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1、Gen eral Catalog Harmonic Drive Geari ng & Moti on Control Total Motion Control Excellent Technology Clusters in a Wide Range of Industries Harmonic drive products are unique precisi on speed reducers play ing importa nt roles in robots, semic on ductor manu facturi ng systems, factory aut

2、omati on equipme nt and furthermore, in aerospace equipme nt that may convey our huma n dreams. A variety of electromecha ni cal products required high precisi on moti on control in optical measuring equipment, medical equipment, printing machines and other systems offer many adva ntages in the ?

3、eld of in dustrial and scie nti? c tech no logies. Harmonic Drive LLC is making every efforts to develop supportive tech no logies for the 21st cen tury, thereby con tributi ng to global tech no logical adva nee. Harmonic Drive Geari ng Features High positioning accuracy, High repeatability Com

4、pactness, Light weight, High reduction ratio, High torque capacity, Non-backlash, High efficiency, Quiet operation Structure Driven by a unique operating principle applying elastodynamics of metals and comprising of only three basic parts (Wave generator, Flexspline and Circular spline), Harmonic

5、 Drive products reveal excellent features not found in other speed reducers. Wave Gen erator Operating Prin ciple Circular Spli ne Wave Generato r Flexspli ne One Turn of Wave Generator I The Wave Gen erator is a thi n raced ball beari ng fitted on to an elliptical hub serving as a high effi

6、ciency torque converter and gen erally moun ted onto the in put shaft. |Flexspli ne The Flexspli ne is a non-rigid, thi n cyli ndrical cup with exter nal teeth on a slightly smaller pitch diameter tha n the Circular Spli ne. It fits over and is held in an elliptical shape by the Wave Gen erator.

7、 Circular Spli ne The Circular Spli ne is a rigid ring with in ter nal teeth, en gagi ng the teeth of the Flexspli ne across the major axis of the Wave Gen erator. The Circular Spli ne has two more teeth tha n the Flexspli ne and is gen erally moun ted onto a hous ing. 0° The Flexspli ne is slig

8、htly smaller in diameter tha n the Circular Spli ne and usually has two fewer teeth tha n the Circular Spli ne. The elliptical shape of the Wave Gen erator causes the teeth of the Flexspli ne to en gage the Circular Spli ne at two opposite regions across the major axis of the ellipse. As the Wave G

9、en erator rotates, the zone where the teeth of the Flexspli ne en gages those of the Circular major elliptical axis. For each 180 clockwise moveme nt of the Wave Gen erator, the Flexspli ne moves coun terclockwise by one teeth relative to the Circular Spli n. Each complete clockwise rotati on of th

10、e Wave Gen erator results in the Flexspli ne moving coun ter-clockwise by two teeth from its origi nal positi on relative to the Circulr Spli neular. Tooth behavior and en gageme nt Un like moti ons of ordinary geari ng, the unique tooth behavior (operat ing prin ciple) of harm on ic drive geari

11、ng achieved non-backlash moti on, infin itesimal an gular feedi ng (on e-pulse feedi ng) and high positi oning repeatability. More tha n 30% of all teeth simulta neously engages in two locations in 180 ° symmetry, thereby allowing high torque Circular Spli ne Flexspli ne capabillity. Harm on ic

12、Drive Geari ng Harm on icDrive Precisi on Con trol Speed Reducers Comp onent / Cup Type CSG CSD CSF SHG SHF HDUF HDUR Un it Type High-torque Type CSG-2UH Sta ndard Type CSG-2UH High-Torque Hollow Shaft TypSHG-2UH Hollow Shaft Type SHF-2UH High-Torque Shaft In put T ypeSHG-2UJ

13、Shaft In put Type SHG-2UJ Compact Double Shaft Ty pe CSF-1U High-torque Hollow Shaft Typ§HG-2SH Flat Hollow Shaft Type SHG-2SH High-torque Flat Type SHG-2SO Flat Type SHF-2SO Super Flat Hollow Shaft T ypeSHD-2SH Simple Unit Type Sta ndard Type FD Phase Adjustme nt Un it Small a

14、 nd Medium-capacity TypCSF-GH Gear Head Type Small Capacity Type CSF-2XH Small a nd Medium-capacity TypeHPG Gear Head Type Small-capacity Type Pla netary Geari ng Speed Reducers HP-F

15、 Product Feature Variati on Torque-weight Ratio Tors ional Stiffness Positi oning Accuracy Lightweight Flat Shape Hollow Structure Customiz ing Life Page in Catalog Peak Torque (Nm) Reducti on Ratio 23~3400 1/50~1/160 ★★★ ★★★ ★★★ ★★ ★★ ★ ★★★ ★

16、★★ 10 12~820 1/50~1/160 ★★★ ★★ ★★ ★★★ ★★★ ★★ ★★★ ★★ 11 1.8~9200 1/30~1/160 ★★ ★★★ ★★★ ★★ ★★ ★ ★★★ ★★ 12 23~3400 1/50~1/160 ★★★ ★★★ ★★★ ★★ ★★ ★★★ ★★★ ★★★ 13 9.0~800 1/30~1/160 ★★ ★★★ ★★★ ★★ ★★ ★★★ ★★★ ★★ 14 7.8~330 1/50~1/160 ★ ★ ★ ★★★ ★★★ ★★★ ★★★

17、 ★ 21 9.8~4000「 1/50~1/320 ★ ★ ★ ★ ★ ★★★ ★★★ ★ 21 Variati on Torque-weight Ratio Mome nt Stiffness Positi oning Accuracy Lightweight Flat Shape Hollow Structure Customiz ing Life Page in Catalog Peak Torque (Nm) Reducti on Ratio 23~3400 1/50~1/160 ★★★ ★★ ★★★ ★★ ★

18、★ ★ ★★ ★★ 15 9.0~2600 1/30~1/160 ★★ ★★ ★★★ ★★ ★★ ★ ★★ ★★ 16 23~3400 1/50~1/160 ★★★ ★★★ ★★★ ★ ★ ★★★ ★★★ ★★★ 17 9.0~1800 1/30~1/160 ★★ ★★★ ★★★ ★ ★ ★★★ ★★★ ★★ 18 23~3400 1/50~1/160 ★★★ ★★★ ★★★ ★ ★ —— ★★★ ★★★ 17 9.0~1800 1/30~1/160 ★★ ★★★ ★★★ ★ ★ —

19、— ★★★ ★★ 18 0.5~28 1/30~1/100 ★★ ★ ★★★ ★★★ ★★★ —— ★★★ ★★ 19 Variati on Torque-weight Ratio Mome nt Stiffness Positi oning Accuracy Lightweight Flat Shape Hollow Structure Customiz ing Life Page in Catalog Peak Torque (Nm) Reducti on Ratio 23~3400 1/50~1/160 ★★★

20、 ★★★ ★★★ ★★ ★★ ★★★ ★★ ★★★ 18 9.0~1800 1/30~1/160 ★★ ★★★ ★★★ ★★ ★★ ★★★ ★★ ★★ 17 23~3400 1/50~1/160 ★★★ ★★★ ★★★ ★★ ★★ —— ★★ ★★★ 18 9.0~1800 1/30~1/160 ★★ ★★★ ★★★ ★★ ★★ —— ★★ ★★ 17 12~450 1/50~1/160 ★★★ ★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ 20

21、 Variati on Torque-weight Tors ional Positi oning Hollow Page in Peak Torque (Nm) Reducti on Ratio Ratio Stiffness Accuracy Lightweight Flat Shape Structure Customiz ing Life Catalog 30~4000 1/50~1/320 ★ ★ ★ ★ ★ ★★★ ★★ ★ 21 Variati on Moment S

22、tiffness W) Positi oning Accur icy Lightweight Compact ness Backlash Ease of Mounting Life Page in Catalog Peak Torque (N mReduction Ratio Motor Capacity ( 18~2600 1/50~1/160 30~5000 ★★★ ★★★ ★★ ★ ★★★ ★★★ ★★ 22 0.5~28 1/30~1/100 3~30 ★ ★★★ ★★★ ★★★ ★★★ ★★ ★★ 19 23~850

23、 1/5~1/45 30~10000 ★★★ ★★ ★★ ★ ★★ ★★ ★★★ 23 2.5~5.2 1/5~1/25 5~30 ★ ★ ★★★ ★★★ ★ ★★ ★★★ 24 Series Actuators Rotary Systems AC Servomotors DC Servomotors Stepp ing Motors Optical Galva no Sca nn e|.- Sen sors Direct Tran smissi on Systems AC Servomotors DC Ser

24、vomotors Stepp ing Motors Compact Hollow Shaft Flat TypHA -Cmini Hollow Shaft Flat Type | FHA-C Compact Cyli nde「Type RSF?RKF Compact Cyli nde「Type RH Compact Cyli nde「Type RP-B - High-thrust Positioning T ，pe LBC - Low-thrust Positioning Ty pe LA Medium-thrust Positionin” Type_AH 46 -

25、 Low-thrust Positioning Ty pe LNP - High-thrust Positioning T 'pe LAH - 80 High Accuracy, High Resp onse LSA —High-Resoluti on Absolute AngjeDserieoi - Super-compact En coders, Micro Encdder

26、 Product Feature Variati on Repeatability Resoluti on Mome nt Stiffness Servo Performa nce Hollow Structur e Thi nn ess Compact ness Lightweight Page in Catalog Peak Torque (Nm) Maximum Speed (rpm) 1.8~28 200~60 ★★★ ★★★ ★★★ ★★ ★★★ ★★★

27、 ★★★ ★★ 25 39~690 96~35 ★★★ ★★★ ★★★ ★★ ★★★ ★★★ ★★★ ★★ 26 1.5~330 30~60 ★★ ★★ ★★ ★★ — ★ ★★★ ★★★ 27 Variati on Repeatability Resoluti on Mome nt Stiffness Servo Performa nce Hollow Structure Thi nn ess Compact ness Lightweight Page in Catalog Peak Torque (Nm) Ma

28、ximum Speed (rpm) 0.39~20 180~50 ★★ ★ ★★ ★★★ — -— ★★★ ★★ 28 Variati on Repeatability Resoluti on Mome nt Stiffness Servo Performa nce Hollow Structure Thi nn ess Compact ness Lightweight Page in Catalog Peak Torque (Nm) Maximum Speed (rpm) 8.3~54 35~70 ★★ ★★★ ★★ -_-

29、 — -— ★★ ★ 29 Variati on Repeatability Resoluti on Stiffness Compact ness Lightweight Page in Catalog Maximum Drivi ng Force (N) iviaximum Speed (mm/s) Stroke (mm) 6000~120( 6000?120( )010?20 ★★ ★★★ ★★★ ★★★ ★★★ 30 49 49 0.9~10 ★★ ★★★ ★★ ★★★ ★★★ 30 392 392 0.9~1

30、0 ★★ ★★★ ★★ ★★★ ★★★ 30 10kg 1.5 13~15 ★★ ★★★ ★★ ★★★ ★★★ 30 3000 3000 0.9~10 ★★ ★★★ ★★ ★★★ ★★★ 30 Mome nt of In ertia (g ?3m) Torque Con sta nt (N?m/A) Repeatability Lin earity Stiffness Servo Performa nce Drift Characteristic Compact ness Lightweight Pag

31、e in Catalog 1.8~8.5 0.0082~0.05 ★★★ ★★★ ★★★ ★★★ ★★★ ★★ ★★★ 31 Compatibility to Host Computer Absolute Detecti on System In creme ntal System Robust ness Super Long Life Resoluti on Compact ness Lightweight Page in Catalog ★★★ 0 — ★★★ ★★★ ★★★ ★ ★ 32 ★★ — o ★

32、 ★ ★★ ★★★ ★★★ 33 Valve Positi on Comma nd An alog Speed Comma nd Mon o-shaft Control (Comma nd) In terface to Absolute In terface to In creme ntal Intern ati onal Safety Sta ndard Functional Versatility Display Fun cti on Page in Catalog o o — o 0 CE,UL ★★★ ★★★ 34

33、 — 0 o o CE,UL ★★ ★★★ 34 0 — — — 0 — ★★ ★★ 34 o — — — 0 ★★ ★★ 34 The comb in ati ons with actuator and driver may not fully be complied with foreig n safety sta ndards. Please con tact our sales office.  Harmonic Drive Geari ng CSG (P10) CSD (P11) CSF (P12)

34、CSF-2UH (P16) CSF-1U (P19) * SHD-2SH (P20) HDUF (P21) ■ HDT (P23) HDUR (P21) HDB (P22) Gear Head Type ln?nit-lndexer (P26) CSF-GH (P24) HPG (P25) SHF-2UH (P18) SHG-2UH (P17) SHF (P14) SHG (P13) CSG-2UH (P15) Product Lin eup ，■作

35、 Component/Cup Type - High-torque Type CSG Series Gsc aeG ey D pno E aH ? Compact and simple design ? High torque capacity ? High stiffness ? Non-backlash ? High positioning and rotational accuracies To

36、realize a high load capacity and high reliability, the torque capacity has been increased by 30%. Units that allow easy mounting are also available. (See page 15.) Life: 10,000h Comparison of Features. High Torque Harmonic Drive vs. CSF Series CSF . CSG [When CSF is set to 100] (%)

37、 w w w. H a rm oni c Driv e. net ? 800-921-3332 15 Harmonic Drive LLC w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC ?CSG Series Rati ngs w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC \ Item Mod

38、el - No. \ Reducti on Ratio Rated Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Mome ntary Torque N?m kgf ?m N?m kgf ?m N?m kgf ?m 14 50 7.0 0.7 23 2.3 6 4.7 80 10 1.0 30 3.1 61 6.2 100 10 1.0 36 3.7 70 7.2 17 50 21 2.1 44 4.

39、5 91 9 80 29 2.9 56 5.7 113 12 100 31 3.2 70 7.2 143 15 120 31 3.2 70 7.2 112 11 20 50 33 3.3 73 7.4 127 13 80 44 4.5 96 9.8 165 17 100 52 5.3 107 10.9 191 20 120 52 5.3 113 11.5 191 20 160 52 5.3 120 12.2 191 20 25 50 51 5.2 127 13 2

40、42 25 80 82 8.4 178 18 332 34 100 87 8.9 204 21 369 38 120 87 8.9 217 22 395 40 160 87 8.9 229 23 408 42 32 50 99 10 281 29 497 51 80 153 16 395 40 738 75 100 178 18 433 44 841 86 120 178 18 459 47 892 91 160 178 18 484 49 892 91 、、It

41、em Model \ No. Reducti on Ratio Rated Tor 2000 que at 「pm Permissib Torque a and S e Peak t Start top Permissibl Mom Tor e Maximum en tary que N?m kgf ?m N?m kgf ?m N?m kgf ?m 50 178 18 523 53 92 91 80 268 27 675 69 1270 130 40 100 345 35 738 75

42、 1400 143 120 382 39 802 82 1530 156 160 382 39 841 86 1530 156 45 50 229 23 650 66 1235 126 80 407 41 918 94 1651 168 100 459 47 982 100 2041 208 120 523 53 1070 109 2288 233 160 523 53 1147 117 2483 253 50 80 484 49 1223 125 2418 247 100

43、 611 62 1274 130 2678 273 120 688 70 1404 143 2678 273 160 688 70 1534 156 3185 325 58 80 714 73 1924 196 3185 325 100 905 92 2067 211 4134 422 120 969 99 2236 228 4329 441 160 969 99 2392 244 4459 455 65 80 969 99 2743 280 4836 493 100 1236

44、 126 2990 305 6175 630 120 1236 126 3263 333 6175 630 160 1236 126 3419 349 6175 630 w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC Main Application Target ? Robots ? Humano

45、id robots ? Metal machine tools ? Printing, bookbinding and paper processing machines ? Wood, light metal and plastic working machines ? Printed circuit board manufacturing machines Please con tact Harmonic Drive LLC for a detailed catalog of this product. w w w. H a rm

46、oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC Component/Cup Type - Super Flat Type CSD Series ? Super thin ? Hollow structure ? High repeatability Responding to the market needs, seven models of the new Harmonic Drive CSD series have been succeeded in downsizing. The CSD series is d

47、esigned for applications requiring ultra compact size. Life: 7,000h ?CSD Series Ratings Model No. Item Reducti on Ratio Rated Torque at 2000rpm Peak T orque at Start and Stop Permissible Maximum Mome ntary Torque N?m kgf ?m N?m kgf ?m N?m kgf ?m 14 50 3.7 0.38 12 1.2 24 2.4

48、 100 5.4 0.55 19 1.9 31 3.2 17 50 11 1.1 23 2.3 48 4.9 100 16 1.6 37 3.8 55 5.6 50 17 1.7 39 4.0 69 7.0 20 100 28 2.9 57 5.8 76 7.7 160 28 2.9 64 6.5 76 7.7 50 27 2.8 69 7.0 127 13 25 100 47 4.8 110 11 152 15 160

49、 47 4.8 123 13 152 15 50 53 5.4 151 15 268 27 32 100 96 10 233 24 359 37 160 96 10 261 27 359 37 50 96 10 281 29 480 49 40 100 185 19 398 41 694 71 160 206 21 453 46 694 71 50 172 18 500 51 1000 102 50 100 329 34

50、 686 70 1440 147 160 370 38 823 84 1577 161 Please con tact Harmonic Drive LLC for a detailed catalog of this product. w w w. H a rm oni c Driv e.

51、 net ? 800-921-3332 17 Harmonic Drive LLC SFCDCO aeGFSC eyD pno E aH Component/Cup Type - Standard Type CSF Series ? Compact ? High torque capacity ? High stiffness ? Non-backlash ? High positioning and rotational accuracies ? Coaxial input and output For downsizing purpose, the axial le

52、ngth has been reduced to about one half. Units that allow easy mounting are also available. (See page 16.) ?CSF Series Rati ngs Life: 7,000h w w w. H a rm oni c Driv e. net ? 800-921-3332 19 Harmonic Drive LLC \ Item Model \ No. Reducti on Ratio Rated

53、 Torque at 2000rpm Permissible Peak Torque at Start and Stop Permissible Maximum Mome ntary Torque N?m kgf?m N?m kgf?m N?m kgf?m 8 30 0. 9 0.09 1.8 0.18 3.3 0.34 50 1.8 0.18 3.3 "0.34 6.6 0.67 100 2.4 0.25 4.8 0.49 9.0 0.92 11 30 2.2 0.22 4.5 0.46 8.5 0.87 50

54、 3.5 0.36 8.3 0.85 17 1.7 100 5.0 0.51 11 1.1 25 2.6 30 4.0 0.41 9.0 0.92 17 17 14 50 5.4 0.55 18 1.8 35 3.6 80 7.8 0.80 23 2.4 47 4.8 100 7.8 0.80 28 2.9 54 5.5 17 30 8.8 0.90 16 1.6 30 3.1 50 16 1.6 34 3.5 70 7.1 80 22 2.2 43 4.4 87

55、8.9 100 24 2.4 54 5.5 108 11 120 24 2.4 54 5.5 86 8.8 30 15 1.5 27 2.8 50 5.1 20 50 25 2.5 56 5.7 98 10 80 34 3.5 74 7.5 127 13 100 40 4.1 82 8.4 147 15 120 40 4.1 87 8.9 147 15 160 40 4.1 92 9.4 147 15 25 30 27 2.8 50 5.1 95 9.7 50

56、 39 4.0 98 10 186 19 80 63 6.4 137 14 255 26 100 67 6.8 157 16 284 29 120 67 6.8 167 17 304 31 160 67 6.8 176 18 314 32 32 30 54 5.5 100 10 200 20 50 76 7.8 216 22 382 39 80 118 12 304 31 568 58 100 137 14 333 34 647 66 120 137 14

57、353 36 686 70 160 137 14 372 38 686 70 40 50 137 14 402 41 686 70 80 206 21 519 53 980 100 100 265 27 568 58 1080 110 120 294 30 617 63 1180 120 160 294 30 647 66 1180 120 \ Item Model \ No. \ Reducti on Ratio Rated Torque at 2000rpm Permissibl

58、e Peak Torque at Start and Stop Permissible Maximum Mome ntary Torque N?m kgf?m N?m kgf?m N?m kgf?m 45 50 176 18 500 51 950 97 80 313 32 706 72 1270 130 100 353 36 755 77 1570 160 120 402 41 823 84 1760 180 160 402 41 882 90 1910 195 50 245 25 715

59、73 1430 146 80 372 38 941 96 1860 190 50 100 470 48 980 100 2060 210 120 529 54 1080 110 2060 210 160 529 54 1180 120 2450 250 58 50 353 36 1020 104 1960 200 80 549 56 1480 151 2450 250 100 696 71 1590 162 3180 325 120 745 76 1720 176 3330

60、340 160 745 76 1840 188 3430 350 50 490 50 1420 145 2830 289 65 80 745 76 2110 215 3720 380 100 951 97 2300 235 4750 485 120 951 97 2510 256 4750 485 160 951 97 2630 268 4750 485 80 50 872 89 2440 | 249 4870 497 80 1320 135 3430 350 6590 672

61、 100 1700 173 4220 431 7910 807 120 1990 203 4590 468 7910 807 160 1990 203 4910 501 7910 807 90 50 1180 120 3530 360 6660 680 80 1550 158 3990 407 7250 740 100 2270 232 5680 580 9020 920 120 2570 262 6160 629 9800 1000 160 2700 276 6840 698

62、11300 1150 100 50 1580 161 4450 454 8900 908 80 2380 243 6060 618 11600 1180 100 2940 300 7350 750 14100 1440 120 卜 3180 324 7960 812 15300 1560 160 3550 362 9180 937 15500 1580 w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC

63、 w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC Main Application Target ▼ ? Robots ? Humanoid robots ? Metal machine tools ? Printing, bookbinding and paper processing machines ? Semiconductor manufacturing systems ? Measurement, analytical and test systems ? Medical

64、equipment ? Optical machines ? Telescopes ? Wood, light metal and plastic working machines ? Energy ? Paper-making machines ? Crating and packaging machines ? Flat panel display manufacturing systems ? Printed circuit board manufacturing machines ? Space equipment ? Aircraft ? Glass and c

65、eramic manufacturing systems Please con tact Harmonic Drive LLC for a detailed catalog of this product. w w w. H a rm oni c Driv e. net ? 800-921-3332 # Harmonic Drive LLC Life: 10,000h oxziaeG GHS eyD pno E_aH Component/Silk Hat Type - High-torque Type SHG Seri

66、es ? Large bore with hollow hole, flat shape ? Non七 acklash ? Excellent positioning and rotational accuracies ? Coaxial input and output shaft ? Compact and simple design ? High torque capacity ? High stiffness To realize a high load capacity and high reliability, the torque capacity has been increased /Comparison of Features. High Torque Harmonic Drive vs. CSF Series Draw ings (DXF) can be dow nl oaded from our home page. URL: http://www.Harm on icDrive. net w w w. H a rm oni c Driv