely fix the product in place. () If you will use coupling to connect the product to another device, securely align the devices. Shaft eccentricity will shorten the service lives of bearings, gears, and shafts and will cause noise and vibrations. (3) Correctly align the chains and belts, and adjust their tenseness so that the load applied to the output shaft does not meet or exceed the rated value. (4) Note that, when the product is connected to another device, subjecting the output shaft, coupling, pulley, or sprocket to strong impacts may damage the output shaft bearings. 3. Face mount (1) When mounting the product on a machine, use the case taps. () If you will use coupling to connect the product to another device, securely align the devices. Shaft eccentricity will shorten the service lives of bearings, gears, and shafts and will cause noise and vibrations. (3) Correctly align the chains and belts, and adjust their tenseness so that the load applied to the output shaft does not meet or exceed the rated value. (4) Note that, when the product is connected to another device, subjecting the output shaft, coupling, pulley, or sprocket to strong impacts may damage the output shaft bearings. 4. Hollow shaft 4-1. Mounting the product on a driven shaft (1) The hollow shaft bore is manufactured such that its tolerance conforms to JIS H. Normally, the driven shaft is finished to h7. If the shocks or radial load are large, it is finished approximately to js6 or k6 such that it provides a slightly firm fit. () When mounting the product on a driven shaft, apply molybdenum disulfide grease to the surface of the driven shaft and to the hollow output shaft bore before inserting the driven shaft. (3) You can smoothly perform the insertion by manufacturing and using a tool such as that shown to the right. Insertion tool Stop ring Spacer Thrust bearing Double-ended bolt Nut 4-. Fixing the product in place on a driven shaft A. When the driven shaft has levels Manufacture an end plate as shown in the following diagram, and then fix the hollow output shaft and driven shaft in place. Stop ring B. When the driven shaft does not have levels The following two fixation methods are available. Stop ring Collar 3 End plate Spacer End plate Set screw

37 TSUBAKI 4-3. Torque arm stopper (1) Mount the torque arm on the driven machine side of the reducer. Use a hex cap bolt to mount the torque arm on the reducer. () Ensure that the torque arm stopper is free Machine side to move between the reducer and the driven shaft. Never fix the torque arm in place with a stopper bolt. If the torque arm stopper is not free to move, the bearings within the reducer may be damaged. Part A (3) When the start frequency is high, when repeated forward and reverse operations are being performed, and in similar situations, attaching rubber bush between the torque arm and the stopper bolt (or the spacer) will alleviate shocks. Torque arm Torque arm Torque arm Spacer Flat washer Correct example Special bolt Stop ring Incorrect example (The torque arm is not free to move.) Mounting example of part A of the stopper Jack bolt 4-4. Removing the product from a driven shaft (1) Remove the driven shaft from the hollow output shaft in a manner such that excessive force is not applied between the housing and the hollow output shaft. Plate Spacer Removal tool () You can smoothly perform the removal by manufacturing and using a tool such as that shown to the right. Maintenance Use your five senses and simple measuring instruments to check the following key points during daily maintenance. It is sufficient to simply pay attention to these points while operating the product. Noise Is the noise louder than usual? Are there any unusual noises that occur periodically? Vibrations Is there any unusual vibration? Temperature rises Is the surface temperature of the reducer higher than normal? Grease Lubrication (GMTK and HMTK) 1. Grease lubrication Grease is used to lubricate the product.. Already greased The product is greased with the correct amount of unleaded grease at the time of shipment, so you can use the product without adding additional lubrication. 3. Grease change In most cases, there is no need to change the grease or add new grease. However, you can increase the service life of the product by changing the grease after as a guideline 0,000 hours of use. 4. Grease specifications Use high-grade gear grease equivalent to consistency number Recommended greases Nippon Grease: NIGTIGHT LMS number 000 (unleaded grease that is the initially included product) Showa Shell Sekiyu: Alvania EP Grease R000 JX Nippon Oil & Energy: PYRONOC UNIVERSAL 000 Handling 36

38 Handling Oil Lubrication (SWJMK, SWMK, EWJMK, and EWMK) 1. Oil lubrication Oil is used to lubricate the product.. Already oiled The product is oiled with the correct amount of oil (Daphne Alpha Oil TE60) at the time of shipment, so you can use the product without adding additional lubrication. 3. Oil change The 3- to 70-size reducers have an airtight construction, so, in most cases, there is no need to change the lubrication oil or add new lubrication oil. However, if the usage conditions lead to pronounced deterioration of the lubrication oil, you can increase the service life of the product by changing the oil after as a guideline,00 hours of use. Perform maintenance on the 0- and 0-size reducers according to the following key points. (1) First change: 1,000 hours or three months after the start of operation, whichever comes first. () Subsequent changes: Depending on operating conditions,,000 hours or one year, whichever comes first. 4. Pressure vent The 3- to 70-size reducers have an airtight construction, so pressure vents are not necessary. Check that the 0- and 0-size reducers are installed in the standard mounting direction, and then be sure to install the included pressure vent. After the installation is complete, use the oil gauge to check the oil level. Specify any mounting directions other than the standard mounting direction when ordering.. Recommended oil Lubrication oil is vital to reducer capacity, life, and efficiency. Use only lubrication oil recommended by Tsubaki. (Never mix the oil with other brands.) SWJMK and SWMK EWJMK and EWMK Daphne Alpha Oil TE60 (IDEMITSU) 6. Approximate oil volume SWJMK/SWMK Type SWJMK3 SWJMK4 SWJMK0 SWJMK63 SWJMK70 SWMK0 SWMK0 Unit: L direction Mounting EWJMK/EWMK E B T 1.. V Type EWJMK3 EWJMK4 EWJMK0 EWJMK63 EWJMK70 EWMK0 EWMK0 Unit: L direction Mounting E B T V Oil Seals Reducers use contact-type oil seals. In most cases, there is no need to change the oil seals. However, you can increase the service life of the reducer by changing the oil seals after as a guideline,000 hours of use. The service lives of oil seals vary depending on the usage conditions, so you may have to change them even within,000 hours of use. Also, when using the product with food processing machines, especially those devices with which oil must not be used, install an oil pan or other damage prevention equipment to prepare for the rare occurrences of oil spills caused by issues such as malfunctions and the oil seals reaching the end of their service lives. * Occasionally, during the early period after operation starts, grease filled during the assembly process may seep out of the oil seal lip. This is normal and does not affect the performance of the reducer. 37

39 TSUBAKI Sizing Inquiry Form 1. Machine and application (1) Machine name () Application *. Drive motor (1) Manufacturer () Series, model number (3) Rated output capacity (4) Rated speed () Rated torque (6) Maximum speed (7) Maximum torque 3. Motion profile n0 Ta Load torque: T Input speed: n kw r/min Nm r/min % (9) Output part dimensions Dimension entry fields A 1 B 1h7 Motion profile (entry example) Time sec t1 t t3 t4 E C 14 D 3 E 1 G D H F 9 Operating mode Acceleration Constant speed Deceleration Stopped I B 4-F G Input speed r/min n0nt nt nn0 n0 A C Shaft tip dimensions H 0 I 4h6 indicates example entries. Enter the information in the same manner as these examples. When an oil seal is included, clearly indicate this, and enter the dimensions. Load torque Nm Ta Tc Tb 0 nt Tc Time: t Motion profile (entry example) Time Operating mode sec Input speed r/min Load torque Nm Tb t1 t t3 t4 tt 4. Reducer specifications and operating conditions (1) Output shaft style () Gear head style (3) Reduction Ratio (4) Output shaft load Radial load ( ) N Axial load ( ) N () Output shaft connection (6) Mounting style (7) Installation location () Ambient temperature (9) Expected service life: hours MEMO Handling 3

40 High Precision Planetary Gearbox PAT-B Series The High Precision Planetary Gearbox PAT-B Series has achieved high quality and high transfer capacity through high-level gear processing technology and the use of stainless steel in its case and output shaft. Environment-resistant Stainless steel housing and output shaft exhibit excellent rust and corrosion resistance, making this series ideal for clean environments. Quiet operation The precision machined helical planetary gears provide a smooth mesh that maintains uniform load balancing for quiet operation. High efficiency, compact The helical planetary gear mechanism achieves high efficiency, while the ring gear machined integrally to the housing make this series compact. Low backlash Excellent gear cutting technology achieves low backlash. Wide range of variations The rich lineup offers an array of reduction ratios in 7 frame sizes, available with in line or right angle shafts. Heavy duty The output shaft features double-row angular contact ball bearings for extra durability against thrust and radial loads. Mount codes Our standard line of flanges can be mounted on servo motors from various manufacturers. Features (1) Double-row angular contact ball bearings Bears thrust loads from both directions to provide heavy-duty performance against moment loads. (The PAT-B10 frame uses ball bearings, and the PAT-B70 frame uses taper roller bearings.) (3) Helical planetary gears Low-temperature plasma nitriding treatment applied. () Needle roller bearings Uncaged needle rollers arranged directly inside the planetary gears afford greater contact area to deliver high stiffness and torque. (4) Integrated carrier The integrated carrier and output shaft achieve torsional rigidity and concentricity. () Output and input sealing systems Carbon coating has been applied to the shaft surfaces. This reduces friction and heat generation, improves abrasion resistance, and extends the service life. (7) Input clamping system The set collar clamp features a triple slit collet for a balanced clamp and greater clamping force. Suitable for high input speeds. Delivers highly accurate power transmission performance. (6) Carrier design The carrier supports the bearing for the input sun gear to maintain concentricity and precision. () Helical ring gear The integrated ring gear and housing deliver high torque and stiffness. 39

41 High Precision Planetary Gearbox PAT-B Series Model Number Designation Series Frame no. Type Reduction ratio Output shaft Backlash Mount code PAT-B 10 S 003 K P1 - B3D In line type (S) B Series (basic) (16A) 0 (A) S: In line type 1 stage stages K: With key (standard) S: Smooth 1 stage stages P1: Reduced 3 arcmin arcmin P: Standard arcmin 7 arcmin Applicable motor manufacturer/ motor model number Ex: E4H, GL, K3Y Series Frame no. Type Reduction ratio Output shaft Backlash Mount code Right angle type (R) PAT-B 0 R 0 K P1 - K3Y B Series (basic) R: Right angle type 1 stage stages K: With key (standard) S: Smooth 1stage stages P1: Reduced 4 arcmin 7 arcmin P: Standard 6 arcmin 9 arcmin Applicable motor manufacturer/ motor model number Ex: GL, H1H, K3M Standard Package Type In line: S Right angle: R Reduction ratio 1 stage stages 1 stage stages * (actual reduction) 1/3, 1/4, 1/, 1/7, 1/9, 1/ 1/1, 1/0, 1/, 1/, 1/3, 1/40, 1/0, 1/70, 1/0 1/3, 1/4, 1/, 1/7, 1/9, 1/, 1/14, 1/0 1/, 1/, 1/40, 1/0, 1/70, 1/0, 1/140, 1/ Backlash P1: Reduced, 3 arcmin P1: Reduced, arcmin P1: Reduced, 4 arcmin P1: Reduced, 7 arcmin P: Standard, arcmin P: Standard, 7 arcmin P: Standard, 6 arcmin P: Standard, 9 arcmin Reduction method Helical planetary mechanism Helical planetary mechanism Right angle: spiral bevel gear Lubrication Grease (NYOGEL 79D) Output shaft key New JIS key (JIS B ) PAT-B10: 6 db (A scale) PAT-B10: 61 db (A scale) PAT-B160: db (A scale) PAT-B160: 63 db (A scale) PAT-B0: 60 db (A scale) PAT-B0: 6 db (A scale) Noise level PAT-B30: 63 db (A scale) PAT-B30: 6 db (A scale) (1 m) PAT-B400: 6 db (A scale) PAT-B400: 70 db (A scale) PAT-B0: 67 db (A scale) PAT-B0: 7 db (A scale) PAT-B70: 70 db (A scale) PAT-B70: 74 db (A scale) PAT-B10: 3 Torsional PAT-B160: 7 PAT-B0: 14 rigidity PAT-B30: N m/arcmin PAT-B400: 0 (representative value) PAT-B0: 14 PAT-B70: Installation location Indoors Ambient temperature - to 40 C Ambient humidity % or less (no condensation) Altitude No more than 1,000 m above sea level Atmosphere Area must be free of corrosive and explosive gases and steam. Mounting direction The product can be installed horizontally, vertically, or at an angle. There are no limits on the installation angle. * For only the PAT-B10R, the reduction ratio 1/14 becomes 1/1 and is performed with -stage reduction. The reduction ratio 1/0 is also performed with -stage reduction. Drawing Service D and 3D drawings are available. Use the document request page on our website or contact us by fax to request drawings. High Precision Planetary Gearbox PAT-B Series For details on the High Precision Planetary Gearbox PAT-B Series, request its catalog. 40

42 High Precision Planetary Gearbox PAT-B Series Introduction to the Easy Sizing Website (Selection Tool) Our website provides a tool for easily selecting servo motors from various manufacturers and the corresponding reducers. The same website also provides downloadable PDF drawings and CAD fi le drawings in DXF and 3D formats. Click here!! 41