HighPerforance earhead for Servootors HP Standard Series,,,, 0, 6 Peak torque N 0N Reduction ratio Single Stage: :1 to 9:1, Two Stage: :1 to 0:1 Low Backlash s Standard: < arcin Optional: <1 arcin Low Backlash for Life Innovative ring gear autoatically adjusts for backlash, ensuring consistent, low backlash for the life of the gearhead. The ring gear design autoatically provides the optiu backlash in the planetary gear train and aintains the sae low backlash for the life of the gearhead. 6 High efficiency Up to 9% High Load Capacity Output Bearing A Cross Roller bearing is integrated with the output flange to provide high oent stiffness, high load capacity and precise positioning accuracy. Easy ounting to a wide variety of servootors Quick Connect coupling CONTENTS Rating Table Perforance Backlash and Torsional Stiffness Outline Diensions 10 Product Sizing & Selection HP A 0 BL D F0 Motor Code Model Nae Design Revision Reduction Ratio HP Standard 0 6 B, 9,, 7, A,,, 1,,,,,, 1,,, 0, 0 Backlash BL1: Backlash less than 1 arcin (s to 6) BL: Backlash less than arcin Input Side Bearing D: Input side contact sealed bearing (DDU) Z: Input side bearing with double noncontact shields Output Configuration F0: Flange output J: Shaft output without key J60: Shaft output with key and center tapped hole F0: Flange output J: Shaft output without key J6: Shaft output with key and center tapped hole (J, J6 for 6 is also available) Input Configuration & Options This code represents the otor ounting configuration. Please contact us for a unique part nuber based on the otor you are using. earhead Construction Figure 001 Output flange Mounting pilot Shielded bearing Rubber cap Quick Connect coupling Input rotational direction Output rotational direction Output side oil seal Cross roller bearing Mounting bolt hole Motor ounting flange 1 earheads
Rating Table 0 6 Ratio 9 7 1 1 1 1 1 0 0 Table 011 Rated Liit for Repeated Liit for Moentary Max. Average Max. Input Mass* 6 Torque * 1 Peak Torque * Torque * Input Speed * Speed * Shaft Flange N N N rp rp kg kg 8 9 10 10 10 000 10000 0.18 0. 0. 0. 1 7 1 7 000 6 0.0 0.0 16 0 000 6000 17 6 0.60 0.0 17 6 000 8 100 1.6 1. 6 7 8 000 107 7 6000 8 1.8 1. 70 7 7 106 60 07 600 1 00..9 160 0 170 000 00 60 6000 190.9. 0 0 0 00 160 80 10 000 90 10 180 1 10 0 10 00 1 00 00 0 80 0 70 1 60 0 870 890 0 * 7 900 100 10 60 0 00 00 170 100 000 7* 7 7 70 0 1 160 1900 0 HighPerforance earhead for Servootors *1: Rated torque is based on L0 life of,000 hours at rated input speed. *: The liit for torque during start and stop cycles. *: The liit for torque during eergency stops or fro external shock loads. Always operate below this value. Calculate the nuber of perissible events to ensure it eets required operating conditions. *: Maxiu average input speed is liited by heat generation in the speed reducer assuing a continuous operating speed or the average input speed of a otion profile. The actual liit for average input speed depends on the operating environent. *: Maxiu instantaneous input speed. *6: The ass is for the gearhead only (without input shaft coupling & otor flange). Please contact us for the ass of your specific configuration. *7: Flange output is standard for the size 6 gearhead. Shaft type (J & J6) is also available. Note: Never rely on these values as a argin in a syste that ust hold an external load. A brake ust be used where back driving is not perissible. earheads
Perforance Table HighPerforance earhead for Servootors 0 6 Ratio 9 7 1 1 1 1 1 0 0 Table 01 Accuracy * 1 Repeatability * Starting torque * Backdriving torque * Noload running torque * arc in 10 rad arc sec Nc kgfc N kgf Nc kgfc.0.7 0.1 0.7 0. 0. 0.0 0.0.0. 0.1 0.6. ±0.9 0.9 0.061 1. 0.1 0.60 1.6 0.17 0.06 0.90 0.09 1. 0.1 0.6 0.066 0.80 0.08 1..1 0. 0.0 8.6 0.88 9.8 1.0 8.0 0.8 0.90 0.09.9 0.0.6 ± 7. 0.7 0..9 0.0. 0. 1.1. 0. 0..0 0.. 0. 1. 0.1 0.9 0.09 19 1.9 8.9.6 ±1 1 9. 1.6 1. 0.9 1.7 1.8.0 0.17 0.18 0. 1 8.8 1. 1.1 0.90 6. 0.6.9 0.60.1 0..7 0.8.9 0.0 6.7 1 1.7 0.17. 7 7..6 ±1 7 1.7.. 1. 1..9.7.7.8.1 0.0 0.8 0.8 0.9 0. 8 9 1.9.0. 1. 1. 6.0 0.1 80 8. 10 1 8.7 ±1 0 6.6.1.7..0.0 6.0 7.6 7.8 8.9 0.1 0.61 0.78 0.80 0.91 60 7 0 6.1.8.1..0 88 9 1. 0 60 7 1 1 1. 190 19 8.7 ±1 0 17 1.7 160 16 9 10 19 1.9 10 1 8 7 70 8.6 7.7 7.1 0.1.1.6 0 76 6 7.7 6.6 *1: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. The values in the table are axiu values. Figure 01 θ1 θer θ θer : Accuracy θ1 : Input angle θ : Actual output angle R : ear reduction ratio θer = θ R θ1 *: The repeatability is easured by oving to a given theoretical position seven ties, each tie approaching fro the sae direction. The actual position of the output shaft is easured each tie and repeatability is calculated as the 1/ of the axiu difference of the seven data points. Measured values are indicated in angles (arcsec) prefixed with "±". The values in the table are axiu values. Figure 0 *: Starting torque is the torque value applied to the input side at which the output first starts to rotate. The values in the table are axiu values. Load HP speed reducer surface teperature No load C Table 0 ϕ ϕ1 *: Backdriving torque is the torque value applied to the output side at which the input first starts to rotate. The values in the table are axiu values. Note: Never rely on these values as a argin in a syste that ust hold an external load. A brake ust be used where back driving is not perissible. Table 0 ϕ7 Load HP speed reducer surface teperature No load C Repeatability = ± X X X X *: Noload running torque is the torque required at the input to operate the gearhead at a given speed under a noload condition. The values in the table are average values. Input speed Load HP speed reducer surface teperature Table 0 000 rp No load C earheads
Backlash and Torsional Stiffness earhead Standard backlash (BL) ( arcin) 0 6 Ratio 9 7 1 1 1 1 1 0 0 Table 01 Table 0 Torsion angle on one side Torsional stiffness Torsion angle on one side Torsional stiffness Backlash at TR X 0.1 D Backlash A/B Ratio at TR X 0.1 D A/B arc in 10 rad arc in 10 rad kgf/arc in 100N/rad arc in 10 rad arc in 10 rad kgf/arc in 100N/rad.0.0.0.0.0.0 8.7 8.7 8.7 8.7 8.7 8.7..0..7 1..0 1. 1.7 1. 1.7 1. 1.7 7. 8.7 6. 7.9..8.8.9.8.9.8.9 0.06 0. 0.. 8 7 180 70 700 1000 earhead Reduced backlash (BL1) ( 1 arcin) not available 0 6 1 1 1 1 1 0 0 1.0 1.0 1.0 1.0 1.0.9.9.9.9.9 1.1 1.7 0.6 1.1 0. 1.0 0. 1.0 0. 1.0..9 1.7. 1..9 1..9 1..9 0. 0.. 8 7 180 70 700 1000 HighPerforance earhead for Servootors Torsional stiffness curve With the input of the gear locked in place, a torque applied to the output flange will torsionally deflect in proportion to the applied torque. We generate a torsional stiffness curve by slowly applying torque to the output in the following sequence: (1) Clockwise torque to TR, () Return to Zero, () CounterClockwise torque to TR, () Return to Zero and () again Clockwise torque to TR. A loop of (1) > () > () > () > () will be drawn as in Fig. 01. The torsional stiffness in the region fro "0.1 x TR" to "TR" is calculated using the average value of this slope. The torsional stiffness in the region fro "zero torque" to "0.1 x TR" is lower. This is caused by the sall aount of backlash plus engageent of the ating parts and loading of the planet gears under the initial torque applied. Calculation of total torsion angle The ethod to calculate the total torsion angle (average value) on one side when the speed reducer applies a load in a noload state. Calculation forula θ = D+ TTL A B Forula 01 Backlash (Hysteresis loss) The vertical distance between points () & () in Fig. 01 is called a hysteresis loss. The hysteresis loss between "Clockwise load torque TR" and "Counter Clockwise load torque TR" is defined as the backlash of the HP series. Backlash of the HP series is less than arcin (1 arcin or less for a reduced backlash option). Torquetorsion angle diagra B D TR () Torsion angle TR 0.1 A () 0 () A TR 0.1 (1) () B D Figure 01 TR Torque Hysteresis loss = Backlash TR: Rated output torque A/B: Torsional stiffness D: Torsion on one side at TRX0.1 θ D T TL A/B Total torsion angle Torsion angle on one side See Fig. 01, at output torque x 0.1 torque Table 01, Table 0 Load torque Output torque x 0.1 torque (=TRX0.1) See Fig. 01 Torsional stiffness See Fig. 01, Table 01 to earheads
HighPerforance earhead for Servootors ed a rque the an 1 HP Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions. h9 7. 0.1 0 Ø. 0 h9 Ø6 M 6 M 6 Ø18 Ø9 Ø10 h7 Ø0 h7 Diension Table Ø9. C0. Ø 1 Ø H7 7 R0. C0. (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. Single Stage Two Stage Flange Type I Type I P. 1 H Screw with gasket Ø0 Ø C0. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. B ØF H7 Output flange Custoer's part Clearance 0. or ore ØA H7 0. (Min.0.) Hexagon socket head locking screw H * 1 Typical ØC (Unit: ) Table 01 K Mass (kg) * Shaft Flange 1 0 8 70 8 17. 6. 0. 0.0 1 0 8 70 8 17. 6 6. 0 0. 0.0 Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. * Tapped hole for otor ounting screw. * E diension is dependent on otor selection. E* Figure 01 (Unit: ) D* Detail P Recoended clearance diension for custoer's part ounted to the output flange (Note) When using a gearhead with an output flange, it is recoended for the custoer to design clearance between the part ounted on the output flange and the housing face as shown in the figure on the left. The clearance is needed because the distance between the output flange and the oil seal (nonrotating) is sall (in. 0.). HPP series HP series CSH series CSFH series ue 1 Moent of Inertia Table 0 (10 kg ) Ratio HP 9 7 1 0.00 0.00 0.00 0.007 0.00 HP series (Orthogonal Shaft Type) 09 earheads
HPP series HP series HP Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions. Ø. 60 h9 Ø70 6Mx7 Ø0 Ø6 h7 Ø. Ø0 8 Ø H7 7 C0.. 0 8 H Rubber cap C0. B ØF H7 ØA H7 Hexagon socket head bolt E* Figure 01 (Unit: ) D* φc Only HighPerforance earhead for Servootors CSH series CSFH series HP series (Orthogonal Shaft Type) h9 1 0 0.1 Mx8 Ø0 Ø16 h7 Diension Table Flange Type I Type II C0. R0. (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. (Unit: ) Table 01 H * 1 Mass (kg) * Typical Shaft Flange 1 0 8 7 7 6.0 7.8.. 8 1.07 0.9 0 70 7 8 9.0..8.8 8 1. 1.00 Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. * Tapped hole for otor ounting screw. * E diension is dependent on otor selection. Moent of Inertia Table 0 HP Ratio 1 0.6 0.7 0.06 0.197 1 0.08 0.180 0.0 0.171 0.0 0.167 (10 kg ) 0.0 0.16 Fl T Ty Ty Ty Refer t suitabl *1 May * The * Tap * E d Mo HP 00 earheads 6
HighPerforance earhead for Servootors 01 01 * ge 9 00 HP Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions. 0. 0 7 h Ø9 90 8 h9 M6x 6M6x10 Ø10 Ø Ø9 Ø h7 C1 Diension Table Flange Type I Type II Type III Type IV Ø8 h7 Ø8 Ø9 Ø H7 6 R0. C0. 7. 7 6 10 H Rubber cap ØF H7 B C0. ØA H7 Hexagon socket head bolt D* Figure 061 (Unit: ) (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. ØC (Unit: ) Table 061 H * 1 Mass (kg) * Typical Shaft Flange 1 0 7 8 80 7.0 19.6.0 6. 98.0.1.7 1 80 98 10 90 1 7.0 19.6 0.0. 10.0..9 0 10 0 7.0 7.8.0 1.0 9..6. 1 6 70 10 96 7.0 19.6 0.0. 10.0..9 Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. * Tapped hole for otor ounting screw. * E diension for Flange Type IV is dependent on otor selection. Moent of Inertia Table 06 HP Ratio 1 1.1 0.7 0.6 1 0.6 0.9 0. 0. 0.06 E* (10 kg ) 0. 0.06 HPP series HP series CSH series CSFH series HP series (Orthogonal Shaft Type) 01 7 earheads
HPP series HP series CSH series CSFH series HP series (Orthogonal Shaft Type) HP Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions. 0 0. 8 h h9 Ø8 Ø0 h7 Diension Table Flange Type I Type II Type III Type IV Type V Ø 1 M10x Ø1 Ø60 6M8x C1 Ø h7 Ø 8 70 Ø8 Ø H7 98 R0. C0.. 6 1 H Rubber cap ØF H7 B C0. ØA H7 Hexagon socket head bolt (Unit: ) Figure 071 (Unit: ) (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. H * 1 Typical ØC Table 071 Mass (kg) * Shaft Flange 1 0 1 10 1 1 10.0 8.6 1.0 7. 0 7.8 6. 1 70 100 7 80 10.0 8.6 0.0 6. 19 7.8 6. 0 100 10 80.0 19.6.8 8.8 19 7. 6.1 1 70 9 10 80 10.0 8.6 1.0 67. 10 7.9 6. 1 70 0 10 80 1 10.0 8.6.0 71. 9. 8.1 Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. * Tapped hole for otor ounting screw. * E diension is dependent on otor selection. Moent of Inertia Table 07 HP Ratio 1.6.9. 1. 0.8.8 0. (10 kg ) E*.8 0.61 D* HighPerforance earhead for Servootors Fl T Ty Ty Ty Refer t suitabl *1 May * The * Tap * E d Mo HP 0 earheads 8
071 HighPerforance earhead for Servootors ) HP0 Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions.. x6(=1 ) 9 h. Ø 170. M8x h9 Ø190. x6(=1 ) Ø100 Ø16 h8 Ø16 Ø Ø7 H7 10 8 70 C0. 7 16 8 H Rubber cap B ØF H7 ØA H7 C0. Hexagon socket head bolt E* Figure 081 (Unit: ) D* ØC HPP series HP series 071 ge 1 1. 0 0. M10x Diension Table Flange Type I Type II Type III Type IV Ø Ø0 h7 C1 R0. (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. (Unit: ) Table 081 H * 1 Mass (kg) * Typical Shaft Flange 1 70 0 1 90 19.0 1.0.0 81.0. 17. 1 70 0 1 90 19.0 1.0.0 81.0.. 17. 80 10 100 10 19.0 1.0 1..0 176 19.0 16.0 1 70 0 1 90 19.0 1.0.0 81.0 7.. Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. Use type IV flange for otors weighing over 6 kg. * Tapped hole for otor ounting screw. * E diension for Flange Type I, II and IV is dependent on otor selection. Moent of Inertia Table 08 HP 0 Ratio 1 8.8 1 8.8 7.7 7.8 6.8 (10 kg ).9.7 CSH series CSFH series HP series (Orthogonal Shaft Type) 0 9 earheads
HPP series HP series CSH series CSFH series HP6 Outline Diensions Only priary diensions are shown in the drawings below. Refer to the confiration drawing for detailed diensions. h 0 71 0. M10X +1 Tap for eyebolt 6 6 7 Ø18 6M16X h9 M16x Ø60 Ø1 Ø168 Ø80 h7 Diension Table Single Stage Two Stage Flange Type I Type I Moent of Inertia Ø h8 Ø Ø168 Ø60 H7 16 10 0 C1 R0. C0. 7 H Rubber cap B ØF H7 ØA H7 C0. Hexagon socket head bolt Figure 091 (Unit: ) (Note) The diension tolerances that are not specified vary depending on the anufacturing ethod. Please check the confiration drawing or contact us for diension tolerances not shown on the drawing above. The flange output is standard, the shaft output is optional. A (H7) B C F (H7) Min. Max. Max. Min. Max. Min. Max. Min. Max. ØC (Unit: ) Table 091 H * 1 Mass (kg) * Typical Shaft Flange 1 1 10 6.0.9 6.0 87. 1. 8.0 8.0 1 1 10 6.0.9 6.0 87...0.0 Refer to the confiration drawing for detailed diensions. Diensions of typical products are shown. Please contact us for other ounting options if the configurations shown above are not suitable for your particular otor. *1 May vary depending on otor interface diensions. * The ass will vary slightly depending on the ratio and on the inside diaeter of the input shaft coupling. * Tapped hole for otor ounting screw. * E diension is dependent on otor selection. E* D* (10 kg ) Table 09 HighPerforance earhead for Servootors CS S P R 0 Z H Re Hi A C fla ca Ea Qu ea C Mod High HP series (Orthogonal Shaft Type) HP 6 1 Ratio 89 7 67 1 6 1 0 9 0 9 (The f earheads 10
HighPerforance earhead for Servootors Product Sizing & Selection To fully utilize the excellent perforance of the HP HaronicPlanetary gearheads, check your operating conditions and, using the flowchart, select the appropriate size gear for your application. In general, a servo syste rarely operates at a continuous load and speed. The input speed, load torque change and a coparatively large torque is applied during start and stop. Unexpected ipact torques ay 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 ain bearing (input shaft type only). Flowchart for selecting a size Please use the flowchart shown below for selecting a size. Operating conditions ust not exceed the perforance ratings. Calculate the average load torque applied on the output side fro the load torque pattern: Tav (N). Calculate the average output speed based on the load torque pattern: no av (rp) Checking the load torque pattern Review the load torque pattern. Check the specifications shown in the figure below. Load torque + T1 t1 T T T t t t Tie raph 001 Make a preliinary odel selection with the following condition: Tav Average load torque (Refer to rating table). Deterine the reduction ratio (R) based on the axiu output rotational speed (no ax) and axiu input rotational speed (ni ax). ni ax R no ax (A liit is placed on ni ax by otors.) Calculate the axiu input speed (ni ax) fro the axiu output speed (no ax) and the reduction ratio (R). ni ax=no ax R Refer to the Caution note below. Output rotational speed n1 n Obtain the value of each load torque pattern. Load torque T1 to Tn (N) Tie t1 to tn (sec) Output rotational speed n1 to nn (rp) <Noral operation pattern> Starting Steady operation Stopping (slowing) Idle <Maxiu rotational speed> Max. output rotational speed Max. input rotational speed (Restricted by otors) <Ipact torque> When ipact torque is applied <Required life> n n T1, t1, n1 T, t, n T, t, n T, t, n no ax n1 to nn ni ax n1 R to nn R R: Reduction ratio Ts Tie L0 = L (hours) Calculate the average input speed (ni av) fro 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 axiu input speed is equal to or less than the values in the rating table. ni ax axiu input speed (rp) Check whether T1 and T are within peak torques (N) on start and stop in the rating table. Check whether TS is equal to or less than the oentary ax. torque (N) value fro the ratings. Calculate the lifetie and check whether it eets the specification requireent. Tr: Output torque nr: Max. average input speed 10/ Tr L0=,000 (Hour) Tav ni av nr The odel nuber is confired. If the expected operation will result in conditions where; i) Actual average load torque (Tav) > Perissible axiu value of average load torque or ii) Actual average input rotational speed (ni av) > Perissible average input rotational speed (nr), then please check its effect on the speed reducer teperature rise or other factors. Consider selecting the next larger speed reducer, reduce the operating loads or take other eans 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. earheads
Exaple of odel nuber Selection Value of each load torque pattern. Load torque Tn (N) Tie tn (sec) Output rotational speed nn (rp) <Noral operation pattern> Starting T1 = 70 N, t1 = 0. sec, n1 = 60 rp Steady operation T = 18 N, t = sec, n = 1 rp Stopping (slowing) T = N, t = 0. sec, n = 60 rp Idle T = 0 N, t = sec, n = 0 rp <Maxiu rotational speed> Max. output rotational speed Max. input rotational speed <Ipact torque> When ipact torque is applied <Required life> L0 = 0,000 (hours) no ax = 1 rp ni ax =,000 rp (Restricted by otors) Ts = 180 N HighPerforance earhead for Servootors Calculate the average load torque applied to the output side based on the load torque pattern: Tav (N). 10/ T av= no av= 10/ 10/ 10/ 60rp 0.sec 70N + 1rp sec 18N + 60rp 0.sec N 60rp 0.sec+ 1rp sec+ 60rp 0.sec Calculate the average output speed based on the load torque pattern: no av (rp) 60rp 0.sec+ 1rp sec + 60rp 0.sec+ 0rp sec 0.sec+sec+0.sec+sec Make a preliinary odel selection with the following conditions. T av = 0. N 70 N. (HPA is tentatively selected based on the average load torque (see the rating table) of size and reduction ratio of.) Deterine a reduction ratio (R) fro the axiu output speed (no ax) and axiu input speed (ni ax).,000 rp = 1.7 1 rp Calculate the axiu input speed (ni ax) fro the axiu output speed (no ax) and reduction ratio (R): ni ax = 1 rp =,960 rp Calculate the average input speed (ni av) fro the average output speed (no av) and reduction ratio (R): ni av = 6. rp = 1, rp Max average input speed of size,000 rp Refer to the Caution note at the botto of page 0. Check whether the axiu input speed is equal to or less than the values specified in the rating table. ni ax =,960 rp,000 rp (axiu input speed of size ) Check whether T1 and T are within peak torques (N) on start and stop in the rating table. T1 = 70 N 7 N (Liit for repeated peak torque, size ) T = N 7 N (Liit for repeated peak torque, size ) Check whether Ts is equal to or less than liit for oentary torque (N) in the rating table. TS = 180 N 7 N (oentary ax. torque of size ) Calculate life and check whether the calculated life eets the requireent. L0 =,000 70 N 0. N 10/,000 rp 1, rp =68,1 (hours) 0,000 (hours) Review the operation conditions, size and reduction ratio. The selection of odel nuber HPA is confired fro the above calculations. earheads
HPP/ The thin wall flexible gear technology used for HaronicDrive gearing is applied to the internal gear of our planetary gear speed reducers. It allows the internal gear to defor elastically thus aintaining low backlash for the life of the gearhead, without the need for adjustent. Planetary gears have siultaneous eshing between the sun gear and planet gears and between the planet gears and the internal gear. Soe anufacturers try to reduce the backlash by controlling the diensional precision of the parts, however this causes interference of eshing parts due to diensional errors, resulting in uneven input torque and noise. Haronic Planetary gears use a thin wall elastic internal gear which allows a preload of the gear and copensates for interference between eshing parts. The Haronic Planetary gear series incorporates this internal gear which aintains low backlash for the life of the speed reducer. Low backlash: Less than arcin (Less than 1 arcin also available) Low gear ratios, :1 to 0:1 High efficiency High load capacity by integrating structure with cross roller bearing Hightorque capacity earheads 1
Robust cross roller bearing and output flange are integrated to provide high oent stiffness, high load capacity and precise positioning accuracy. Shielded or sealed input bearing The cross roller bearing output flange serves as the second stage carrier for a rugged, copact design. Motor ounting flange Backlash copensating internal gear Quick Connect coupling for easy ounting of any servootor earheads
Technical Data Output Bearing Specifications and Checking Procedure A precision cross roller bearing supports the external load (output flange). Check the axiu load, oent load, life of the bearing and static safety coefficient to axiize perforance. Checking procedure (1) Checking the axiu load oent load (M ax) Obtain the axiu load oent load (M ax ). Maxiu load oent load (M ax) Perissible oent (Mc) () Checking the life Obtain the average radial load (Fr av ) and the average axial load (Fa av ). () Checking the static safety coefficient Obtain the static equivalent radial load coefficient (Po). Specification of output bearing Obtain the radial load coefficient (X) and the axial load coefficient (Y). Check the static safety coefficient. (fs) Calculate the life and check it. HPP/ Table 91, and indicate the specifications for gearhead, right angle and input shaft unit, and cross roller bearing. 0 6 Table 91 Pitch circle Offset aount Basic rated load Allowable oent load Mc* Moent stiffness K* dp R Basic dynaic load rating C* 1 Basic static load rating Co* N Kgf 10 Kgf/ N kgf N kgf N/rad arc in 0.07 0.00 0.06 0.08 0. 0.170 0.006 0.0 0.0 0.0 0.019 0.0 6 0 10600 00 1600 90600 18 108 9 9 087 7060 1700 800 76000 8000 17 7 176 7 77 0 9.0. 18 1076 900 0.97.0 18.7 6.1 0 98 0.88.0 16.8.1 100 6 0.6 0.90.0. 9.7 108 Technical Inforation / Handling Explanation Table 9 Table 9 Reduction Allowable radial load * Allowable axial load * Reduction Allowable radial load * Allowable axial load * ratio N N ratio N N (9) 80 0 0 0 10 660 () 160 1900 10 0 80 90 7 () 0 00 70 600 780 80 600 700 890 1 () 60 9 0 670 700 90 60 990 80 70 1 60 7 980 1080 0 00 690 8 () 80 910 80 980 0 0 160 1 60 180 0 1 600 6690 7660 800 8860 900 9980 00 10 10 1 160 0 179 0 80 1 970 10 1100 100 1800 19600 1890 80 6 00 00 * The ratio specified in parentheses is for the. (0) (0) 100 17600 18900 900 600 80 * The ratio specified in parentheses is for the. *1 The basic dynaic load rating eans a certain static radial load so that the basic dynaic rated life of the roller bearing is a illion rotations. * The basic static load rating eans a static load that gives a certain level of contact stress (kn/ ) in the center of the contact area between rolling eleent receiving the axiu load and orbit. * The allowable oent load is a axiu oent load applied to the bearing. Within the allowable range, basic perforance is aintained and the bearing is operable. Check the bearing life based on the calculations shown on the next page. * The value of the oent stiffness is the average value. * The allowable radial load and allowable axial load are the values that satisfy the life of a speed reducer when a pure radial load or an axial load applies to the ain bearing. (Lr + R = 0 for radial load and La = 0 for axial load) If a copound load applies, refer to the calculations shown on the next page. 1 earheads
Technical Data How to calculate the axiu load oent load HPP HP CSH CSFH HPF ax ax Forula 111 Load Figure 111 M ax =Fr ax(lr+r)+fa ax La Radial load Fr dp Frax Max. radial load See Fig. 111. Fa ax Max. axial load See Fig. 111. Lr, La See Fig. 111. La R Offset aount See Fig. 111. See Specification of ain bearing of each series Axial load Fa Lr R How to calculate the radial load coefficient and the axial load coefficient HPP CSFH HP HPF CSH The radial load coefficient (X) and the axial load coefficient (Y) Forula Faav Fr av +(Fr av(lr+r)+ Fa av La)/ dp Faav Fr av +(Fr av(lr+r)+ Fa av La)/ dp 1. >1. Forula 1 X Y 1 0. 0.67 0.67 Fr av Average radial load See How to obtain the average load. Fa av Average axial load See How to obtain the average load. Lr, La See Fig. 111. R Offset aount See Fig. 111. See Output Shaft Bearing Specifications of each series. dp Circlar pitch of roller See Fig. 111. See Output Shaft Bearing Specifications of each series. How to calculate the average load (Average radial load, average axial load, average output rotational frequency) HPP HP CSH CSFH HPF If the radial load and the axial load fluctuate, they should be converted into the average load to check the life of the cross roller bearing. Fr1 How to obtain the average radial load (Fr ) av Forula 11 Technical Inforation / Handling Explanation Radial load Axial load Output rotational frequency Fr Fr Fr Fa1 Fa Fa Fa t1 t t t n n1 n n Tie Tie Tie Note that the axiu axial load within the t1 section is Fr1 and the axiu axial load within the t section is Fr. How to obtain the average axial load (Fa av) Forula 1 Note that the axiu axial load within the t1 section is Fr1 and the axiu axial load within the t section is Fr. How to obtain the average output rotational frequency (N ) av Forula 11 16 earheads
Technical Data 111 How to calculate the life HPP HP CSH CSFH HPF Calculate the life of the cross roller bearing using Forula 1. You can obtain the dynaic equivalent radial load (Pc) using Forula. Forula 1 Forula L10 Nav C Pc fw Life Ave. output speed Basic dynaic rated load Dynaic equi. radial load Load coefficient hour rp See How to calculate the ave. load. See Output Bearing Specs. See Forula. See Table 1. Fr av Fa av dp X Y Average radial load Average axial load Circlar pitch of roller Radial load coefficient Axial load coefficient See "How to calculate the ave. load." See Output Bearing Specs. See How to calculate the radial load coefficient and the axial load coefficient. Lr, La See Figure 111. See External load influence diagra. Load coefficient Load status During sooth operation without ipact or vibration During noral operation During operation with ipact or vibration Table 1 fw 1 to 1. 1. to 1. 1. to R Offset aount See Figure 111. See External load influence diagra and Output Bearing Specs of each series. How to calculate the life during oscillating oveent HPP HP CSH Calculate the life of the cross roller bearing during oscillating oveent by Forula. CSFH HPF Figure 1 Loc Rated life under oscillating oveent n1 No. of reciprocating oscillation per in. C Basic dynaic rated load Pc Dynaic equivalent radial load fw Load coefficient θ Oscillating angle / hour cp Deg. Forula See Output Bearing Specs. See Forula. See Table 1. See Figure 1. θ Oscillating angle Note: When the oscillating angle is sall ( or less), it is difficult to generate an oil fil on the contact surface of the orbit ring, and the rolling eleent and fretting ay be generated. Contact us if this happens. Note When it is used for a long tie while the rotation speed of the output shaft is in the ultralow operation range (0.0rp or less), the lubrication of the bearing becoes insufficient, resulting in deterioration of the bearing or increased load in the driving side. When using it in the ultralow operation range, contact us. s ncy) How to calculate the static safety coefficient HPP HP CSH CSFH In general, the basic static rated load (Co) is considered to be the perissible liit of the static equivalent load. However, obtain the liit based on the operating and required conditions. Calculate the static safety coefficient (fs) of the cross roller bearing using Forula. eneral values under the operating condition are shown in Table. You can calculate the static equivalent radial load (Po) using Forula. HPF Forula Forula Technical Inforation / Handling Explanation Co Basic static rated load Po Static equivalent radial load Static safety coefficient Load status When high rotation precision is required When ipact or vibration is expected Under noral operating condition See Output Bearing Specs. See Forula. Table fs 1. Fr ax Max. radial load Fa ax Max. axial load M ax Max. load oent load dp Circlar pitch of roller N (kgf) See How to calculate the ax. load oent load. See Output Bearing Specs of each series. 17 earheads
Technical Data Input Bearing Specifications and Checking Procedure Check the axiu load and life of the bearing on the input side if the reducer is an HP input shaft unit or an HPF hollow shaft unit. Checking procedure (1) Checking axiu load Calculate: Maxiu load oent load (Mi ax) Maxiu load axial load (Fai ax) Maxiu load radial load (Fri ax) () Checking the life Calculate: Average oent load (Mi av) Average axial load (Fai av) Average input speed (Ni av) HP HPF Maxiu load oent load (Mi ax) Perissible oent load (Mc) Maxiu load axial load (Fai ax) Perissible axial load (Fac) Maxiu load radial load (Fri ax) Perissible radial load (Frc) Calculate the life and check it. Specification of input shaft bearing The specification of the input side ain bearing of the input shaft unit is shown below. Specification of input shaft bearing HP Basic rated load Basic dynaic rated load Cr N kgf 0 6 700 800 9700 0 00 1000 7 90 990 0 600 0 Table 11 Basic static rated load Cor N 70 10 600 800 00 900 kgf 9 70 0 60 00 0 6 Table Allowable oent load Mc Allowable axial load Fac * 1 Allowable radial load Frc * N kgf N kgf N kgf 0.16 0.016.6.1 6. 0.6 67 67 00 1 1. 1.8 16 90 9.. 8 1970 1 96.9 9.88 0 6 6 9 0. 8600 878 67 7 Specification of input shaft bearing HPF Basic rated load Basic dynaic rated load Cr N kgf 00 9700 80 00 Table 1 Basic static rated load Cor N 10100 100 kgf 100 0 Technical Inforation / Handling Explanation Table Allowable oent load Mc Allowable axial load Fac * 1 Allowable radial load Frc * N kgf N kgf N kgf 10 1.0 18 17. 19 1.9 6 966 98. Note:Table and *1 The allowable axial load is the tolerance of an axial load applied to the shaft center. * The allowable radial load of HP series is the tolerance of a radial load applied to the shaft length center. * The allowable radial load of HP series is the tolerance of a radial load applied to the point of fro the shaft edge (input flange edge). 18 earheads
Technical Data Calculating axiu load oent load to input shaft The axiu load oent load (Mi ax ) is calculated as follows. Check that the following forulas are established in all circustances: Forula 1 HP HPF External load influence diagra Fai Figure 1 Fai Lai Lai Fri ax Fai ax Lri,Lai Max. radial load Max. axial load See Fig. 1. See Fig. 1. See Fig. 1. Fri Fri Mi ax Mc (Perissible oent load) Fai ax Fac (Perissible axial load) Lri Lri HP HPF How to calculate average load (Average oent load, average axial load, average input rotational frequency) HP HPF If oent load and axial load fluctuate, they should be converted into the average load to check the life of the bearing. M1 M raph 1 How to calculate the average oent load (Miav) Forula Input speed Moent load M M t1 t t t n n1 n Tie: t How to calculate the average axial load (Faiav) Forula How to calculate the average output rotational frequency (Niav) Forula n Tie: t Technical Inforation / Handling Explanation Calculating life of input side bearing Calculate the bearing life according to Calculation Forula and check the life. L10 Life Hour Forula Ni av Average input rotational speed rp See Forula Cr Basic dynaic rated load See Table 11 and Pci Dynaic equivalent radial load N See Table 1 and Dynaic equivalent radial load HP Pci 0. Mi av + 1.6 Fai av 0.17 Mi av + 1. Fai av 0.109 Mi av + 1. Fai av 0.071 Mi av + 1. Fai av 0 0.0 Mi av + 1. Fai av 6 0.01 Mi av + 1. Fai av Dynaic equivalent radial load HPF Pci 1 Mi av +.7 Fai av 106 Mi av +.7 Fai av Table 1 Table Miav Average oent load N (kgf) See Forula Faiav Average axial load See Forula 19 earheads
Haronic Drive LLC Boston US Headquarters 7 Lynnfield Street Peabody, MA 01960 New York Sales Office 100 Motor Parkway Suite 6 Hauppauge, NY 788 California Sales Office W. San Carlos Street Suite 1070 San Jose, CA 90 Chicago Sales Office 17 N. Oak Park Ave., Suite 10 Oak Park, IL 6001 T: 800.9. T: 978..1800 F: 978..906 www.haronicdrive.net roup Copanies Haronic Drive Systes, Inc. 6 MinaiOhi, Shinagawaku Tokyo 1001, Japan Haronic Drive A Hoenbergstrasse,, D6 Liburg/Lahn erany Haronic Drive and HaronicPlanetary are registered tradearks and Quick Connect is a tradeark of Haronic Drive LLC. All other tradearks are property of their respective owners. earheads Rev 01