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Harmonic Drive LLC
CSG-GH High Torque Series

CSG-GH High Torque Series

Product catalog summary

Overview: The document details the specifications and performance data for the CSG-GH and CSF-GH series high-performance gearheads, designed for servomotors. These gearheads are noted for high torque, zero backlash, and high accuracy, making them ideal for precise positioning applications.

Specifications: Available in sizes 14, 20, 32, 45, and 65, with reduction ratios from 50:1 to 160:1, these gearheads feature a Quick Connect™ coupling and an integrated cross roller bearing for high moment stiffness and load capacity. Peak torque ranges from 23Nm to 3419Nm.

Performance: The gearheads offer repeatability of ±4 to ±10 arc-sec, suitable for high accuracy applications. Performance tables provide data on ratcheting torque, buckling torque, and torsional stiffness.

Construction: Features include a mounting pilot, grease filling ports, and an oil seal. Output configurations can be flange or shaft, with various motor mounting options.

Tables and Figures: Dimension tables, performance tables, and figures illustrate gearhead construction and dimensions, providing essential data for selection and integration.

Recommendations: Users should refer to confirmation drawings for detailed dimensions and contact the manufacturer for specific configurations. Operating within specified torque limits is crucial for product longevity and performance.

Specifications and Torque Limits: The document emphasizes minimizing momentary peak torque during normal operations. The allowable occurrences for momentary peak torque can be calculated using a specific formula. Average torque must not exceed specified limits, and the wave generator's life is determined by bearing life, with specific hours provided for different series.

Flexspline Strength and Ratcheting Torque: The flexspline's strength is crucial for torque capacity. The document specifies allowable limits for bending cycles and conditions under which ratcheting torque occurs, potentially causing misalignment and damage.

Stiffness and Hysteresis Loss: Stiffness affects servo system performance. The document explains the torque-torsion angle diagram and spring constants (K1, K2, K3) defining system stiffness. Hysteresis loss, caused by internal friction, is minimal and varies with load.

Backlash and Efficiency: Gearheads have zero backlash, with any measurable backlash attributed to the Oldham coupling. Efficiency is influenced by reduction ratio, input speed, load torque, temperature, and lubrication conditions.

Torsion Angle Calculation Example: An example calculation for the torsion angle using the CSG-32-100-GH model demonstrates how to calculate the torsion angle for different applied torque levels.

Resonant Frequency and Vibration: The document discusses potential vibration due to transmission error if the driving frequency matches the system's resonant frequency. A formula is provided to calculate resonant frequency based on system parameters.

Specifications and Calculations: The document begins with a torsion angle calculation, resulting in 2.18×10^-3 rad (7.5 arc min). It notes that with a bidirectional load, the total torsion angle will be twice the calculated angle plus hysteresis loss. This calculation is specific to the gear component set, excluding torsional windup of the output shaft.

Torque and Torsion Angle: The relationship between torque and torsion angle is discussed, highlighting the importance of considering hysteresis loss. Diagrams illustrate the torque-torsion angle relationship and spring constant.

Transmission Error and Resonant Frequency: The primary frequency of transmission error in HarmonicDrive® gears can cause vibration if the driving frequency matches the system's resonant frequency. The transmission error frequency is twice the input frequency. A formula is provided to calculate resonant frequency, noting that 15 Hz corresponds to an input speed of 450 rpm.

Model Selection and Load Torque: Guidelines for selecting a model number based on load torque patterns are provided. It emphasizes converting fluctuating load torques to average load torque for model selection and checking maximum moment load, life of the cross roller bearing, and static safety coefficient.

Example Calculation: An example for selecting a model number, CSF-45-120-GH, based on load torque patterns and operational conditions is provided. It includes calculations for average load torque, average output speed, and input rotational speed, confirming model selection against repeated peak torque and momentary peak torque specifications.

General Recommendations: The document advises that servo systems rarely operate at continuous load and speed, and unexpected impact torque may occur. It recommends converting fluctuating load torques to average load torque for model selection and checking maximum moment load and life of the cross roller bearing.

Specifications and Procedures: The document discusses the contact surface of the orbit ring and rolling elements, highlighting potential fretting. It advises contacting the company if issues arise. The basic static rated load (Co) is generally the permissible limit for static equivalent load, determined based on specific operating conditions. The static safety coefficient (fs) for cross roller bearings can be calculated using a specified formula. General operating condition values are provided in a table, and the static equivalent radial load (Po) can be calculated using another formula.

Load Status: The document outlines maximum radial and axial loads and refers to a method for calculating maximum load moment. It also mentions the circular pitch of the roller.

Company Information: Contact information for Harmonic Drive Systems, Inc., including addresses and phone numbers for offices in Japan, Germany, and the United States, is provided. Harmonic Drive® and HarmonicPlanetary® are registered trademarks, and Quick Connect is a trademark of Harmonic Drive LLC.

Catalog excerpts

CSG-GH Gearhead Series CSG-GH High Torque Series Sizes Peak torque Zero backlash High Accuracy A Cross Roller bearing is integrated with the output ﬂange to provide high moment stiffness, high load capacity and precise positioning accuracy. Model Name CSF-GH Series High-Performance Gearhead for Servomotors CSG - 20 - 100 - GH - F0 Motor Model Number CSF-GH Series Quick Connect™ coupling Easy mounting to a wide variety of servomotors High-Performance Gearhead for Servomotors CSG-GH Series e manufacturing tolerances not is optional. High-Performance Gearhead for Servomotors CSG-GH Series High-Performance Gearhead for Servomotors High Load Capacity Output Bearing Gearhead Construction Output Conﬁguration F0: Flange output J2: Straight shaft (without key) J6: Straight shaft (with key and center tapped hole) Input Conﬁguration This code represents the motor mounting configuration. Please contact us for a unique part number based on the motor you are using. n above are not Mounting pilot Output Shaft (ﬂange optional) Shielded bearing Grease ﬁlling port (2 locations) Rubber cap Quick Connect™ coupling Input rotational direction Output rotational direction Cross roller bearing Oil seal Mounting bolt hole (The figure indicates output shaft

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Rating Table　CSG-GH Mass * Shaft Rated torque is based on L10 life of 7,000 hours when input speed is 2000 rpm Rated torque is based on L10 life of 7,000 hours when input speed is 3000 rpm, input rotational speed for size 65 is 2800 rpm. Maximum value of average load torque is based on the load torque pattern. Note that exceeding this value may deteriorate the life or durability of the product. 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...

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CSF-GH Series *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 maximum values. *2: The repeatability is measured by moving to a given theoretical position seven times, each time approaching from the same direction. The actual position of the output shaft is measured each time and repeatability is calculated as the 1/2 of the maximum difference of the seven data points. Measured values are indicated in angles (arc-sec) preﬁxed with "±". The values in the table are maximum values. Figure 068-2...

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Torsional Stiffness　CSG-GH and CSF-GH Reduction ratio K3 80 or more kgfm ×104Nm/rad kgfm/arc min ×104Nm/rad kgfm/arc min ×104Nm/rad kgfm/arc min ×10-4rad arc min ×10-4rad arc min ×104Nm/rad kgfm/arc min ×104Nm/rad kgfm/arc min ×104Nm/rad kgfm/arc min ×10-4rad arc min ×10-4rad arc min * The values in this table are average values. See page 88 for more information about torsional stiffness. Hysteresis Loss　CSG-GH Reduction ratio 50: Approx. 5.8X10 rad （2arc min） -4 Reduction ratio 80 or more: Approx. 2.9X10-4 rad （1arc min） CSF-GH series High-performance Gear Heads for Servo Motors series CSG-GH...

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Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. Grease filling port 2 locations (symmetrical locations) 47 Grease filling port CSF-GH Series CSF-GH series CSF-GH Series High-performance Gear Heads for Servo Motors series High-Performance Gearhead for Servomotors High-Performance Gearhead for Servomotors Output shaft shape: J2 (Straight shaft, without key) J6 (Straight shaft, with key, with center tapped hole) 5 M3 Hexagon socket head bolt 2 locations (symmetrical locations) CSG-GH Series High-Performance Gearhead for Servomotors...

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CSG-GH-20 Outline Dimensions * Output part dimension is the same as the ﬂange type III. Grease ﬁlling port Grease ﬁlling port 2 locations (symmetrical locations) Output shaft shape: J2 (Straight shaft, without key) J6 (Straight shaft, with key, with center tapped hole) CSG-GH series M4 Hexagon socket head bolt CSG-GH Series High-Performance Gearhead for Servomotors 22 .5° High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series 2 locations (symmetrical locations) M4 Hexagon socket...

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* Output part dimension is the same as the ﬂange type III. Grease ﬁlling port 2 locations (symmetrical locations) Grease ﬁlling port 2 locations (symmetrical locations) 4-D*3 M4 Hexagon socket head bolt 4-D*3 M4 Hexagon socket head bolt Flange Type Ⅲ Grease ﬁlling port 2 locations (symmetrical locations) High-performance Gear Heads for Servo Motors series CSF-GH series CSF-GH Series CSG-GH series Output shaft shape: J2 (Straight shaft, without key) J6 (Straight shaft, with key, with center tapped hole) CSF-GH Series High-Performance Gearhead for Servomotors High-Performance Gearhead for Servomotors...

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(17) Rubber cap M6 Hexagon socket head bolt High-performance Gear Heads for Servo Motors series M6 Hexagon socket head bolt Output shaft shape: J2 (Straight shaft, without key) J6 (Straight shaft, with key, with center tapped hole) CSG-GH Series CSG-GH series High-performance Gear Heads for Servo Motors series If using size 45 or 65 gearheads with a shaft output and require torques as high as the "Limit for Momentary Peak Torque" you must use a J2 shaft configuration (straight shaft, no key) with a friction / compression coupling to the output load. This is due to the limited strength of the...

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2 locations (symmetrical locations) M6 Hexagon socket head bolt Ø220 h8 Ø214 Ø168 CSF-GH Series Ø70 h7 High-Performance Gearhead for Servomotors CSG-GH series If using size 45 or 65 gearheads with a shaft output and required torques are as high as the "Limit for Momentary Peak Torque," you must use a J2 shaft configuration (straight shaft, no key) with a friction / compression coupling to the output load. This is due to the limited strength of the connection using a keyed shaft. (Note) The dimension tolerances that are not speciﬁed vary depending on the manufacturing method. Please check the...

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CSG-GH High Torque Series

CSG-GH High Torque Series

Catalog excerpts

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