Harmonic Drive LLC Servo Gearheads Presentation 1-19-16

Harmonic Drive Servo Gearheads
High Performance Gearheads for Servo & Stepper Motors
HarmonicPlanetary ®
HarmonicDrive ®
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com
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Harmonic Drive Servo Mount Gearheads
High Performance Gearheads for Servo & Stepper Motors
• Harmonic Drive offers two servo gear reduction technologies
• Harmonic Planetary® Gearheads
• Harmonic Drive® Gearheads
• Harmonic Planetary® gearhead designs use either a 3 or 4
planet carrier construction covering ratios from 3:1 up to
50:1 (single & double stage designs)
• Harmonic Drive® gearhead designs use an elasto-
mechanical wave reduction technology spanning ratios of
50:1 through 160:1
ELECTROMATE
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Price
Performance
HPN
HPG
CSG-GH
Harmonic Planetary®
CSF-GH
HPGP
HPGR
Harmonic Drive ®
< 5 and <7 arc
minutes
Helical gearing
Low cost
(3 planet
output)
< 1 (& < 3)
minutes of arc
maximum
backlash
Ring gear
compensation
Straight Cut
Gearing
Standard
Torque (3
planet output
pass)
< 1 (& < 3)
minutes of
arc maximum
backlash
Ring gear
compensation
Straight Cut
Gearing
High Torque
(4 planet
output pass)
< 1 (& < 3)
minutes of arc
maximum
backlash
Helical gearing
High Torque
Low Noise
Zero Backlash
Standard Torque
Zero Backlash
High Torque
Servo Gearhead Product Line
Ratio: 3 ~ 50
Ratio: 50 ~ 160
NEW
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• Economy planetary design (Industrial
Grade)
• Helical gearing platform
• Maximum Backlash Levels (Dynamically
Measured):
• 5 arc minutes maximum (single stage
reduction ratios)
• 7 arc minutes maximum (double stage ratios)
HPN Servo Planetary Gearheads
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• Available in 5 frame sizes (11, 14, 20, 32, & 40)
• Reduction ratios of 3:1 up to 31:1
• Full complement of needle rollers supporting planet
gears
• Straddled deep groove ball bearing arrangement
supporting the planet carrier / output shaft
• Grease lubricated for life
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• The HPG, HPGP, and HPGR planetary gearheads are a
series of high performance servo reducers characterized by:
• Low Backlash (3 arc minutes maximum / 1 arc minute optional)
• High positional accuracy and repeatability
• Smooth running transmission
• The design employs a high precision cross roller bearing with
inner race that is integral with the output planet carrier
• Compact with high tilting moment stiffness
• Excellent run-out / parallelism characteristics)
HPG / HPGP / HPGR Series Servo Planetary
Gearheads
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• Available in 6 frame sizes (11, 14, 20, 32, 50 & 65)
• Reduction ratios of 3:1 up to 50:1
• Special compensating ring gear design
• Ensures smooth rotation with minimal torque ripple
• Results in excellent backlash stability over the life of the
gearhead
• Guarantees consistent performance characteristics
HPG / HPGP / HPGR Series Servo Planetary
Gearheads
ELECTROMATE
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HPG / HPGP / HPGR Servo Planetary
Gearheads
HPG / HPGP / HPGR Harmonic Planetary® Gear Construction
Backlash Compensating Ring
Gear
Planet Carrier, which
is also the inner race
of the cross roller
bearing
High Precision, Rigid
Cross Roller Bearing
(CRB)
Planet gear
Sun gear
Motor Mounting
flange
Quick Connect™
Coupling
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• The CSF-GH and CSG-GH servo gearheads employ the elasto-
mechanical HarmonicDrive® gearing principle and are characterized
by:
• Zero backlash
• High accuracy and repeatability
• High reduction ratios in a small package size (50:1
through 160:1)
• Highly accurate and repeatable
• Light weight in a small package (high power density)
CSF-GH & CSG-GH Servo Gearheads
ELECTROMATE
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• Available in 5 frame sizes (14, 20, 32, 45, & 65)
• Reduction ratios of 50:1 through 160:1
• The design employs a high precision cross roller bearing with
inner race that is integral with the output flexspline
• Compact with high tilting moment stiffness
• Excellent run-out / parallelism characteristics)
ELECTROMATE
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Harmonic Drive®
CSF/CSG-GH
Series
Construction
High-precision, high-
stiffness cross roller
bearing
Circular spline
Quick Connect™
coupling for easy
mounting
Motor Mounting Flange
Flexspline
Wave generator
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Product Line Summary
HPN HPG HPGP HPGR CSF CSG
Gear
Technology
Helical
Planetary
Planetary
Planetary
(4 Planet)
Helical
Planetary
Harmonic Harmonic
Frame Sizes
11, 14, 20,
32, 40
11, 14, 20,
32, 50, 65
11, 14, 20,
32, 50, 65
11, 14, 20, 32
14, 20, 32,
45, 65
14, 20, 32,
45, 65
Ratios
3, 4, 5, 7,
10,13, 21, 31
3, 5, 11, 15,
21, 33, 45
5, 11, 15, 21,
33, 45
3, 4, 5, 6, 7,
8, 9, 10
50, 80, 100,
120, 160
50, 80, 100,
120, 160
Backlash
<5 arc-min
(single stage)
<7 arc-min
(two stage)
<3 arc-min
(standard)
<1 arc min
(option)
<3 arc-min
(standard)
<1 arc min
(option)
<3 arc-min
(standard)
<1 arc min
(option)
Zero Zero
Accuracy Not Specified < 4 arc-min < 4 arc-min < 4 arc-min < 1 arc-min < 1 arc-min
Repeatability Not Specified ± 15 arc-sec ± 15 arc-sec ± 10 arc-sec ± 8 arc-sec ± 8 arc-sec
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Pricing, Discounts & Lead Time
HPN HPG HPGP HPGR CSF CSG
Relative
Price
x 1.1x 1.2x 1.3x 1.6x 1.7x
Discount
1-9 pieces
45% 35% 35% 35% 35% 35%
Discount
10+ pieces
50% 40% 40% 40% 40% 40%
Lead Time
(2 pieces)
1 Week 1 Week 1 Week 1 Week 1 Week 1 Week
Lead Time
(> 2 pieces)
3-4 Weeks 3-4 Weeks 3-4 Weeks 3-4 Weeks 3-4 Weeks 3-4 Weeks
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Product Variations
• HPF Hollow Shaft Planetary
• HPG-1U Planetary with input shaft
• HPG Right Angle Planetary
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HPF Hollow Shaft
HPF
Hollow Shaft Unit
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HPG-1U
HPG-1U
Input Shaft Unit
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HPG-RA
HPG
Right Angle
Gearhead
HPG Series Right Angle Servo Gearhead
Spiral bevel gear
pass employed on
the input side to
achieve right angle
transmission;
output pass
includes the HPG
planetary gear
train
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Lost Motion - Production Measurement Method
CW & CCW transmission error
Lost motion measurement equipment
Difference = Continuous LM
To measure difference of transmission error between CW
and CCW with small load torque (4% of rated torque)
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Relationship between BL and LM
HPN-11A-30 Continuous LM
2-A
2-B 2-
C
Hysteresis curve
Transmissionerror[arc-min]
Output shaft angle [deg]
2-A 2-B 2-C
Torque: T(Nm) Torque: T(Nm)Torque: T(Nm)
Angle(arc-min)
Angle(arc-min)
Angle(arc-min)
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Harmonic Drive LLC Servo Gearheads Presentation 1-19-16

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Harmonic Drive LLC Servo Gearheads Presentation 1-19-16