HIWINDATORKER® Strain wave gear

Germany HIWIN GmbH Brücklesbünd 1 77654 Offenburg Deutschland Fon +49 781 93278-0 [email protected] hiwin.de Taiwan Headquarters HIWIN Technologies Corp. No. 7, Jingke Road Precision Machinery Park Taichung 40852 Táiwān Fon +886 4 2359-4510 [email protected] hiwin.tw Taiwan Headquarters HIWIN Mikrosystem Corp. No. 6, Jingke Central Road Precision Machinery Park Taichung 40852 Táiwān Fon +886 4 2355-0110 [email protected] hiwinmikro.tw France HIWIN SAS Le Mélèze 17 Rue des Cigognes 67960 Entzheim France Fon +33 3 882884-80 [email protected] hiwin.fr Poland HIWIN GmbH Biuro Warszawa ul. Puławska...

DATORKER® STRAIN WAVE GEARS DATORKER® strain wave gears are characterised by high precision, high efficiency, high torsional rigidity and low starting torque. They are widely used in robotics, automation, semiconductor technology, machine tools and many other sectors of industry. DOWNLOADS AND APPLICATIONS Assembly instructions

DATORKER® strain wave gears Contents

2.1 Characteristics DATORKER® strain wave gears 10 3.1 Process for selecting a DATORKER® shaft gear unit 13 3.2 Confirmation of application condition 13 3.3 Calculation of the load torque, the speed and the service life 14 3.4 Selection of DATORKER® shaft gear unit design and specification 15 3.5 Calculation of the service life of the crossed roller bearing 15 3.7 Order code DATORKER® strain wave gears 16

Product overview 1. Product overview DSC-PO - Connection by otdham coupling - Withstands axial and radial load - Reduced play Page 21 DSC-CO - Connection by oldham coupling - Reduced play Page 25 DSH-PO - Connection by oldham coupling - Withstands axial and radial load - Reduced play Page 29 DSH-PH - Input hollow shaft design - Withstands axial and radial load - Zero play Page 32 DSH-AH - Input hollow shaft design - Withstands axial and radial load - Zero play - Completely sealed design - User friendly design Page 35 DSH-AJ - Input solid shaft design - Withstands axial and radial load - Completely...

- Connection by otdham coupling - Withstands increased axial and radial load - Reduced play - Input solid shaft design - Withstands increased axial and radial load - Completely sealed design - User friendly design DGC-PO - Connection by oldham coupling - Withstands axial and radial load - Reduced play - Increased torque Page 52 DGC-CO - Connection by oldham coupling - Reduced play - Increased torque Page 56 DGH-PO - Connection by oldham coupling - Withstands axial and radial load - Reduced play - Increased torque Page 60 DGH-PH - Input hollow shaft design - Withstands axial and radial load -...

DGH-AH - Input hollow shaft design - Withstands axial and radial load - Zero play - Completely sealed design - User friendly design - Increased torque Page 66 DGH-AJ - Input solid shaft design - Withstands axial and radial load - Completely sealed design - User friendly design - Increased torque

DATORKER® strain wave gears General information 2. General information 2.1 Characteristics DATORKER® strain wave gears DATORKER® strain wave gears has the characteristics of high precision, high efficiency, high torsional rigidity and low starting torque. It is widely used in robots, automation equipment, semiconductor equipment, machine tools and other industries. HIWIN has developed a variety of different models with different gear ratios in order to be able to offer a wide selection. Features DATORKER® strain wave gears – Compact and light weight – easy for user to assemble and work with –...

2.1.2 Positioning accuracy The positioning accuracy depends on several factors. On the one hand, the accuracy of the angular transmission plays a role; this indicates the basic accuracy of the gear unit. In addition, there is angular displacement due to the torsional rigidity; this depends on the applied torque and the resulting angular displacement is subject to a hysteresis loss. With an input angle of rotation (0i), a theoretical output angle of rotation (02) results based on the reduction ratio. The difference between the theoretical output rotation angle (02) and the actual output rotation...

DATORKER® strain wave gears General information 2.1.2.3 Hysteresis loss After the torque is applied at the nominal value and reset to “0”, the torsion angle is not completely “0” and has some displacement (B-B’), which is called hysteresis loss. The hysteresis loss is mainly caused by internal friction. When the torque is extremely small, it is almost non-existent. Ө Torsional angle 2.1.3 Low starting torque The starting torque defines the torque required without load to set the gear unit in motion. Because the shaft generator is supported by balls, only the rolling friction has to be overcome,...

- Each movement should be specified as precisely as possible in the cycle description - Calculate the load torques, the output speed and the service life using the movements given in the cycle description. - Select the version based on the motor connection and the ambient conditions - The specifications can be selected on the basis of the calculated load torques and speeds - Calculate the necessary service life taking into account all axial forces, radial forces and tilting moment loads. T Load torque N Output speed t Time Table 3.1 Confirmation of application condition

DATORKER® strain wave gears Selection principle 3.3 Calculation of the load torque, the speed and the service life Calculation of the load torque – Tav ≤ Permissible maximum value of the average load torque  Confirmation – Ta, Tb ≤ Permissible peak torque during start/stop  Confirmation – Te ≤ Permissible maximum instantaneous torque  Calculation – nav ≤ Permissible average input speed – nmax ≤ Permissible maximum input speed  Calculation – L10 ≤ Nominal service life of the gear unit 7,000 hours, Nominal service life of the gear unit at L50 35,000 hours – Determine the required service life,...