New Product Information Vol.11. Ultra-Flat, Lightweight, Hollow Shaft Gear Unit

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Shonda Hamilton
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1 New Product Information Vol. SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit Now offering a lightweight gear unit based upon our SHD Series of Ultra-Flat Hollow Shaft Gears! Using new lightweight materials and an optimized design, we have developed the SHD-2UH-LW Lightweight Series. These axially compact gear units feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.

2 Ordering Code SHD UH - LW - SP Model Gear Type specification specification 2 SHD Series 2UH (Unit Type) Lightweight Special (Custom Specification) leave blank for standard product Rating Table Table 2- Gear Rated Torque at 00 r/min Limit for Repeated Peak Torque Limit for Average Torque Limit for Momentary Torque Nm kgfm Nm kgfm Nm kgfm Nm kgfm Max. Input Speed Grease Max. Average Input Speed Grease Moment of Inertia I J -4 kgm 2-5 kgfms (Note). Moment of Inertia: I =/4GD 2 2. Please refer to the CSD / SHD Catalog for an explanation of terms and technical information. Starting Torque Values shown below vary depending on the operating condition. Please use values as a reference. Table 2-2 Unit: Ncm Backdriving Torque Values shown below vary depending on the operating condition. Please use values as a reference Table 2-3 Unit: Nm 2

3 SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit About 5% Shorter SHG/SHF Series Gear Unit SHD Series Gear Unit Weight Comparison SHG/SHF-2UH Series SHD-2UH-LW Lightweight Table 3- Unit: Ncm 9% % % % 0% 0% Accuracy Table 3-2 Transmission Error -4 rad arc min Hysteresis Loss Table 3-3 over -4 rad -4 rad.3 arc min arc min

4 No Load Running Torque No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive gear with no load applied to the output. Measurement condition Harmonic grease SK-A Lubricant Grease Name Grease quantity Harmonic grease SK-2 Recommended quantity Torque value is measured after 2 hour run-in at 00 rpm input. Please contact HDLLC if you are using oil lubricant. Table 4- The no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs below indicate a value for ratio. For other gear ratios, add the compensation value from table 4-2. Grease Note : Use the high temperature side in temperature rise or less for ambient temperature. Table 4-2 Unit: Ncm Table 4-3 No Load Running Torque for Input Speed 0r/min Input Speed 0r/min No Load Running Torque (cnm) 00 0 Graph 4- Graph No Load Running Torque (cnm) 0-0 Input Speed 00r/min No Load Running Torque (cnm) Input Speed 30r/min 30 Graph 4-3 Graph No Load Running Torque (cnm)

5 SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit Efficiency The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant. Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used. Measurement condition Table 5- Installation Load torque Lubricant Based on recommended tolerance Rated torque Harmonic grease SK-A() Grease Name Grease quantity Harmonic grease SK-2(,) Recommended quantity Load Torque Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-. Load Torque < Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5- x Compensation Coefficient from Graph Graph 5-0r/min 0r/min 00r/min 30r/min Efficiency at Rated Torque ( ) *The scale on the graph is off relative to the lines drawn on the graph Graph 5-2 Graph r/min 0r/min 00r/min 30r/min r/min 0r/min 00r/min 30r/min Efficiency at Rated Torque (s,,,, ) Graph 5-4 Graph 5-5 Graph r/min 0r/min 00r/min 30r/min r/min 0r/min 00r/min 30r/min r/min 0r/min 00r/min 30r/min

6 G T-U b e c d a Output Flange N J I H L M B A h F H E h D h O F H C h Q-R S P 3- W-X V, Input Configuration P K Z Y Input Shaft Input Shaft External Dimensions Dimension Table Table - A h B C h D h E h F H G H I J K L M N O PP Q R S T U V W X Y Z a b c d e Weight (kg ZZ 04ZZ D4955 S30 S ZZ 05ZZ D595 S35 S ZZ 0ZZ D95 S305 S M4.5 0ZZ 0ZZ D4945 S345 S M ZZ ZZ D02 S5445 S M4 5. M. 3ZZ 3ZZ D S445 S Symbol

7 SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit Specification for Cross Roller Bearing Table - Pitch Circle dp m Offset R m Installation and Transmission Torque Basic Dynamic Rated Load Basic Static Rated Load C Co 2 N kgf 2 N kgf Allowable Moment Load Mc Nm kgfm Moment Stiffness Km 4 Nm/rad kgfm/arc min * The basic dynamic rated load means a certain static radial load so that the basic dynamic rated life of the roller bearing is a million rotations. The basic static rated load means a static load that gives a certain level of contact stress (4kN/mm 2 ) in the center of the contact area between the rolling element receiving the maximum load and the orbit. * The moment stiffnesses are mean values. A B Bolt connection to housing and resulting transmission torque A Number of screws of screws Pitch Circle Diameter mm Screw Nm Tightening Torque kgfm Torque Nm Transmitting Capacity kgfm M Table -2 M5 M Bolt connection to output flange and resulting transmission torque B Number of screws of screws Pitch Circle Diameter mm Effective Thread Depth Screw Nm Tightening Torque kgfm Torque Nm Transmitting Capacity kgfm M M5 M Table -3. Under the premise that materials of the internal thread endure the bolt tightening torque. 2. Recommended bolt : JIS B hexagon socket head cap screw strength range : JIS B 5 over 3. Torque coefficient : K= Clamp coefficient : A=.4 5. Coefficient of friction =0.5 * Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. Flat washers should be used for all screws in direct contact with the aluminum housing. (Please contact a Sales Engineer for more information.)

8 SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit Input Shaft Load Limits The Hollow Shaft Unit type is supported by two deep groove single row ball bearings. To achieve peak performance, it is essential to confirm that the actual load applied to input shaft does not exceed the limits specified below. Figure - shows the points of application of forces, which determine the Maximum Allowable Radial and Axial Loads as indicated in Graph -. The maximum values, as given Graph - are valid for and average input speed of 2,000 r/min and a mean bearing life of L=,000h. Example: If the hollow shaft of a SHD--2UH-LW unit is subjected to an axial load of 0 N, the maximum allowable radial force will be 5 N. Bearing Specification for Input Side Table - Bearing Model Bearing A Basic Dynamic Rated Load CrN Basic Dynamic Rated Load C0rN Bearing Model Bearing B Basic Dynamic Rated Load CrN Basic Dynamic Rated Load C0rN a Overhung Distance b Distance between Bearings Max. Radial Load mm mm FrN 04ZZ ZZ ZZ ZZ ZZ ZZ ZZ ZZ ZZ 00 0 ZZ ZZ 900 3ZZ SHD-2UH-LW Input Shaft Load Limit 00 Graph - BearingA BearingB Figure Fr Radial Load Fr (N) Fa Axial Load Fa (N) a b * Please contact the sales office of Harmonic Drive Systems Inc. for more information. Head Office: Believe Omori F, --3 Minami-Oi, Shinagawa-ku, Tokyo JAPAN Phone: / FAX: Overseas Division: 5- Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Tokyo Office: Believe Omori F, --3 Minami-Oi, Shinagawa-ku, Tokyo JAPAN Phone: / FAX: Kitakanto Office: Y.S.T. Building 3F, 4-23 Sakuragi-cho, Omiya-ku, Saitama-shi,Saitama JAPAN Phone: / FAX: Koshin Office: 5- Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Chubu Office : Nagoya Inter Building F, Hongo, Meito-ku, Nagoya-shi, Aichi JAPAN Phone: / FAX: Kansai Office : Shin-Osaka Ueno Toyo Building 3F, -4- Nishi-nakajima, Yodogawa-ku, Osaka-shi, Osaka 5-00 JAPAN Phone: / FAX: Kyushu Office : NOF Hakata-ekimae Building F, -5- Hakata-ekimae,Hakata-ku, Fukuoka-shi, Fukuoka -00 JAPAN Phone: / FAX: Hotaka Plant : 5- Hotakamaki, Azumino-shi, Nagano JAPAN Phone: / FAX: Harmonic Drive AG : Hoenbergstrasse D-5555 Limburg a.d. Lahn GERMANY Phone: / FAX: Harmonic Drive L.L.C. : 24 Lynnfield Street, Peabody, MA 00 U.S.A. Phone: / FAX: Harmonic Drive Systems Rm,#,No.4,Tianshan Rd,Changning District,Shanghai, 033, CHINA (Shanghai) Co.,Ltd. : Phone: / FAX: "HarmonicDrive" is a trademark of Harmonic Drive Systems Inc. The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing." The trademark is registered in Japan, Korea and Taiwan. *Registered Trademark in Japan No.-0R-SHD2UHLW / news

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