shd-2uh-lw · shd-2uh-lw ultra-flat, lightweight, hollow shaft gear unit 179 191 199 290 410 602...

SHD-2UH-LWUltra-Flat, Lightweight, Hollow Shaft Gear Unit

179

191

199

290

410

602

20.0

19.5

17.5

21.0

26.0

33.5

16.5

18.0

15.5

16.5

19.5

20.5

2470

3150

3650

5550

6200

12100

4000

4500

4700

6350

6400

11900

BearingA

Fr

Fa

a b

BearingB

6804ZZ

6805ZZ

6806ZZ

6808ZZ

6810ZZ

6813ZZ

2470

3150

3650

5550

8500

12100

4000

4500

4700

6350

8800

11900

6804ZZ

6805ZZ

6806ZZ

6808ZZ

6811ZZ

6813ZZ

Bearing A

Basic DynamicRated Load


Cr（N）

BearingModel

BearingModel

C0r（N）



Cr（N） C0r（N）

Bearing B aOverhungDistance

bDistance between

Bearings

Max.Radial Load

（mm）（mm） Fr（N）14

17

20

25

32

40

Size

■ Input Shaft Load Limits

Bearing Specification for Input Side

SHD-2UH-LW Input Shaft Load Limit

Table 8-1

Graph 8-1

New Product Information Vol.11SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit

Using new lightweight materials and an optimized design, we have developed the SHD-2UH-LW Lightweight Series. These axially compact gear units feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.

The Hollow Shaft Unit type is supported by two deep groove single row ball bearings. To achieve peak performance, it is essential

to confirm that the actual load applied to input shaft does not exceed the limits specified below.

Figure 8-1 shows the points of application of forces, which determine the Maximum Allowable Radial and Axial Loads as indicated

in Graph 8-1. The maximum values, as given Graph 8-1 are valid for and average input speed of 2,000 r/min and a mean bearing

life of L10=7,000h. Example: If the hollow shaft of a SHD-40-2UH-LW unit is subjected to an axial load of 400 N, the maximum

allowable radial force will be 275 N.

700

600

500

400

300

200

100

01000 200 300 400 500 600 700

Rad

ial L

oad

Fr

(N)

Axial Load Fa (N)

14

17

20

25

32

40

Figure 8-1

Now offering a lightweight gear unit basedupon our SHD Series of Ultra-Flat Hollow Shaft Gears!

No.1212-0R-SHD2UHLW / news11*Registered Trademark in Japan

"HarmonicDrive" is a trademark of Harmonic Drive Systems Inc.The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing."The trademark is registered in Japan, Korea and Taiwan.

* Please contact the sales office of Harmonic Drive Systems Inc. for more information. http://www.hds.co.jp/

Head Office:

Overseas Division:

Tokyo Office:

Kitakanto Office:

Koshin Office:

Chubu Office :

Believe Omori 7F, 6-25-3 Minami-Oi, Shinagawa-ku, Tokyo 140-0013 JAPAN

Phone: +81-3-5471-7800 / FAX: +81-3-5471-7811

1856-1 Hotakamaki, Azumino-shi, Nagano 399-8305 JAPAN

Phone: +81-263-83- 6935 / FAX: +81-263-83-6901


Phone: +81-3-5471-7830 / FAX: +81-3-5471-7836

Y.S.T. Building 3F, 4-263 Sakuragi-cho, Omiya-ku, Saitama-shi,Saitama 330-0854 JAPAN

Phone: +81-48-647-8891 / FAX: +81-48-647-8893


Phone: +81-263-83-6910 / FAX: +81-263-83-6911

Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi 465-0024 JAPAN

Phone: +81-52-773-7451 / FAX: +81-52-773-7462

Kansai Office :

Kyushu Office :

Hotaka Plant :

Harmonic Drive AG :

Harmonic Drive L.L.C. :

Harmonic Drive Systems

(Shanghai) Co.,Ltd. :

Shin-Osaka Ueno Toyo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi,

Osaka 532-0011 JAPAN Phone: +81-6-6885-5720 / FAX: +81-6-6885-5725

NOF Hakata-ekimae Building 7F, 1-15-20 Hakata-ekimae,Hakata-ku, Fukuoka-shi,

Fukuoka 812-0011 JAPAN Phone: +81-92-451-7208 / FAX: +81-92-481-2493


Phone: +81-263-83-6800 / FAX: +81-263-83-6901

Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn GERMANY

Phone: +49-6431-5008-0 / FAX: +49-6431-5008-119

247 Lynnfield Street, Peabody, MA 01960 U.S.A.

Phone: +1-978-532-1800 / FAX: +1-978-532-9406

Rm206,1#,No.641,Tianshan Rd,Changning District,Shanghai, 200336, CHINA

Phone: +86-21-6237-5656 / FAX: +86-21-3250-7268

SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit

■ Ordering Code

■ Accuracy

■ Rating Table

■ Starting Torque

SHD - 25 - 100 - 2UH - LW - SP

SHDSeries 50：1～160：1 2UH (Unit Type) Lightweight

Model Size Gear Ratio Type specification 1 specification 2

14～40

(Note) 1. Moment of Inertia: I =1/4GD2

2. Please refer to the CSD / SHD Catalog for an explanation of terms and technical information.

Values shown below vary depending on the operating condition.Please use values as a reference.

Unit: Ncm

Table 2-1

Table 2-2

50

100

50

100

50

100

160

50

100

160

50

100

160

50

100

160

3.7

5.4

11

16

17

28

28

27

47

47

53

96

96

96

185

206

0.38

0.55

1.1

1.6

1.7

2.9

2.9

2.8

4.8

4.8

5.4

10

10

10

19

21

12

19

23

37

39

57

64

69

110

123

151

233

261

281

398

453

1.2

1.9

2.3

3.8

4.0

5.8

6.5

7.0

11

13

15

24

27

29

41

46

4.8

7.7

18

27

24

34

34

38

75

75

75

151

151

137

260

316

0.49

0.79

1.9

2.8

2.4

3.5

3.5

3.9

7.6

7.6

7.6

15

15

14

27

32

23

35

48

71

69

95

95

127

184

204

268

420

445

480

700

765

2.3

3.6

4.9

7.2

7.0

10

10

13

19

21

27

43

45

49

71

78

8500

7300

6500

5600

4800

4000

3500

3500

3500

3500

3500

3000

0.064

0.141

0.271

0.793

2.900

7.432

0.065

0.144

0.276

0.809

2.957

7.578

14

17

20

25

32

40

50

100

160

Ratio

11

8.7

ー

39

37

ー

53

49

48

79

73

72

114

101

97

177

157

151

14 17 20 25

Size

32 40Table 3-2

■ Hysteresis Loss Table 3-3

■ Backdriving TorqueValues shown below vary depending on the operating condition.Please use values as a reference.

Unit: NmTable 2-3

50

100

160

Ratio

6.0

9.7

ー

21

41

ー

29

54

84

44

80

126

63

111

171

98

173

266

14 17 20 25

Size

32 40

×10-4rad

arc min

4.4

1.5

4.4

1.5

2.9

1.0

2.9

1.0

2.9

1.0

2.9

1.0

14 17 20 25

Size

32 40

50

over 100

TransmissionError

Ratio

Ratio

7.3

2.5

5.8

2.0

5.8

2.0

2.9

1.0

5.8

2.0

2.9

1.0

5.8

2.0

2.9

1.0

5.8

2.0

2.9

1.0

5.8

2.0

2.9

1.0

14 17 20 25

Size

32 40

Nm kgfm Nm kgfm Nm kgfm Nm kgfm I×10-4kgm2

J×10-5kgfms2

Size GearRatio

Rated Torqueat 2000 r/min

Limit for RepeatedPeak Torque

Limit for AverageTorque

Limit for MomentaryTorque

Max. InputSpeed

Grease Grease

Max. AverageInput Speed

Moment ofInertia

SHD Series Gear UnitSHG/SHF Series Gear Unit

×10-4rad

arc min

×10-4rad

arc min

■ Weight Comparison Unit: NcmTable 3-1

SHG/SHF-2UHSeries

SHD-2UH-LWLightweight

Weight Ratio

0.71

0.49

69%

1

0.66

66%

1.38

0.84

61%

2.1

1.4

67%

4.5

2.7

60%

7.7

4.6

60%

14 17 20 25

Size

32 40

2 3

40

Special(Custom Specification)leave blank for standardproduct

About 15%Shorter

100％

90％

80％

70％

60％

50％

40％

30％

20％

10％

0％

Eff

icie

ncy

(%

)

-10 0 10 20Ambient Temperature (C°)

30 40

100％

90％

80％

70％

60％

50％

40％

30％

20％

10％

0％

Eff

icie

ncy

(%

)


30 40


■ No Load Running Torque ■ Efficiency

*The scale on the graph is off relative to the lines drawn on the graph

Note : Use the high temperature side in temperature rise 40 ℃ or less for ambient temperature.

Ratio：100

Lubricant GreaseName

Grease quantity

Torque value is measured after 2 hour run-in at 2000 rpm input.Please contact HDLLC if you are using oil lubricant.

Measurement condition

SizeRatio

50 160

Unit: Ncm

Unit Type No Load Running TorqueCompensation Value

Table 4-1

Lubricant

Installation

Load torque

Based on recommended tolerance

Rated torque

GreaseName

Grease quantity

Measurement condition Table 5-1

Table 4-2

Graph 4-1 Graph 4-2

Graph 4-3 Graph 4-4

Graph 5-4Ratio 50

Harmonic grease SK-1A

Harmonic grease SK-2

Recommended quantity

Table 4-3

14

17

20

25

32

40

50

Grease

+1.0

+1.6

+2.4

+4.0

+7.7

+13

—

SK-1A　0℃～+40℃SK-2　 0℃～+40℃

—

—

-0.7

-1.2

-2.4

-3.9

ー

Input Speed 500r/min Input Speed 1000r/min

Input Speed 2000r/min Input Speed 3500r/min

10000

1000

100

10

1-10 0 10 20

Ambient Temperature (C°)

No

Lo

ad

Ru

nn

ing

Torq

ue

(cN

m)

30 40

10000

1000

100

10

1-10 0 10 20


No

Lo

ad

Ru

nn

ing

Torq

ue

(cN

m)

30 40

10000

1000

100

10

1-10 0 10 20


No

Lo

ad

Ru

nn

ing

Torq

ue

(cN

m)

30 40

10000

1000

100

10

1-10 0 10 20


No

Lo

ad

Ru

nn

ing

Torq

ue

(cN

m)

30 40

403225201714

Size403225201714

Size

403225201714

Size403225201714

SizeGraph 5-5

Ratio 100

Graph 5-2Ratio 50

100％

90％

80％

70％

60％

50％

40％

30％

20％

10％

0％

Eff

icie

ncy

(%

)


30 40

Graph 5-3Ratio 100

100％

90％

80％

70％

60％

50％

40％

30％

20％

10％

0％

Eff

icie

ncy

(%

)


30 40

Graph 5-6Ratio 160

100％

90％

80％

70％

60％

50％

40％

30％

20％

10％

0％

Eff

icie

ncy

(%

)


30 40

1.0

0.9

0.8

0.7

0.6

0.5

0.4

0.3

0.2

0.10.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0

No Load Running Torque for Ratio 100Efficiency at Rated Torque (Size 14)

Efficiency at Rated Torque (Sizes 17, 20, 25, 32, 40)

The gear efficiency is affected by many factors. Efficiency depends on the gear rat io, input speed, load torque, temperature, quantity of lubricant and type of lubricant.Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used.

Load Torque ≥ Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6. Load Torque < Rated Torque : Efficiency = Efficiency from Graph5-2 thru 5-6 x Compensation Coefficient from Graph 5-1.

No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive® gear with no load applied to the output.

Compensation Value for Each RatioThe no load running torque of Harmonic Drive® gears varies with the gear ratio. The graphs below indicate a value for ratio 100. For other gear ratios, add the compensation value from table 4-2.

Graph 5-1

Harmonic grease SK-1A(Size：20～40)

Harmonic grease SK-2(Size：14,17)

Recommended quantity

Operating tempareture range

500r/min1000r/min2000r/min3500r/min






4 5

G

T-φUb

e

c

da

Output Flange

N

JIH

L

M

φB

φA

h7

φF

H7

φE

h7

φD

h7

（O）

φF

H7

φC

h７

Q-R

φS φP

3-M3

W-X

φV

Size 14, 17 Input Configuration

P

K Z

φY

Input ShaftInput Shaft


■ External Dimensions

Installation and Transmission Torque

■ Dimension Table Table 6-1 Table 7-2

■ Specification for Cross Roller Bearing Table 7-1

Number of screws

Size of screws

Pitch Circle Diameter mm

8

M3

64

2.0

0.20

108

11

12

M3

74

2.0

0.20

186

19

12

M3

84

2.0

0.20

210

21

12

M4

102

4.5

0.46

431

44

12

M5

132

9.0

0.92

892

91

12

M6

158

15.3

1.56

1509

154

14 17 20 25

Size

32 40

14

17

20

25

32

40

Size

0.0503

0.061

0.070

0.086

0.112

0.133

0.0111

0.0115

0.011

0.0121

0.0173

0.0195

Pitch Circle

dp

m

Offset

R

m

29

52

73

109

191

216

296

530

744

1111

1948

2203

43

81

110

179

327

408

438

826

1122

1825

3334

4160

×102N kgf ×102N kgf

37

62

93

129

290

424

3.8

6.3

9.5

13.2

29.6

43.2

Nm kgfm

7.08

12.7

21

31

82.1

145

2.1

3.8

6.2

9.2

24.4

43.0

×104Nm/rad kgfm/arc min

Basic Static Rated Load

Co

Basic Dynamic Rated Load

C

Allowable Moment LoadMc

Moment StiffnessKm

Bolt connection to housing and resulting transmission torque A

Nm

kgfm

Nm

kgfm

Table 7-3

Number of screws

Size of screws

Pitch Circle Diameter mm

Effective Thread Depth

φA h7φBφC h7φD h7φE h7φF H7

GHIJKLMNO

φP（P）QRφSTφUφVW

X

φYZabcde

Weight (kg）

705236742014

45.512

19.5146.597

6.516.6（2.5）

3M3648

3.5438

M3×5φ3.5×5.5

365.5

6804ZZ6804ZZD49585

S20304.5 S20304.5

0.49

8062458425194812

20.515.56.51087

18（2.5）

3M374123.55212

M3×6φ3.5×6.5

455.5

6805ZZ6805ZZD59685S25356S25356

0.66

907350953021425

21.515.5ー

10.587

17.525.5

6M3×6

84123.561.412

M3×6φ3.5×6.5ーー

6806ZZ6806ZZD69785S30405S30405

0.84

11087601153829

46.5624

16.5ー

10.5106

20.633.5

6M3×6102124.57612

M4×7φ4.5×8.5ーー

6808ZZ6808ZZD84945S38475S38475

1.4

142114751475441557

28.619.4ー12117.524.9486

M3×6132125.59912

M5×8φ5.5×7.6ーー

6811ZZ6810ZZ

D1101226S54645S50605

2.7

1701371001756451658

3324ー14149

29.5576

M4×8158126.612016

M6×10φ6.6×10ーー

6813ZZ6813ZZ

D1321467S64745S64745

4.6

14 17 20 25

Size

32 40

8

M3

43

4.5

2.0

0.20

72

7.3

12

M3

52

4.5

2.0

0.20

130

13.3

12

M3

61.4

4.5

2.0

0.20

154

15.7

12

M4

76

6

4.5

0.46

321

32.7

12

M5

99

8

9.0

0.92

668

68.2

12

M6

120

9

15.3

1.56

1148

117

14 17 20 25

Size

32 40

Bolt connection to output flange and resulting transmission torque B

Nm

kgfm

Nm

kgfm

6 7

A B

ScrewTighteningTorqueTorqueTransmittingCapacity

ScrewTighteningTorqueTorqueTransmittingCapacity

Symbol

1. Under the premise that materials of the internal thread endure the bolt tightening torque.2. Recommended bolt : JIS B 1176 hexagon socket head cap screw strength range : JIS B 1051 over 12.93. Torque coefficient : K=0.24. Clamp coefficient : A=1.45. Coefficient of friction μ=0.15

* Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. Flat washers should be used for all screws in direct contact with the aluminum housing. (Please contact a Sales Engineer for more information.)

* The basic dynamic rated load means a certain static radial load so that the basic dynamic rated life of the roller bearing is a million rotations.The basic static rated load means a static load that gives a certain level of contact stress (4kN/mm2) in the center of the contact area between the rolling element receiving the maximum load and the orbit.

* The moment stiffnesses are mean values.

SHD-2UH-LWUltra-Flat, Lightweight, Hollow Shaft Gear Unit

179

191

199

290

410

602

20.0

19.5

17.5

21.0

26.0

33.5

16.5

18.0

15.5

16.5

19.5

20.5

2470

3150

3650

5550

6200

12100

4000

4500

4700

6350

6400

11900

BearingA

Fr

Fa

a b

BearingB

6804ZZ

6805ZZ

6806ZZ

6808ZZ

6810ZZ

6813ZZ

2470

3150

3650

5550

8500

12100

4000

4500

4700

6350

8800

11900

6804ZZ

6805ZZ

6806ZZ

6808ZZ

6811ZZ

6813ZZ

Bearing A



Cr（N）

BearingModel

BearingModel

C0r（N）



Cr（N） C0r（N）

Bearing B aOverhungDistance

bDistance between

Bearings

Max.Radial Load

（mm）（mm） Fr（N）14

17

20

25

32

40

Size

■ Input Shaft Load Limits

Bearing Specification for Input Side

SHD-2UH-LW Input Shaft Load Limit

Table 8-1

Graph 8-1

New Product Information Vol.11SHD-2UH-LW Ultra-Flat, Lightweight, Hollow Shaft Gear Unit

Using new lightweight materials and an optimized design, we have developed the SHD-2UH-LW Lightweight Series. These axially compact gear units feature a large hollow input shaft and a robust cross roller bearing so loads can be mounted directly to the unit without the need for additional support bearings.

The Hollow Shaft Unit type is supported by two deep groove single row ball bearings. To achieve peak performance, it is essential

to confirm that the actual load applied to input shaft does not exceed the limits specified below.

Figure 8-1 shows the points of application of forces, which determine the Maximum Allowable Radial and Axial Loads as indicated

in Graph 8-1. The maximum values, as given Graph 8-1 are valid for and average input speed of 2,000 r/min and a mean bearing

life of L10=7,000h. Example: If the hollow shaft of a SHD-40-2UH-LW unit is subjected to an axial load of 400 N, the maximum

allowable radial force will be 275 N.

700

600

500

400

300

200

100

01000 200 300 400 500 600 700

Rad

ial L

oad

Fr

(N)

Axial Load Fa (N)

14

17

20

25

32

40

Figure 8-1

Now offering a lightweight gear unit basedupon our SHD Series of Ultra-Flat Hollow Shaft Gears!

No.1212-0R-SHD2UHLW / news11*Registered Trademark in Japan

"HarmonicDrive" is a trademark of Harmonic Drive Systems Inc.The academic or general nomenclature of our products "HarmonicDrive" is "strain wave gearing."The trademark is registered in Japan, Korea and Taiwan.

* Please contact the sales office of Harmonic Drive Systems Inc. for more information. http://www.hds.co.jp/

Head Office:

Overseas Division:

Tokyo Office:

Kitakanto Office:

Koshin Office:

Chubu Office :


Phone: +81-3-5471-7800 / FAX: +81-3-5471-7811


Phone: +81-263-83- 6935 / FAX: +81-263-83-6901


Phone: +81-3-5471-7830 / FAX: +81-3-5471-7836

Y.S.T. Building 3F, 4-263 Sakuragi-cho, Omiya-ku, Saitama-shi,Saitama 330-0854 JAPAN

Phone: +81-48-647-8891 / FAX: +81-48-647-8893


Phone: +81-263-83-6910 / FAX: +81-263-83-6911

Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi 465-0024 JAPAN

Phone: +81-52-773-7451 / FAX: +81-52-773-7462

Kansai Office :

Kyushu Office :

Hotaka Plant :

Harmonic Drive AG :

Harmonic Drive L.L.C. :

Harmonic Drive Systems

(Shanghai) Co.,Ltd. :

Shin-Osaka Ueno Toyo Building 3F, 7-4-17 Nishi-nakajima, Yodogawa-ku, Osaka-shi,

Osaka 532-0011 JAPAN Phone: +81-6-6885-5720 / FAX: +81-6-6885-5725

NOF Hakata-ekimae Building 7F, 1-15-20 Hakata-ekimae,Hakata-ku, Fukuoka-shi,

Fukuoka 812-0011 JAPAN Phone: +81-92-451-7208 / FAX: +81-92-481-2493


Phone: +81-263-83-6800 / FAX: +81-263-83-6901

Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn GERMANY

Phone: +49-6431-5008-0 / FAX: +49-6431-5008-119

247 Lynnfield Street, Peabody, MA 01960 U.S.A.

Phone: +1-978-532-1800 / FAX: +1-978-532-9406

Rm206,1#,No.641,Tianshan Rd,Changning District,Shanghai, 200336, CHINA

Phone: +86-21-6237-5656 / FAX: +86-21-3250-7268

shd-2uh-lw · shd-2uh-lw ultra-flat, lightweight, hollow shaft gear unit 179 191 199 290 410 602...

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