HPN Value Series Size,, 0,, Peak Torque 9Nm ~ Nm Reduction Single stage: : to 0:, Two stage: : to : Sizes Backlash Single stage: < arcmin, Two stage: < arcmin High Efficiency Up to 9% Output Bearing A radial ball bearing is integrated with the output flange to provide high moment stiffness, high load capacity and precise positioning accuracy. Easy mounting to a wide variety of servomotors Quick Connect coupling CONTENTS Rating, Performance Table Outline Dimensions Product Sizing & Selection 89 HPN A 0 J6 Motor Code Model Name Size Design Revision Reduction Output Configuration Input Configuration HPN High Torque 0 A,,, 0, 6, 0,,,,, 0,,, J6: Shaft output with key and center tapped hole J8: Shaft output with center tapped hole This code represents the motor mounting configuration. Please contact us for a unique part number based on the motor you are using. Gearhead Construction Figure 0 Mounting pilot Oil seal Shielded bearing Rubber cap Quick Connect coupling Output rotation direction Input rotation direction Output shaft Mounting bolt hole Motor mounting flange Gearheads
Rating Table Please contact our sales office if you have any questions about our specifications or comparison with another company's products. Table 0 Size 0 Number of Stages 0 6 0 0 0 0 0 Rated Torque Nm 9 8 8 9 8 80 80 80 80 80 80 98 00 00 8 00 00 00 60 80 0 80 60 00 Limit for Repeated Peak Torque Nm 6 9 6 0 0 8 0 8 9 6 6 6 8 6 6 6 09 Limit for Momentary Peak Torque Nm 89 0 0 00 9 06 99 0 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6,,6,6 89 89 8,09,09 Max. Average Rated Input Speed rpm,000,000,000,000,000 Max. Input Speed (grease) rpm 0,000 6,000 6,000 6,000 6,000 Allowable Radial Load 6 N 60 80 60 0 80 80 0 0 6 8 8 90,000,00,,,600,800,800,900,000,0,600,900,0,900,800,00,0,800,00,00,000,00 Allowable Axial Load N 80 60 60 60 6 80 0 80 80 6 80 900 900,00,00,0,600,80,00,00,000,0,00,900,00,600,800,800,00,000,0,800,00,00,000,0 HPN series *: Rated torque is based on L0 life of 0,000 hours at rated input speed. *: The limit for torque during start and stop cycles. *: The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to ensure it meets required operating conditions. *: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of a motion profile. The actual limit for average input speed depends on the operating environment. *: Maximum instantaneous input speed. *6: The load at which the output bearing will have 0,000 hour life at the rated input speed. (Axial load = 0 and radial load point is in the center of the output shaft.) *: The load at which the output bearing life will be 0,000 hours at the rated input speed. (Radial load = 0 and axial load point is in the center of the output shaft.) Performance Table 0 Table 0 Size 0 Number of Stages Reduction 0 6 0 * 0 * 0 Backlash arc min < < < < < < Noise* db < 6 * < 8 * < 60 * Torsional Stiffness kgfm/arcmin X00N m/rad 0.060 0 0. 9 0. 60 Size Number of Stages Reduction * 0 * 0 Backlash arc min < < < < Noise* db < 6 * < 6 * Torsional Stiffness kgfm/arcmin X00N m/rad.8 9. *: The above noise values are reference values. *: Contact us for noise values for sizes with a reduction ratio of. Gearheads
HPNA Outline Dimensions Figure 06 H 9 K 0 h9 0.0 0 X. 9.. 6. B D* C 0 h9 0.0 Y 8 0 0 0. MX0. 6H 0 h 0.0 F H A H E* 0 h 0.08. DETAIL Y G Mx0. COUPLI SCREW (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key. Dimension Table Table 06 A (H) B C F (H) Min. Max.* Max. Min. Max.* Min. Max. Min. G Max. H* K Mass(kg)* Single Stage 9.8 9 6 86.. 0. 06 0. Refer to the confirmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the configurations shown above are not suitable for your particular motor. * May vary depending on motor interface dimensions. * The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. * Tapped hole for motor mounting screw. * E dimension is dependent on motor selection. Moment of Inertia (0 kgm ) Table 06 0 6 0 HPN A 0.0 0.0 0.08 0.0 0.0 0.0 0.08 Gearheads
HPNA Outline Dimensions Figure 0 D* Y E * DETAIL Y (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key. Dimension Table Table 0 Flange A (H) B C Min. Max. * Max. Min. Max. * F (H) G Min. Max. Min. Max. H * K Mass(kg)* Single Stage Type I 9 9.8 8 0 6 6 0.9. Single Stage Type II 0 9 6.8 6 6..6 Refer to the confirmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the configurations shown above are not suitable for your particular motor. * May vary depending on motor interface dimensions. * The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. * Tapped hole for motor mounting screw. * E dimension is dependent on motor selection. Moment of Inertia (0 kgm ) Table 0 0 HPN A 0. 0. 0. 0.9 0.9 0. 0. 0. 0.096 0.08 0.0 0.066 0.09 0.0 0.0 Gearheads
HPN0A Outline Dimensions Figure 08 Hexagon sockethead cap screw Rubber cap E* (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key. D* Dimension Table Table 08 Flange A (H) B C Min. Max. * Max. Min. Max. * F (H) G * Min. Max. Min. Max. H * K Mass(kg)* Single Stage Type I 8 8 8 0 8 9. 6.8... Single Stage Type II 0 8.8. 66 60 69.8 9.. 6 Refer to the confirmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the configurations shown above are not suitable for your particular motor. * May vary depending on motor interface dimensions. * The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. * Tapped hole for motor mounting screw. * E dimension is dependent on motor selection. Moment of Inertia (0 kgm ) Table 08 0 HPN 0A. 0.9 0.8 0.9 0.88 0.8 Gearheads
HPNA Outline Dimensions Figure 09 Hexagon sockethead cap screw E* Rubber cap D* (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key. Dimension Table Table 09 Flange A (H) B C F (H) G * Min. Max. * Max. Min. Max. * Min. Max. Min. Max. H * K Mass(kg)* Type I 0 8 0. 0 6 9 8. 6.6 Single Stage Type II 0. 8 69. 8.. Type II 0 6. 60. 8. 8. 9. Type IV 0 8 8 0 8 0..9 Type V 0 8 8 6 0. 9. Refer to the confirmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the configurations shown above are not suitable for your particular motor. * May vary depending on motor interface dimensions. * The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. * Tapped hole for motor mounting screw. * E dimension is dependent on motor selection. Moment of Inertia (0 kgm ) Table 09 0..... HPN A.8..9.. 6...... Gearheads 6
HPNA Outline Dimensions HPN series Figure 060 Hexagon sockethead cap screw E* Rubber cap D* (Note) The dimension tolerances that are not specified vary depending on the manufacturing method. Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key. Dimension Table Table 060 Flange A (H) B C Min. Max. * Max. Min. Max. * F (H) G * Min. Max. Min. Max. H * K Mass(kg)* Type I 0 6. 8 60.. 9. 8 Single Stage Type II 0 6. 8. 9 0 8. 8 6 Type III 0 8. 8. 8 Type IV Type V 0 0 6. 8 60.. 8 69 8 9. 8 6 6 8 Refer to the confirmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the configurations shown above are not suitable for your particular motor. * May vary depending on motor interface dimensions. * The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. * Tapped hole for motor mounting screw. * E dimension is dependent on motor selection. Moment of Inertia (0 kgm ) Table 060 0 9.. 6.. HPN A 0. 6.9 8.8... 6..... 6.8 Gearheads
Product Sizing & Selection To fully utilize the excellent performance of the HPN HarmonicPlanetary gearheads, check your operating conditions and, using the flowchart, select the appropriate size gear for your application. In general, a servo system rarely operates at a continuous load and speed. The input speed, load torque change and a comparatively large torque is applied during start and stop. Unexpected impact torques may also be applied. Check your operating conditions against the following load torque pattern and select a suitable size based on the flowchart shown on the right. Also check the life and static safety coefficient of the cross roller bearing and input side main bearing (input shaft type only). Flowchart for selecting a size Please use the flowchart shown below for selecting a size. Operating conditions must not exceed the performance ratings. Calculate the average load torque applied on the output side from the load torque pattern: Tav (Nm). Checking the load torque pattern Review the load torque pattern. Check the specifications shown in the figure below. Load torque + T t T T T t t t Time Graph 080 Calculate the average output speed based on the load torque pattern: no av (rpm) Make a preliminary model selection with the following condition: Tav Average load torque (Refer to rating table). Determine the reduction ratio (R) based on the maximum output rotational speed (no max) and maximum input rotational speed (ni max). ni max R no max (A limit is placed on ni max by motors.) Calculate the maximum input speed (ni max) from the maximum output speed (no max) and the reduction ratio (R). ni max=no max R Refer to the Caution note below. Output rotational speed n n Obtain the value of each load torque pattern. Load torque T to Tn (Nm) Time t to tn (sec) Output rotational speed n to nn (rpm) <Normal operation pattern> Starting Steady operation Stopping (slowing) Idle <Maximum rotational speed> Max. output rotational speed Max. input rotational speed (Restricted by motors) <Impact torque> When impact torque is applied <Required life> n n T, t, n T, t, n T, t, n T, t, n no max n to nn ni max n R to nn R R: Reduction ratio Ts Time L0 = L (hours) Calculate the average input speed (ni av) from the average output speed (no av) and the reduction ratio (R): ni av = no av R Max. average input speed (nr). Caution Check whether the maximum input speed is equal to or less than the values in the rating table. ni max maximum input speed (rpm) Check whether T and T are within peak torques (Nm) on start and stop in the rating table. Check whether TS is equal to or less than the momentary max. torque (Nm) value from the ratings. Calculate the lifetime and check whether it meets the specification requirement. Tr: Output torque nr: Max. average input speed 0/ Tr L0=0,000 (Hour) Tav ni av nr The model number is confirmed. If the expected operation will result in conditions where; i) Actual average load torque (Tav) > Permissible maximum value of average load torque or ii) Actual average input rotational speed (ni av) > Permissible average input rotational speed (nr), then please check its effect on the speed reducer temperature rise or other factors. Consider selecting the next larger speed reducer, reduce the operating loads or take other means to ensure safe use of the gear. Exercise caution especially when the duty cycle is close to continuous operation. Review the operation conditions, size and reduction ratio. Gearheads 8
Example of model number Selection Value of each load torque pattern. Load torque Tn (Nm) Time tn (sec) Output rotational speed nn (rpm) <Normal operation pattern> Starting T = 0 Nm, t = 0. sec, n = 60 rpm Steady operation T = 8 Nm, t = sec, n = 0 rpm Stopping (slowing) T = Nm, t = 0. sec, n = 60 rpm Idle T = 0 Nm, t = sec, n = 0 rpm Calculate the average load torque applied to the output side based on the load torque pattern: Tav (Nm). 0/ T av= no av= 0/ 0/ 0/ 60rpm 0.sec 0Nm + 0rpm sec 8Nm + 60rpm 0.sec Nm 60rpm 0.sec+ 0rpm sec+ 60rpm 0.sec Calculate the average output speed based on the load torque pattern: no av (rpm) 60rpm 0.sec+ 0rpm sec + 60rpm 0.sec+ 0rpm sec 0.sec+sec+0.sec+sec <Maximum rotational speed> Max. output rotational speed Max. input rotational speed <Impact torque> When impact torque is applied <Required life> L0 =,000 (hours) no max = 0 rpm ni max =,000 rpm (Restricted by motors) Ts = 80 Nm Make a preliminary model selection with the following conditions. T av =. Nm 80 Nm. (HPN0A is tentatively selected based on the average load torque (see the rating table) of size 0 and reduction ratio of.) Determine a reduction ratio (R) from the maximum output speed (no max) and maximum input speed (ni max).,000 rpm =. 0 rpm Calculate the maximum input speed (ni max) from the maximum output speed (no max) and reduction ratio (R): ni max = 0 rpm =,0 rpm Calculate the average input speed (ni av) from the average output speed (no av) and reduction ratio (R): ni av = 6. rpm =, rpm Max average input speed of size 0,000 rpm Refer to the Caution note at the bottom of page 6. Check whether the maximum input speed is equal to or less than the values specified in the rating table. ni max =,0 rpm 600 rpm (maximum input speed of size 0) Check whether T and T are within peak torques (Nm) on start and stop in the rating table. T = 0 Nm Nm (Limit for repeated peak torque, size 0) T = Nm Nm (Limit for repeated peak torque, size 0) Check whether Ts is equal to or less than limit for momentary torque (Nm) in the rating table. TS = 80 Nm 6 Nm (momentary max. torque of size 0) Calculate life and check whether the calculated life meets the requirement. L0 = 0,000 80Nm. Nm 0/,000 rpm, rpm =,809,9 (hours),000 (hours) Review the operation conditions, size and reduction ratio. The selection of model number HPN0A is confirmed from the above calculations. 9 Gearheads
HPN Value Series HPN Precision Planetary Gearheads are Quiet, Lightweight and Compact with Low Cost and Quick Delivery. HPN Planetary gearheads feature a robust design utilizing helical gears for quiet performance and long life. These gearheads are available with short lead times and are designed to couple to any servomotor with our Quick Connect coupling. HPN gearheads are suitable for use in a wide range of applications for precision motion control and positioning. HPN Harmonic Planetary gears are available in sizes:,, 0,, and, with reduction ratios ranging from : to :. Backlash: One Stage < arcmin < arcmin Low gear ratios, : to : High efficiency Helical gearing Quiet design: Noise <8dB (Size )
Integrated output shaft and carrier Motor mounting flange Deep groove, output bearings allow high shaft loads Ground helical gear for quiet performance and long life Quick Connect coupling for easy mounting of any servomotor
Harmonic Drive LLC Boston US Headquarters Lynnfield Street Peabody, MA 0960 New York Sales Office 00 Motor Parkway Suite 6 Hauppauge, NY 88 California Sales Office W. San Carlos Street Suite 00 San Jose, CA 90 Chicago Sales Office N. Oak Park Ave., Suite 0 Oak Park, IL 60 T: 800.9. T: 98..800 F: 98..96 www.harmonicdrive.net Group Companies Harmonic Drive Systems, Inc. 6 MinamiOhi, Shinagawaku Tokyo 00, Japan Harmonic Drive AG Hoenbergstrasse,, D6 Limburg/Lahn Germany Harmonic Drive and HarmonicPlanetary are registered trademarks and Quick Connect is a trademark of Harmonic Drive LLC. All other trademarks are property of their respective owners. Gearheads Rev 0