HPG Standard Series

Product catalog summary

Specifications and Procedures:
The document details the specifications and procedures for the HPG-20A-33 gearhead model, focusing on maximum input speed, peak torques, and lifetime requirements. The maximum input speed is capped at 5,000 rpm, with peak torques T1 and T3 limited to 117 Nm. It includes a model selection process using load torque patterns and a flowchart to confirm the appropriate gearhead size based on average load torque and reduction ratio.

Performance and Design Features:
The gearheads are designed for low backlash, high efficiency, and high load capacity, featuring thin wall flexible gear technology and a robust cross roller bearing for precise positioning and high moment stiffness.

Load and Speed Calculations:
Calculations for average input speed, maximum input speed, and average load torque are provided, emphasizing the importance of not exceeding performance ratings and suggesting a larger speed reducer if necessary.

Technical Data:
Includes calculations for maximum load moment, axial load, and radial load, with formulas and tables for permissible loads and bearing life checks.

Recommendations:
Users should review operation conditions, size, and reduction ratio, especially when the duty cycle approaches continuous operation, considering the impact of load torque and speed on performance.

Specifications for Input Shaft Bearings:
Details on allowable axial and radial loads for the HPG and HPF series, with specific tolerances for different shaft positions, and basic dynamic and static rated loads for various sizes.

Procedures:
1. Checking Maximum Load: Calculate maximum load moment, axial load, and radial load for the input shaft, ensuring they do not exceed permissible limits.
2. Calculating Average Load: Convert fluctuating loads into average loads to assess bearing life.
3. Life Calculation: Use specified formulas to calculate bearing life, considering average loads and rotational frequency.

Norms and Recommendations:
Ensure sufficient lubrication, especially at ultra-low speeds, and calculate cross roller bearing life for oscillating movements, considering the static safety coefficient. Contact the manufacturer if the oscillating angle is small.

Key Formulas and Tables:
Includes Formula 132-5 for bearing life calculation and tables for dynamic equivalent radial loads, with Graph 134-1 illustrating load influences.

Critical Information:
Adherence to maximum load calculations is crucial for bearing longevity, and average load calculations are essential for accurate life assessment. Proper lubrication and monitoring load fluctuations are emphasized.

Contact Information:
Contact details for Harmonic Drive Systems, Inc. and its offices are provided for further inquiries and support.

Catalog excerpts

HPGP Series Peak torque High-Performance Gearhead for Servomotors HPGP Series High-Performance Gearhead for Servomotors High-Performance Gearhead for Servomotors High-Performance Gearhead for Servomotors Reduction ratio Single Stage: 3:1 to 9:1, Two Stage: 11:1 to 50:1 Standard: <3 arc-min Optional: <1 arc-min Low Backlash for Life Innovative ring gear automatically adjusts for backlash, ensuring consistent, low backlash for the life of the gearhead. The ring gear design automatically provides the optimum backlash in the planetary gear train and maintains the same low backlash for the life of the gearhead. High efﬁciency Quick Connect™ coupling Reduction Ratio Input Side Bearing BL1: Backlash less than 1 arc-min (Sizes 14 to 65) D: Input side contact sealed bearing (DDU) BL3: Backlash less than 3 arc-min Z: Input side bearing with double noncontact shields Gearhead Construction Mounting pilot Output Conﬁguration F0: Flange output J20: Straight shaft (without key) J60: Straight shaft (with key and center tapped hole) F0: Flange output J2: Straight shaft (without key) J6: Straight shaft (with key and center tapped hole) (J2, J6 for Size 65 is also available) Shielded bearing Output ﬂange CSF-GH Series Design Revision High-Performance Gearhead for Servomotors A - 05 - BL3 - D - F0 - Motor Model Number CSF-GH Series Model Name Backlash and Torsional Stiffness Outline Dimensions Product Sizing & Selection High-Performance Gearhead for Servomotors CSG-GH Series Easy mounting to a wide variety of servomotors Rating Table Performance High-Performance Gearhead for Servomotors A Cross Roller bearing is integrated with the output ﬂange to provide high moment stiffness, high load capacity and precise positioning accuracy. CSG-GH Series High Load Capacity Output Bearing High-Performance Gearhead for Servomotors Input Conﬁguration & Options This code represents the motor mounting configuration. Please contact us for a unique part number based on the motor you are using. Quick Connect™ coupling Input rotational direction Output rotational direction Output side oil seal Cross roller bearing Motor mounting ﬂange Mounting bolt hole

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CSG-GH series CSF-GH series High-performance Gear Heads for Servo Motors series *1: Rated torque is based on L50 life of 20,000 hours at rated input speed. *2: The limit for torque during start and stop cycles. *3: 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. *4: 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...

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*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 032-2 *3: 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 maximum values. Load HPG speed reducer surface...

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CSF-GH series High-performance Gear Heads for Servo Motors series 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, (2) Return to Zero, (3) Counter-Clockwise torque to -TR, (4) Return to Zero and (5) again Clockwise torque to TR. A loop of (1) > (2) > (3) > (4) > (5) will be drawn as in Fig. 033-1. The torsional stiffness in the region from "0.15...

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Dimension Table Flange Single Stage 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. *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. *3 Tapped hole for motor mounting screw. *4 E dimension is dependent on motor selection. HPGP series HPG series CSG-GH Series CSF-GH Series High-Performance Gearhead for Servomotors...

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High-performance Gear Heads for Servo Motors series CSG-GH series High-performance Gear Heads for Servo Motors series CSF-GH series High-performance Gear Heads for Servo Motors series Hexagon socket 4-D*3 head bolt High-Performance Gearhead for Servomotors (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. Dimension Table (Unit: mm) Table 035-1 Flange Refer to the conﬁrmation drawing for detailed dimensions. Dimensions of typical products are...

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Hexagon socket head bolt 4-D*3 HPG series (Unit: mm) Table 036-1 CSF-GH Series CSF-GH Series High-Performance Gearhead for Servomotors Dimension Table 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. *1 May vary depending on motor interface dimensions. *2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. *3 Tapped hole for motor mounting screw. *4 E dimension for Flange...

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Hexagon socket head bolt High-Performance Gearhead for Servomotors CSG-GH series 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 Only primary dimensions are shown in the drawings below. Refer to the conﬁrmation drawing for detailed dimensions. (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. Dimension Table Flange HPG...

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HPG Standard Series

HPG Standard Series

Catalog excerpts

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