harmonic drive llc servo gearheads presentation 1-19-16

Harmonic Drive Servo GearheadsHigh Performance Gearheads for Servo & Stepper Motors

HarmonicPlanetary ®HarmonicDrive ®

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

[email protected]

Sold & Serviced By:

Harmonic Drive Servo Mount GearheadsHigh 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



[email protected]

Sold & Serviced By:

Pric

e

Performance

HPN

HPG

CSG-GHHarmonic Planetary®

CSF-GH

HPGPHPGR

Harmonic Drive ®

< 5 and <7 arc minutesHelical gearingLow cost(3 planet output)

< 1 (& < 3) minutes of arc maximum backlashRing gear compensationStraight Cut GearingStandard Torque (3 planet output pass)

< 1 (& < 3) minutes of arc maximum backlashRing gear compensationStraight Cut GearingHigh Torque (4 planet output pass)

< 1 (& < 3) minutes of arc maximum backlashHelical gearingHigh TorqueLow Noise

Zero BacklashStandard Torque

Zero BacklashHigh Torque

Servo Gearhead Product Line

Ratio: 3 ~ 50

Ratio: 50 ~ 160

NEW



[email protected]

Sold & Serviced By:

• 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 GearheadsELECTROMATE

Toll Free Phone (877) SERVO98Toll Free Fax (877) SERV099

[email protected]

Sold & Serviced By:

• 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



[email protected]

Sold & Serviced By:



[email protected]

Sold & Serviced By:

• 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



[email protected]

Sold & Serviced By:

• Available in 6 frame sizes (11, 14, 20, 32, 50 & 65)• Reduction ratios of 3:1 up to 50:1• Grease lubricated for life• 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



[email protected]

Sold & Serviced By:

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, RigidCross Roller Bearing (CRB)

Planet gearSun gear

Motor Mounting flange

Quick Connect™ Coupling



[email protected]

Sold & Serviced By:

• 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 GearheadsELECTROMATE


[email protected]

Sold & Serviced By:

• Available in 5 frame sizes (14, 20, 32, 45, & 65)• Reduction ratios of 50:1 through 160:1• Grease lubricated for life• 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)



[email protected]

Sold & Serviced By:

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



[email protected]

Sold & Serviced By:

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, 6514, 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)


(option)


(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



[email protected]

Sold & Serviced By:

Pricing, Discounts & Lead Time

HPN HPG HPGP HPGR CSF CSG

Relative Price x 1.1x 1.2x 1.3x 1.6x 1.7x

Discount1-9 pieces 45% 35% 35% 35% 35% 35%

Discount10+ 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



[email protected]

Sold & Serviced By:

Product Variations

• HPF Hollow Shaft Planetary• HPG-1U Planetary with input shaft• HPG Right Angle Planetary



[email protected]

Sold & Serviced By:

HPF Hollow Shaft

HPFHollow Shaft Unit



[email protected]

Sold & Serviced By:

HPG-1U

HPG-1UInput Shaft Unit



[email protected]

Sold & Serviced By:

HPG-RA

HPGRight 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



[email protected]

Sold & Serviced By:

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)



[email protected]

Sold & Serviced By:

Relationship between BL and LM

HPN-11A-30 Continuous LM

2-A

2-B 2-C

Hysteresis curve

Tran

smis

sion

err

or [a

rc-m

in]

Output shaft angle [deg]

2-A 2-B 2-C

Torque: T(Nm) Torque: T(Nm)Torque: T(Nm)

Angl

e (a

rc-m

in)

Angl

e (a

rc-m

in)

Angl

e (a

rc-m

in)



[email protected]

Sold & Serviced By: