Super flat・Reducer for precision control
HarmonicDrive ®
CSD Series Unit Type
NEW
● Hollow construction
● Compact
● Increase of the load capacity
ISO14001
(Hotaka Plant)
ISO9001
The CSD series continues to
challenge the limit of its unique
mechanism structure, finally
mastering “slimness”
Recently, against the background of height restriction of the system line, the humanoid robot
and aerospace fields and the liquid crystal and semi-conductor manufacturing equipment
related fields have begun to require the “lightest” and “thinnest” products possible.
The CSD series that have mastered lightweight compactness of the harmonic drive have
fulfilled the market demand, inherited the excellent performance of conventional products and
achieved bold form.
【Features】
【Evolution of the HarmonicDrive 】
R
■ Compact: CSD-2UH
More compact than the CSF series unit type (2UH) that has
equivalent torque capacity.
■ Hollow construction: CSD-2UH
As the center of the input-output shaft of the reduction gear is a
plated through hole, it can give passage to wire, pipes and laser
light and simplifies the structure of machines and equipment.
■ Increase of the load capacity of the output side
roller bearing：CSD-2UF
We have almost doubled the load capacity of the output side
roller bearing compared to the similar model of the SHD series
unit type (2SH).
29.7
45
CSD series
unit type
(2008)
We added the CSD series in 2001 seeking flatter products.
The thickness is 1/3 that of the CS series and 1/2 that of
the CSF series.
CSD series
component type
(2001)
26.8
We have shortened the length in the shaft direction by
about 1/2 and reduced the volume by seeking space
saving and total cost reduction. A unit type designed
with easy assembly was released at the same time.
90
70
79
CSF series
(1991)
We invented a new tooth form theory-IH tooth form
seeking more intensity and rigidity.
We have improved the intensity, the rigidity and the life
twice as much as conventional models.
CSS series
(1988)
CSF-17-2UH
02
CSD-20-2UH
CSD-20-2UF
CONTENTS
Principles and structure
Three basic parts of the HarmonicDrive®
Structure of unit type
Rotational direction and reduction ratio
Rotational direction
Reduction ratio
Application
Model and symbol
Rated table CSD-2UH CSD-2UF
Terms on the rated table
On lifespan
On intensity
CSD-2UH Outline measurement drawing
Measurement table
CSD-2UF Outline measurement drawing
Measurement table
Rigidity
Rigidity
Hysteresis loss
Example of calculating torsional quantity
Starting torque and overdrive starting torque
Starting torque
Overdrive starting torque
Angle transmission accuracy
On vibration
On no-load running torque
CSD-2UH
CSD-2UF
Correction quantity by reduction
Efficiency characteristics
CSD-2UH
CSD-2UF
Efficiency correction coefficient by load torque
Checking main roller bearing
Checking procedure
Main roller bearing specifications
How to obtain the maximum load moment load
How to obtain the average load
How to obtain the radial load coefficient (X) and axial load coefficient (Y)
How to obtain the life
How to obtain the life under oscillating movement
How to obtain the static safety coefficient
Mechanical precision
Precaution on design
Installation precision
Sealing mechanism
Installation and transmission torque
Lubrication
Grease lubrication
Warranty period and terms
Trademark
Model number selection
4
4
4
5
5
5
6
7
7
8
8
9
10
10
11
11
12
12
13
13
14
14
14
15
15
16
16
17
17
18
18
19
19
20
20
20
21
21
21
22
22
22
23
24
24
24
25
26
26
27
27
28
03
Principles and structure
Circular Spline
Wave Generator
Flexspline
Combine three basic parts.
The Flexpline is bent elliptically by the
wave generator, engaged with the
circular spline with the major axis of
the ellipse and completely
disengaged with the minor axis.
If you fix the circular spline and turn
the wave generator (input) clockwise,
the Flexpline deforms elastically and
the mating position with the circular
spline moves sequentially.
When the wave generator spins 360
degrees, the Flexpline moves by two
teeth in the reverse direction; that is,
counterclockwise as it has two teeth
less than the circular spline.
Generally, this movement is taken as
output.
Three basic parts of the HarmonicDrive®
■ Wave Generator
This is an elliptic part with a thin-walled ball bearing on the
circumference of the elliptic cam. The shaft washer of the bearing is
fixed to the cam and the outer ring deforms elastically via balls. It is
generally mounted on the input axis.
Circular Spline
■ Flexspline
This is a metal elastic thin-walled cup-shaped part. It is jagged on
the circumference of the opening. The bottom of the Flexpline is
called a diaphragm which is normally mounted on the output axis.
■ Circular Spline
Flexspline
This is a rigid ring-shaped part. It is jagged with the same size teeth
as those of the Flexpline on the inner circumference and has two
teeth more than the Flexpline. It is generally fixed on the casing.
Wave Generator
Structure of unit type
Fig. 4-1
CSD-2UH
CSD-2UF
Circular Spline
Circular Spline
Output flange
Wave Generator
Output flange
Wave Generator
Cross roller
bearing
Flexspline
Cross roller
bearing
04
Flexspline
Rotational direction and reduction ratio
Rotational direction
*R indicates the reduction
ratio value from the ratings.
Input
①
②
③
Output
(Note)Contact us if you use the product
as Accelerator (5) and (6).
(1) Reducer
(2) Reducer
(3) Reducer
Input:
Wave Generator
Output: Flexspline
Fixed:
Circular Spline
Input:
Wave Generator
Output: Circular Spline
Fixed:
Flexspline
Input:
Flexspline
Output: Circular Spline
Fixed:
Wave Generator
-1
R
i=
④
⑤
i=
1
R＋1
i=
⑥
R
R＋1
⑦
(4) Overdrive
(5) Overdrive
(6) Overdrive
(7) Differential
Input:
Circular Spline
Output: Flexspline
Fixed:
Wave Generator
Input:
Flexspline
Output: Wave Generator
Fixed:
Circular Spline
Input:
Circular Spline
Output: Wave Generator
Fixed:
Flexspline
When all of the wave
generator, the flexspline
and the circular spline
rotate, Combinations (1)
through (6) are available.
i=
R＋1
R
i= -R
i= R＋1
Reduction ratio
The reduction ratio of HarmonicDrive® is determined by the number of teeth of the Flexspline and the Circular Spline
Number of teeth of the Flexspline:
Number of teeth of the Circular Spline:
Example
Number of teeth of the Flexspline:
Number of teeth of the Circular Spline:
Zf
Zc
200
202
Input:
Wave Generator
Output: Flexspline
Fixed:
Circular Spline
Reduction ratio i1 =
1
Zf-Zc
=
R1
Zf
Input:
Wave Generator
Output: Flexspline
Fixed:
Circular Spline
i1 =
1
200-202
-1
=
=
R1
200
100
Input:
Wave Generator
Output: Circular Spline
Fixed:
Flexspline
Reduction ratio i2 =
1
Zc-Zf
=
R2
Zc
Input:
Wave Generator
Output: Circular Spline
Fixed:
Flexspline
i2 =
1
202-200
1
=
=
R2
202
101
* R1 indicates the reduction ratio value from the ratings.
05
Application
Bending and twisting drive of the robot of a vertical multijoint type
Fig. 6-1
CSD-2UF
CSD-2UH
Example of appearance using same model as CSF
06
Model and symbol
CSD - 20 - 100 - 2UH - SP
FIg. 7-1
Model
name
Reduction ratio (Note 1)
Model No.
CSD: Ultra-thin cup-shaped
HarmonicDrive®
14
17
20
25
32
40
50
50
50
50
50
50
50
50
100
100
100
100
100
100
100
―
―
160
160
160
160
160
Model
Special specification
2UH: unit type
(model 14-50)
2UF: A type in a hollow
construction with increased
capacity of the main ball
bearing (model 14-40)
SP:
special specifications such
as shapes and
performance
None: standard product
* The reduction ratio indicates the value for the following condition. Input: wave generator, fixed: circular spline, output: flexspline
型番
減速比
入力2000r/min
時の定格トルク
起動・停止時の
許容ピークトルク
平均負荷トルクの
許容最大値
瞬間許容最大トルク
許容最高入力
回転速度 r/min
グリース潤滑
許容平均入力
回転速度 r/min
グリース潤滑
慣性モーメント
Rated table
■ CSD-2UH
Model
Reduction
ratio
50
100
50
100
50
100
160
50
100
160
50
100
160
50
100
160
50
100
160
14
17
20
25
32
40
50
FIg. 7-2
Rated torque at
input 2000r/min
Peak torque at
start/stop
Permissible max. value
Instantaneous
Permissible max. input
of ave. load torque
permissible max. torque rotational speed (r/min)
Nm
kgfm
Nm
kgfm
Nm
kgfm
Nm
kgfm
3.7
5.4
11
16
17
28
28
27
47
47
53
96
96
96
185
206
172
329
370
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
18
34
38
12
19
23
37
39
57
64
69
110
123
151
233
261
281
398
453
200
686
823
1.2
1.9
2.3
3.8
4.0
5.8
6.5
7.0
11
13
15
24
27
29
41
46
51
70
84
4.8
7.7
18
27
24
34
34
38
75
75
75
151
151
137
260
316
247
466
590
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
25
48
60
24
35
48
71
69
95
95
127
184
204
268
420
445
480
700
765
1000
1440
1715
2.4
3.6
4.9
7.2
7.0
9.7
9.7
13
19
21
27
43
45
49
71
78
102
147
175
Permissible ave. input
rotational speed (r/min)
Inertia moment
−5
2
kgm2） J（×10 kgfms ）
−4
Oil lubricant
Grease lubricant
8500
3500
0.021
0.021
7300
3500
0.054
0.055
6500
3500
0.090
0.092
5600
3500
0.282
0.288
4800
3500
1.09
1.11
4000
3000
2.85
2.91
3500
2500
8.61
8.78
I （×10
1 GD2
(Note) 1. Inertia moment: Ⅰ= 4
■ CSD-2UF
Model
14
17
20
25
32
40
Fig. 7-3
Reduction
ratio
50
100
50
100
50
100
160
50
100
160
50
100
160
50
100
160
Rated torque at
input 2000r/min
Peak torque at
start/stop
Permissible max. value
Instantaneous
Permissible max. input
of ave. load torque
permissible max. torque rotational speed (r/min)
Nm
kgfm
Nm
kgfm
Nm
kgfm
Nm
kgfm
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
24
35
48
71
69
95
95
127
184
204
268
420
445
480
700
765
2.4
3.6
4.9
7.2
7.0
9.7
9.7
13
19
21
27
43
45
49
71
78
Permissible ave. input
rotational speed (r/min)
Inertia moment
−5
2
kgm2） J （×10 kgfms ）
−4
Oil lubricant
Grease lubricant
8500
3500
0.021
0.021
7300
3500
0.054
0.055
6500
3500
0.090
0.092
5600
3500
0.282
0.288
4800
3500
1.09
1.11
4000
3000
2.85
2.91
I （×10
1 GD2
(Note) 1. Inertia moment: Ⅰ= 4
07
Terms on the rated table
The ratings of HarmonicDrive® consist of 6 values and inertia moment.
■ Rated torque
Example of load torque pattern
This indicates the permissible continuous load torque when the
input rotational speed is 2000 r/min.
Graph
8-1
Abnormal impact torque
＋
Start
Start
−
■ Permissible maximum value at average load torque
＋
(Speed cycle)
Wave Generator
rotational speed
When the load torque and input rotational speed change, the
average value of the load torque needs to be obtained. Values
from the ratings show the acceptable value at average load
torque. When the average load torque (calculation formula: Page
28) exceeds the value from the ratings, generation of heat
degrades the lubricant earlier and accelerates the abrasion of the
teeth. Due care should be taken.
Max. momentary torque
Time
Stop
Torque on steady state
Load larger than the steady torque is applied to HarmonicDrive®
by the load inertia moment for start and stop. Values from the
ratings show the acceptable value at peak torque.
Peak torque at start/stop
Steady
Load torque
■ Permissible peak torque for start and stop
(see Graph 8-1)
Time
−
■ Permissible maximum momentary torque
(see Graph 8-1)
Unexpected impact torque may be applied from the exterior
except regular-load torque and load torque for start and stop.
Values from the ratings show the acceptable value at the time.
The frequency of applying this torque is limited. See “On
intensity” and “On lifespan” section.
■ Permissible maximum input rotational frequency,
permissible average input rotational frequency
Use the input rotational frequency within the limit of acceptable
values shown from the ratings (calculation formula of the average
input rotational frequency: Page 28).
■ Inertia moment
The inertia moment on the axles of the wave generators of each
model is indicated.
On lifespan
■ Lifespan of the wave generator
The lifespan of HarmonicDrive® is determined by the lifespan of the
wave generator, and you can calculate this by the rotational
frequency and the load torque just as with a general ball bearing.
Ln
L10 (10% damage probability)
7,000 hours
L50 (average lifespan)
35,000 hours
* Lifespan is based on the rated rotational frequency and rated torque from the ratings.
Calculation formula for lifespan (Lh) by actual operation condition
Lh=Ln・
Tr
Formula
Nr
・（ ）
（ ）
Tav
Nav
3
Table
Ln
Tr
Nr
Tav
Nav
8-1
Lifespan of L10 and L50
Rated torque
8-2
Breakdown
region
10
9
Racheting torque
8
7
6
Lifespan of wave generator (L10)
Not breakdown
region
5
4
3
Permissible maximum
momentary torque
Emergency operation region
Permissible peak torque
at start/stop
2
Normal operation region
1
0 5
10
Bottom fatigue intensity of the flexspline
10
6
10
7
Rated torque
10
8
10
9
Total frequency of the wave generator
Rated rotational frequency
Average load torque on the output side (calculation formula: Page 28)
Average input rotational frequency (calculation formula: Page 28)
(Note)
Use HarmonicDrive® within the range of “Normal operation area.” Using it
beyond “Emergency operation area” may result in damaging HarmonicDrive®
earlier than usual.
* Lubricant lifespan such as for abrasion on the tooth surface is not taken into
consideration in the graph described above.
* Use the graph above as reference values.
08
8-2
Buckling torque
16
8-1
Lifespan
Graph
17
Load torque (when the rated torque is 1)
Table
The relation between intensity and lifespan of HarmonicDrive®
10
10
On intensity
■ Ratcheting torque
■ Intensity of flexspline
As flexspline repeats elastic deformation, the transmission torque of
HarmonicDrive® is calculated based on the fatigue strength of the
bottom of the flexspline. Values of the rated torque and permissible
peak torque for start and stop are those within the fatigue limit of the
bottom of the flexspline.
Although the value of the permissible maximum momentary torque
(impact torque) fully endures the fatigue limit of the bottom of the
flexspline, it could generate fatigue fracture if it frequently exceeds
the permissible maximum momentary torque. Therefore, the number
of applications of impact torque is limited to prevent possible fatigue
fracture.
Restriction on the bending frequency of the flexspline by the
rotation of the wave generator while the impact torque is
applied: 1.0 x 104 (frequency)
You can calculate the permissible frequency of impact torques from
this restriction on the bending frequency.
Calculation formula
Formula 9-1
When excess impact torque is applied during operation, the
engagement of the teeth between the circular spline and the
flexspline may be put momentarily out of alignment instead of
damaging the flexspline. This phenomenon is called ratcheting, and
the torque is called ratcheting torque (see Table 9-3). Operating the
drive without fixing ratcheting will result in earlier abrasion of the
teeth and shorter lifespan of the wave generator bearing due to the
effect of the grinding powder generated by ratcheting.
When ratcheting is caused, the teeth may not be
correctly engaged and become out of alignment as
shown in Figure 9-1. As operating the drive in this
Caution
condition will generate vibration and damage the
flexspline, adequate care should be exercised.
Once ratcheting is caused, the tips of the teeth are
worn and the torque value generated by ratcheting will
Caution be lowered. Pay due attention to this point as well.
4
1.0×10
N＝ ―――――――
n
2× ―― ×t
60
When the engagement of the teeth is out of alignment
Fig. 9-1
Table 9-1
Permissible frequency
Time that impact torque is applied
Rotational speed of the wave generator
Circular Spline
N frequency
t sec
n r/min
The flexspline bends two times by one cycle of the wave generator.
Caution
Exceeding the permissible frequency may cause fatigue
damage to the flexspline.
Flexspline
This condition is called "dedoi-dal".
■ Buckling torque
When excess torque is applied to the flexspline (output) with the
wave generator fixed, the flexspline causes elastic deformation,
buckles on the body before long and will be destroyed. The torque
at the time is called buckling torque (see Table 9-2).
Caution
When the flexspline buckles, HarmonicDrive® will be put
out of commission. Therefore, exercise adequate care.
Buckling torque
Table 9-2
Unit: Nm
Model
Total
reduction
ratio
14
190
17
330
20
560
25
1000
32
2200
40
4300
50
8000
Table 9-3
Unit: Nm
Ratcheting torque
Reduction ratio
Model
50
100
160
14
88
84
ー
17
150
160
ー
20
220
260
220
25
450
500
450
32
980
1000
980
40
1800
2100
1800
50
3700
4100
3600
09
CSD-2UH Outline measurement drawing
Fig. 10-1
B
C
W-X
R-φS
E
D
φ
V
Q
φ
T-U
φF h7
φA h7
φH H7
φG H7
φI H7
φK h7
φJ
φP
L
φY
O
Z
M
N
* Check the details of the dimensions with the delivered specifications.
Measurement table
Table 10-1
Unit: mm
Model
Symbol
φA h7
B
C
D
E
φF h7
φG H7
φH H7
φI H7
φJ
φK h7
L
M
N
O
φP（PCD）
φQ（PCD）
R
φS
T
U
φV（PCD）
W
X
φY
Z
Mass (kg)
10
14
17
20
25
32
40
55
25
23
2
0.5
42.5
11
11
12
31
55
4.5
1.7
16.9
4
17
49
6
3.4
4
M3
25
10
M3×7
38
1
0.35
62
26.5
24.5
2
0.5
49.5
15
11
14
38
62
4.5
1.7
18.2
5
21
56
10
3.4
4
M3
27
8
M5×8
45
1
0.46
70
29.7
27.7
2
0.5
58
20
16
18
45
70
4
1.7
18
5.2
26
64
12
3.4
4
M3
34
8
M6×9
53
1.5
0.65
85
37.1
34.1
3
0.5
73
24
20
24
58
85
4.5
2.6
22
6.3
30
79
18
3.4
4
M3
42
8
M8×12
66
1.5
1.2
112
43
40
3
1
96
32
30
32
78
112
5.5
2.5
26.5
8.6
40
104
18
4.5
4
M4
57
10
M8×12
86
2
2.4
126
51.7
46.7
4
1
108.5
40
32
36
90
126
7
2.4
30
10.3
50
117.5
18
5.5
4
M5
72
10
M10×15
106
2.5
3.6
50
157
62.5
57.5
4
1
136
50
44
48
112
157
8
3.2
40
12.7
60
147
22
6.6
4
M6
88
10
M12×18
133
3.5
6.9
CSD-2UF Outline measurement drawing
Fig. 11-1
V-W
B
C
S-φT
Y
φ
U
X
φR
P-Q
J
L
φA h7
M
φD H7
N
φE H7
φF
φG H7
φH
φI h7
φ
O
K
* Check the details of the dimensions with the delivered specifications.
Measurement table
Table 11-1
Unit: mm
Model
Symbol
φA h7
B
C
φD H7
φE H7
φF
φG H7
φH
φI h7
J
K
L
M
N
φO（PCD）
P
Q
φR（PCD）
S
φT
φU（PCD）
V
W
X
Y
Mass (kg)
14
17
20
25
32
40
70
22
0.5
48
11
9
30
49
70
4.9
2.5
12.9
2.8
4
17
4
M3
64
6
3.4
42
8
M3×5
34.5×0.80
49.0×1.50
0.50
80
22.7
0.5
56
15
9
34
59
80
5.4
2.5
13.4
2.8
5
21
4
M3
74
8
3.4
50
10
M3×6
38.0×1.50
59.4×1.20
0.66
90
26.8
2.3
64
20
18
40
69
90
4.8
2.5
16.8
2.8
5.2
26
4
M3
84
8
3.4
60
8
M4×8
S48
S70
0.94
110
31.5
2.1
80
24
22
52
84
110
5.5
3
19.5
3.4
6.3
30
4
M3
102
10
4.5
73
8
M5×8
S60
S85
1.7
142
37
2.8
106
32
29
70
110
142
6
3
22
3.5
8.6
40
4
M4
132
10
5.5
96
8
M6×10
S80
S115
3.3
170
45
6.5
132
40
37
80
132
170
7
3
27
3.6
10.3
50
4
M5
158
10
6.6
116
12
M6×10
S100
S140
5.7
11
On rigidity
Rigidity and backlash of the drive system greatly affects the performance of the servo system. A detailed review of these items is required before
designing the equipment and selecting a model number.
The rigidity of CSD series is shown below.
Rigidity
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to the
torque on the output side.
Torque - torsional angle diagram
Graph 12-1
Torsional angle
Figure 12-1 shows the torsional angle quantity on the output side
when the torque applied on the output side starts from zero,
increases up to +T0 and decreases down to –T0. This is called the
“Torque – torsional angle diagram,” which normally draws a loop of
0-A-B-A’-B’-A. The slope described in the “Torque – torsional angle
diagram” is represented as the spring constant for the rigidity of
HarmonicDrive® (unit: Nm/rad).
Hysteresis loss
-T 0
A
B
0
+T 0
Torque
B'
A'
Partitioning of spring constant
As shown in Figure 12-2, this “Torque – torsional angle diagram” is
divided into 3 partitions, and the spring constants in the area are
represented as K1, K2 and K3.
Graph 12-2
Torsional angle
K3
K1
K2
K3
The spring constant when the torque changes from [zero] to [T1]
The spring constant when the torque changes from [T1] to [T2]
The spring constant when the torque changes from [T2] to [T3]
K2
θ2
K1
θ1
Torque
0
T1
Spring constant
Item
T1
T2
K1
K2
Reduction
ratio
50
K3
θ1
θ2
K1
K2
Reduction
ratio
100 or more
K3
θ1
θ2
Table 12-1
Unit
Model
Nm
kgfm
Nm
kgfm
×1 0 4 Nm/rad
kgfm/arc min
×1 0 4 Nm/rad
kgfm/arc min
×1 0 4 Nm/rad
kgfm/arc min
×1 0 -4 rad
arc min
×1 0 -4 rad
arc min
×1 0 4 Nm/rad
kgfm/arc min
×1 0 4 Nm/rad
kgfm/arc min
×1 0 4 Nm/rad
kgfm/arc min
×1 0 -4 rad
arc min
×1 0 -4 rad
arc min
* The values in this table are average values.
12
T2
14
2.0
0.2
6.9
0.7
0.29
0.085
0.37
0.11
0.47
0.14
6.9
2.4
19
6.4
0.4
0.12
0.44
0.13
0.61
0.18
5.0
1.7
16
5.4
17
3.9
0.4
12
1.2
0.67
0.2
0.88
0.26
1.2
0.34
5.8
2.0
14
4.6
0.84
0.25
0.94
0.28
1.3
0.39
4.6
1.6
13
4.3
20
7.0
0.7
25
2.5
1.1
0.32
1.3
0.4
2.0
0.6
6.4
2.2
19
6.6
1.3
0.4
1.7
0.5
2.5
0.75
5.4
1.8
15
5.0
25
14
1.4
48
4.9
2.0
0.6
2.7
0.8
3.7
1.1
7.0
2.4
18
6.1
2.7
0.8
3.7
1.1
4.7
1.4
5.2
1.8
13
4.5
32
29
3.0
108
11
4.7
1.4
6.1
1.8
8.4
2.5
6.2
2.1
18
6.1
6.1
1.8
7.8
2.3
11
3.3
4.8
1.7
14
4.8
40
54
5.5
196
20
8.8
2.6
11
3.4
15
4.5
6.1
2.1
18
5.9
11
3.2
14
4.2
20
5.8
4.9
1.7
14
4.8
50
108
11
382
39
17
5.0
21
6.3
30
9.0
6.4
2.2
18
6.2
21
6.3
29
8.5
37
11
5.1
1.7
13
4.6
Hysteresis loss
As shown in Figure 12-1 of page12, when the torque is applied up to the rated value and is brought back to [zero], the torsional angle does not
become absolutely [zero] and a small amount remains. This is called hysteresis loss.
Hysteresis loss quantity
Reduction
ratio
50
100以上
Unit
Model
×10 -4 rad
arc min
×10 -4 rad
arc min
Table 13-1
14
7.3
2.5
5.8
2.0
17
4.4
1.5
2.9
1.0
20
4.4
1.5
2.9
1.0
25
4.4
1.5
2.9
1.0
32
4.4
1.5
2.9
1.0
40
4.4
1.5
2.9
1.0
50
4.4
1.5
2.9
1.0
Example of calculating torsional quantity
The torsional quantity (θ) is obtained from the example of CSD-25-100-2UH.
When the load torque is extremely small (TL1=2.9 Nm)
As the torque is T1 or less, torsional quantity θL1 is represented
as follows.
θL1 ＝TL1/K1
4
＝2.9/2.7×10
-4
＝1.07×10 rad（0.37 arc min）
When the load torque is TL2=39 Nm)
As the torque between T1 and T2, torsional quantity θL2 is
represented as follows.
θL2 ＝θ1＋（TL2−T1）/K2
4
-4
＝5.2×10 ＋（39−14）/3.7×10
-4
＝12×10 rad（4.1 arc min）
The total torsional quantity when the load is applied the other way round will
be double the quantity obtained above.
*The torsional quantity indicates the value of HarmonicDrive® stand-alone component.
Note that the torsional quantity of the output shaft is not included.
13
On starting torque and overdrive starting torque
■ Starting torque
Starting torque means the instantaneous “starting torque” with
which the output side (low-speed side) starts rotation when a torque
is applied on the input side (high-speed side) of HarmonicDrive®
built into the case. The values in the table indicate the maximum
value, and the lower-limit value indicates approximately 1/2-1/3 of
the maximum value.
■ Overdrive starting torque
Overdrive starting torque means the instantaneous “starting torque”
with which the input side (high-speed side) starts rotation when a
torque is applied on the output side (low-speed side) of
HarmonicDrive® built into the case. The values in the table of each
series indicate the maximum value, and the lower-limit value
indicates approximately 1/2 of the maximum value.
■ Measuring condition
o
No-load, ambient temperature: +20 C
* Use the values in the table below as reference values as
they vary depending on the usage conditions.
Starting torque
Table 14-1
Unit: cNm
CSD-2UH
Model
14
17
20
25
32
40
50
50
4.4
6.7
8.9
16
32
55
102
100
2.8
3.8
5.1
9.1
20
32
60
160
ー
ー
3.9
7.2
15
26
47
Reduction ratio
Table 14-2
Unit: cNm
CSD-2UF
Model
14
17
20
25
32
40
50
5.3
7.5
9.7
17
34
58
100
3.2
4.2
5.5
9.6
21
33
160
ー
−
4.1
7.4
16
27
Reduction ratio
Overdrive starting torque
Table 14-3
Unit: Nm
CSD-2UH
Model
14
17
20
25
32
40
50
50
2.9
4.3
5.2
9.5
19
33
61
100
3.5
4.6
6.0
11
23
38
71
160
ー
ー
7.4
13
30
48
89
Reduction ratio
Table 14-4
Unit: Nm
CSD-2UF
14
Model
14
17
20
25
32
40
50
3.3
4.7
5.6
10
20
34
100
3.9
5.0
6.4
11
24
39
160
ー
−
7.8
14
31
49
Reduction ratio
Angle transmission accuracy
Angle transmission accuracy indicates the difference between the
logical rotating angle and the actual rotating angle as the angle
transmission error when any rotating angle is given as an input.
Example of measurement
θer…………………………Angle transmission error
θ1 …………………………Input rotating angle
θ2 …………………………Actual output rotating angle
R …………………………Reduction ratio of HarmonicDrive® ( i =1:R)
Formula 15-1
Graph 15-1
θ1
θer＝θ2−
R
θer
Angle transmission error
Model
Angle transmission
error
×10 -4 rad
arc min
Table 15-1
14
4.4
1.5
17
4.4
1.5
20
2.9
1.0
25
2.9
1.0
32
2.9
1.0
40
2.9
1.0
50
2.9
1.0
On vibration
The angle transmission error elements of HarmonicDrive® may
appear as rotating vibration of the load side inertia.
Especially when the characteristic frequency of the vibration system
including HarmonicDrive® overlaps that of the chassis or load
inertia, it generates a resonant condition that amplifies angle
transmission error elements of HarmonicDrive®. Observe the
installation precision on page 24.
Two angle transmission error elements of HarmonicDrive®
correspond to a cycle of the input shaft from the mechanical
viewpoint of HarmonicDrive®. Therefore, the frequency is double the
input frequency as it is the main element of the error.
If the characteristic frequency of the vibration system including
HarmonicDrive® is F=15 Hz, the input rotating speed (N) is
expressed as shown below.
N＝
How to obtain the characteristic frequency of
the vibration system including HarmonicDrive®
f＝
1
・
2π
K
J
Symbol of the calculation formula
f
K
J
Table 15-2
The characteristic frequency of the
vibration system including
HarmonicDrive®
Hz
Spring constant of HarmonicDrive®
Nm/rad
Load inertia
Formula 15-2
See page 12.
kgm 2
15
・60＝450r/min
2
The resonant condition is generated in the rotating speed
area (450 r/min).
15
On no-load running torque
Measuring condition
No-load running torque means the torque
required to put HarmonicDrive® under a noload condition.
Table 16-1
Reduction ratio
Harmonic grease SK-1A (model 20 and
Name
Lubrication Grease
higher)
condition lubrication
Application qty. Appropriate application qty.
The torque value is the value after a trial run for two hours or longer at an input of 2000 r/min.
CSD-2UH
Input rotational speed: 500r/min
Input rotational speed: 1000r/min
Graph 16-1
1000
40
32
10
25
20
17
14
1
10
20
30
40
32
10
20
17
14
1
0.1
-10
40
25
0
Temperature (oC)
Input rotational speed: 2000r/min
32
16
25
10
20
17
14
1
30
40
No-load running torque (Ncm)
40
10
20
Temperature (oC)
40
Graph 16-4
50
100
50
0
30
1000
Model
No-load running torque (Ncm)
100
0.1
-10
20
Input rotational speed: 3500r/min
Graph 16-3
1000
10
Temperature (oC)
40
32
25
10
20
17
14
1
0.1
-10
0
10
20
Temperature (oC)
30
40
Model
0
50
Model
50
No-load running torque (Ncm)
100
Model
No-load running torque (Ncm)
100
0.1
-10
Graph 16-2
1000
CSD-2UF
Input rotational speed: 1000r/min
Graph 17-1
40
32
25
20
17
14
1
0
10
20
30
100
40
32
10
25
20
17
14
1
0.1
-10
40
0
10
Temperature (oC)
Input rotational speed: 2000r/min
40
Graph 17-4
1000
100
40
25
10
20
17
Model
32
14
1
0
10
20
30
40
No-load running torque (Ncm)
100
No-load running torque (Ncm)
30
Input rotational speed: 3500r/min
Graph 17-3
1000
0.1
-10
20
Temperature (oC)
40
32
25
10
20
Model
0.1
-10
No-load running torque (Ncm)
100
10
Graph 17-2
1000
Model
No-load running torque (Ncm)
1000
Model
Input rotational speed: 500r/min
17
14
1
0.1
-10
0
10
Temperature (oC)
20
30
40
Temperature (oC)
Correction quantity by reduction
The no-load running torque of HarmonicDrive® varies depending on
the reduction ratio. Graphs 16-1 to 17-4 show the values for a
reduction ratio of 1/100. Obtain other reduction ratios by adding the
correction quantity shown in the right-hand table (Table 17-1).
Correction quantity for the no-load
running torque of the component type
Reduction
ratio
Model
14
17
20
25
32
40
50
Table 17-1
Unit:ｃNｍ
2UH
2UF
50
160
50
160
+0.93
+1.5
+2.3
+3.8
+7.3
+12
+22
ー
ー
-0.70
-1.2
-2.2
-3.6
-6.4
+1.4
+1.8
+2.6
+4.3
+8.2
+14
ー
ー
ー
-0.84
-1.3
-2.5
-4.2
ー
1
Efficiency characteristics
Measuring condition
The efficiency varies depending on the
following conditions.
■ Reduction ratio
■ Input rotational speed
■ Load torque
■ Temperature
■ Lubrication condition (Type of lubricant
and the quantity)
Built-in
Load torque
Table 18-1
Measurement by building the recommended built-in precision into the product
The rated torque shown in the ratings
* If the load torque is smaller than the rated torque, the efficiency value lowers.
Please refer to efficiency correction coefficient below.
Lubricating
condition
Grease
lubrication
Name
Application qty.
Harmonic grease SK-1A (model 20 and higher)
Harmonic grease SK-2 (model 14, 17)
Appropriate application qty.
CSD-2UH
■ Reduction ratio 50
Model number 14
100
Model number 17∼50
100
Graph 18-1
90
90
80
70
500r/min
1000r/min
2000r/min
3500r/min
60
50
40
σ≒3％
30
Efficiency (%)
Efficiency (%)
80
500r/min
1000r/min
2000r/min
3500r/min
70
60
50
40
σ≒3％
30
20
10
-10
Graph 18-2
20
0
10
20
Temperature (oC)
30
10
-10
40
0
10
20
Temperature (oC)
30
40
■ Reduction ratio 100
Model number 14
Model number 17∼50
Graph 18-3
100
90
90
60
50
40
σ≒3％
30
0
10
20
Temperature (oC)
Model number 20∼50
30
40
Graph 18-5
100
90
80
Efficiency (%)
60
50
40
σ≒3％
20
■ Reduction ratio 160
500r/min
1000r/min
2000r/min
3500r/min
70
60
50
40
σ≒3％
30
20
18
70
30
20
10
-10
500r/min
1000r/min
2000r/min
3500r/min
80
500r/min
1000r/min
2000r/min
3500r/min
70
Efficiency (%)
Efficiency (%)
80
10
-10
Graph 18-4
100
0
10
20
Temperature (oC)
30
40
10
-10
0
10
20
Temperature (oC)
30
40
CSD-2UF
■ Reduction ratio 50
Model number 14
100
90
80
80
Efficiency (%)
90
70
Efficiency (%)
Model number 17∼40
100
Graph 19-1
500r/min
1000r/min
2000r/min
3500r/min
60
50
40
500r/min
1000r/min
2000r/min
3500r/min
70
60
50
40
σ≒3％
30
Graph 19-2
σ≒3％
30
20
20
10
-10
0
10
20
Temperature (oC)
30
10
-10
40
0
10
20
Temperature (oC)
30
40
■ Reduction ratio 100
Model number 14
90
90
80
80
70
500r/min
1000r/min
2000r/min
3500r/min
60
50
40
20
-10
0
10
20
Temperature (oC)
30
500r/min
1000r/min
2000r/min
3500r/min
70
60
50
40
σ≒3％
30
Graph 19-4
100
Efficiency (%)
Efficiency (%)
Model number 17∼40
Graph 19-3
100
σ≒3％
30
20
-10
40
0
10
20
Temperature (oC)
30
40
■ Reduction ratio 160
Model number 20∼40
100
Graph 19-5
90
Efficiency (%)
80
500r/min
1000r/min
2000r/min
3500r/min
70
60
50
40
30
σ≒3％
20
10
-10
0
10
20
Temperature (oC)
30
40
Efficiency correction coefficient by load torque
If the load torque is smaller than the rated torque, the efficiency
value lowers. Obtain correction coefficient Ke from the efficiency
correction coefficient of Graph 19-6 and 19-7 to obtain the efficiency
using the ettfficiency correction coefficient formula.
* Efficiency correction coefficient Ke=1 holds when the load torque is greater than
the rated torque.
Torque ratio α is the value of load torque/rated torque (rated table:
page 7 ).
CSD-2UH
CSD-2UF
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
Graph 19-7
Correction coefficient Ke
Correction coefficient Ke
Graph 19-6
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Torque ratio α
1
1
0.9
0.8
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0
0
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
Torque ratio α
If the load torque is smaller than the rated torque, obtain the
efficiency using the following example of calculation.
Symbol of formula 19-1
Formula 19-1
Efficiency η=Ke× ηR
■ Efficiency correction coefficient
1
0.9
0.8
■ Efficiency correction coefficient formula
1
Example of calculation
η Efficiency
Ke
ηR
Table 19-1
Efficiency correction coefficient See Graph 19-6, 7
Efficiency at the rated torque
See Graph 18-1
∼19-5
Efficiency η (%) under the following condition is obtained from the
example of CSD-20-50-2UH.
Input frequency : 1000r/min
Load torque ：13.6Nm
Lubrication method：Grease lubrication Lubrication temp.：20℃
Efficiency correction coefficient Ke：0.95 (torque ratio α
=13.6/17=0.8, from graph 19-6)
Efficiency h (%)=0.95×62 (from graph 18-1)=58.9％
19
Checking main roller bearing
A precision cross roller bearing is built in the unit type and the gear head type to directly support the external load (output flange).
Check the maximum load moment load, life of the bearing and static safety coefficient to fully bring out the performance of the unit type.
Checking procedure
(1) Checking the maximum load moment load
Obtain the maximum load moment load (Mmax).
Maximum load moment load (Mmax) ≦ permissible moment (Mc)
(2) Checking the life
Obtain the average radial load (Frav) and the average axial load
(Faav).
Obtain the radial load coefficient (x) and the axial load
coefficient (y).
Calculate the life
and check it.
(3) Checking the static safety coefficient
Obtain the static equivalent radial
load coefficient (Po).
Check the static safety
coefficient. (fs)
Main roller bearing specifications
The specifications of the cross roller are shown in Table 20-1 and 2.
CSD-2UH
Table 20-1
Model
14
17
20
25
32
40
50
dp
m
0.035
0.0425
0.050
0.062
0.080
0.096
0.119
R
m
0.0095
0.0099
0.0102
0.0130
0.0144
0.0151
0.0192
Permissible moment load
Basic rated load
Pitch circle dia. of a roller Offset amount
Basic dynamic rated load C
2
X 10 N
47
52.9
57.8
96.0
150
213
348
kgf
480
540
590
980
1530
2170
3550
Basic static rated load Co
2
X 10 N
60.7
75.5
90
151
250
365
602
kgf
620
770
920
1540
2550
3720
6140
Nm
kgfm
41
64
91
156
313
450
759
4.2
6.5
9.3
16
32
46
77
Moment rigidity
X 104
Nm/red
4.38
7.75
12.8
24.2
53.9
91
171
kgfm
/arc-min
1.3
2.3
3.8
7.2
16
27
51
Permissible Permissible
axial
radial
load Fa
load Fr
X 102N
10.1
11.3
12.4
20.5
32.1
45.6
74.4
CSD-2UF
Table 20-2
14
17
20
25
32
40
dp
m
0.050
0.060
0.070
0.085
0.111
0.133
R
m
0.0118
0.0123
0.0128
0.0134
0.0168
0.0215
Permissible moment load
Basic rated load
Pitch circle dia. of a roller Offset amount
Model
Basic dynamic rated load C
2
X 10 N
57.8
104
146
218
382
433
kgf
590
1060
1490
2230
3900
4410
Basic static rated load Co
2
X 10 N
90
163
220
358
654
816
kgf
920
1670
2250
3660
6680
8330
Nm
kgfm
91
124
187
258
580
849
9.3
12.6
19.1
26.3
59.1
86.6
Moment rigidity
4
X 10
Nm/red
12.8
15.4
25.2
39.2
100
179
* 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 (4 kN/mm2) in the center of the contact area between
the rolling element receiving the maximum load and the orbit.
* The value of the moment rigidity is the average value.
20
X 102N
6.74
7.58
8.28
13.8
2.15
3.05
4.99
kgfm
/arc-min
3.8
4.6
7.5
11.6
29.6
53.2
Permissible Permissible
axial
radial
load Fa
load Fr
2
X 10 N
12.4
22.2
31.2
46.6
81.7
92.6
2
X 10 N
8.28
14.9
20.9
31.2
54.7
62.0
How to obtain the maximum load moment load
Maximum load moment load (Mmax) is obtained as follows.
Make sure that Mmax ≦Mc.
(1) Checking the maximum load moment load
Symbol of formula 14-1
Formula 21-1
Mmax＝Frmax・（Lr＋R）＋Famax・La
Frmax
Famax
L r、La
R
Table 21-1
Max. radial load
N（kgf） See Fig. 21-1.
N（kgf） See Fig. 21-1.
Lr、La See Fig. 21-1.
See Fig. 21-1, Table 20-1, 2
m
Max. axial load
Offset amount
Fig. 21-1
CSD-2UH
CSD-2UF
Fixed
Load
Fixed
Load
Radial load
Radial load
Fr
La
La
dp
dp
Fr
Lr
Fa
R
Lr
Fa
Axial load
R
Axial load
How to obtain the average load
(Average radial load, average axial load, average output rotational frequency)
If the radial load and the axial load fluctuate, they should be
converted into the average load to check the life of the bearing.
Load pattern
Graph 21-1
How to obtain the average radial load (Frav)
10/3
Frav＝
n1t1 ( Fr1 )
Formula 21-2
＋n2t2 ( Fr2 ) …＋nntn ( Frn )10/3
n1t1＋n2t2…＋nntn
10/3
10/3
Radial load
Fr 1
Fr 2
Time
Note that the maximum radial load within the t1 section is Fr1 and the
maximum radial load within the t3 section is Fr3.
Fr 3
Fa 1
n1t1 ( Fa1 )10/3＋n2t2 ( Fa2 )10/3…＋nntn ( Fan )10/3
n1t1＋n2t2…＋nntn
Time
t1
Note that the maximum axial load within the t1 section is Fa1 and the
maximum axial load within the t3 section is Fa3.
How to obtain the average output rotational
frequency (Faav)
Fa 2
Axial load
10/3
Faav＝
Formula 21-3
Formula 21-4
Nav＝ n 1 t 1 ＋n 2 t 2 …＋n n t n
t 1 ＋t 2 …＋t n
Output rotational
frequency
How to obtain the average axial load (Faav)
t2
Fa 3
t3
n2
n1
n3
Time
How to obtain the radial load coefficient (X) and thrust load coefficient (Y)
How to obtain the load coefficient
Formula
Faav
≦1.5
Frav＋2（Frav（Lr＋R）＋Faav・La）/dp
Faav
Frav＋2（Frav（Lr＋R）＋Faav・La）/dp ＞1.5
Formula 21-5
X
Y
1
0.45
0.67
0.67
Symbol of formula 21-5
Frav
Faav
Lr, La
R
dp
Table 21-2
Average radial load
N（kgf）See "How to obtain the average load."
Average axial load
N（kgf）See "How to obtain the average load."
See Fig. 21-1.
m
Offset amount
See Fig. 21-1,Table 20-1, 2
m
Pitch circle diameter of a roller m
See Fig. 21-1,Table 20-1, 2
21
How to obtain the life
Obtain the life of the cross roller bearing by Formula 22-1.
You can obtain the dynamic equivalent radial load (Pc) by Formula
22-2.
Formula 22-1
106
LB-10＝ 60×Nav
×
（
C
fw・Pc
（
）
C
Table 22-1
Symbols of Formula 22-1
Frav
hour
r/min
）
＋Faav・La） ＋Y・Faav
Pc＝X・ Frav＋ 2（Frav（Lr＋R）
dp
Symbols of Formula 22-1
LB-10 Life
Nav Average output rotational speed
Formula 22-2
10/3
See "How to obtain the average load" .
Table 22-3
N (kgf) See "How to obtain the average load.
Average radial load
Faav Average axial load
N (kgf) See "How to obtain the average load.
dp
Pitch circle diameter of a roller
Pc
N (kgf) See Table 20-1, 2
Dynamic equivalent radial load coefficient N (kgf) See Formula 22-2.
X
Radial load coefficient
fw
Load coefficient
Y
Axial load coefficient
Basic dynamic load rating
See Table 22-2
Table 22-2
Load status
fw
During smooth operation without shock or vibration
See Fig. 21-1, Table 20-1, 2
See Formula 21-5.
See Formula 21-5.
Lr, La
R
m
Offset amount
m
See Fig. 21-1
m
See Fig. 21-1, Table 20-1, 2
1∼1.2
1.2∼1.5
1.5∼3
During normal operation
During operation with shock and vibration
How to obtain the life under oscillating movement
Oscillating movement
Obtain the life of the cross roller bearing under oscillating
movement by Formula 22-3.
106
Loc＝ 60×n1
×
90
θ
（
×
C
fw・Pc
Formula 22-3
）
10/3
Symbols of Formula 22-4
Loc Rated life under oscillating movement
n1 No. of reciprocating oscillation per min.
Fig. 22-1
Table 22-4
hour
cpm
C
Basic dynamic load rating
N（kgf） Rated life under oscillating movement
Pc
Dynamic equivalent radial load
N（kgf） See Formula 032-2.
fw
Load coefficient
q
Oscillating angle /2
θ
See Table 032-3.
Deg.
See Fig. 033-1.
Oscillating angle
(Note)
When the oscillating angle is small (less than 5o), it is difficult to generate
an oil film on the contact surface of the orbit ring, and the rolling element
and fretting may be generated. Contact us if this happens.
How to obtain the static safety coefficient
In general, the basic static load rating (Co) is considered to be the
permissible limit of the static equivalent load. However, obtain the
limit based on the operating and required conditions.
Obtain the static safety coefficient of the cross roller bearing by
Formula 22-4. General values under the operating condition are
shown in Table 22-6. You can obtain the static equivalent radial load
(Po) by Formula 22-5.
Formula 22-4
Formula 22-5
Po＝Frmax＋ 2Mmax
＋0.44Famax
dp
fs＝ Co
Po
Symbols of Formula 22-4
Co
Po
Basic static load rating
Static equivalent radial
load coefficient
Table 22-5
N (kgf)
N (kgf)
See "Specification of the main
roller bearing" of each series.
See Formula 034-2.
static safety coefficient
Operating condition of the roller bearing
When high rotation precision is required
When shock and vibration are expected
Under normal operating condition
22
Table 22-6
fs
≧3
≧2
≧1.5
Symbols of Formula 22-5
Frmax
Famax
Mmax
dp
Max. radial load
Max. axial load
Max. load moment load
Pitch circle diameter of a roller
Table 22-7
N（kgf）
N（kgf）
Nm（kgfm）
m
See "How to obtain
the maximum load
moment load".
See Fig. 21-1, Table 20-1, 2.
Mechanical precision
The mechanical precision of the unit type is shown below.
Input:
Wave Generator
Output: Circular Spline
Fixed:
Flexspline
■ CSD-2UH
Fig. 23-1
d
b
a
c
e
Table 23-1
Unit: mm
CSD-2UH
Model
Symbol
a
b
c
d
e
14
0.010
0.010
0.007
0.010
0.025
17
0.010
0.012
0.007
0.010
0.025
20
0.010
0.012
0.007
0.010
0.025
25
0.015
0.013
0.007
0.010
0.035
32
0.015
0.013
0.007
0.010
0.037
40
0.015
0.015
0.007
0.015
0.037
■ CSD-2UF
50
0.018
0.015
0.007
0.015
0.040
Fig. 23-2
d
b
a
c
e
Table 23-2
Unit: mm
CSD-2UF
Model
Item
a
b
c
d
e
14
0.010
0.010
0.010
0.010
0.031
17
0.010
0.010
0.010
0.010
0.031
20
0.010
0.010
0.010
0.010
0.031
25
0.015
0.010
0.010
0.010
0.041
32
0.015
0.013
0.013
0.013
0.047
40
0.015
0.013
0.013
0.013
0.047
23
Precaution on design
Built-in precision
Built-in abnormality and forced-fitting that may deform the mounting surface may reduce the performance in a built-in design. Careful
attention should be paid to the following points to maintain the recommended built-in case precision shown in Figure 24-1 and Table
24-1 and 24-2, and work out a design to avoid oil leakage to fully elicit the excellent performance.
● Contortion and deformation on the mounting surface
● Foreign matter caught
● Burr, embossment and abnormal position on the periphery of the tap area of the mounting hole
● Insufficient chamfering on the mounting spigot joint
● Abnormal roundness on the mounting spigot joint
Recommended precision for the built-in case
Fig. 24-1
CSD-2UH
CSD-2UF
a
A
Case mating face
a
A
A
Recommended
allowance of
the case
Case mating face
Recommended
allowance of
the case
A
b
A
b
Wave generator mounting face
φc
A
φc
Recommended allowance
of the shaft h6
CSD-2UH: Recommended precision for the built-in case
Model
14
17
20
Symbol
a
0.011
0.015
0.017
b
0.008
0.010
0.012
φc
0.016
0.018
0.019
CSD-2UF: Recommended precision for the built-in case
Model
14
17
20
Symbol
a
0.011
0.015
0.017
b
0.008
0.010
0.012
φc
0.016
0.018
0.019
A
Wave generator mounting face
A
Recommended allowance
of the shaft h6
Table 24-1
Unit: mm
25
0.024
0.012
0.022
32
0.026
0.012
0.022
40
0.026
0.012
0.024
50
0.028
0.015
0.030
Table 24-2
Unit: mm
25
0.024
0.012
0.022
32
0.026
0.012
0.022
40
0.026
0.012
0.024
Sealing mechanism
The following sealing mechanism is required to prevent grease leakage and maintain the high durability of HarmonicDrive®.
Rotating and sliding area
Flange mating face and mating
Screw hole area
Oil seal (with a spring). Take care regarding flaws on the shaft.
O-ring and seal agent. Take care regarding the distortion on the plane and how the
O-ring is engaged.
Use a screw lock agent (Locktite 242 is recommended) or seal tape.
(Note) Observe the description above for the particular use of Harmonic grease 4B No.2.
Oil seal is used to prevent grease leakage for the output flange area. However, measures should be implemented to prevent grease leakage
on the device to embed a drive depending on the application.
24
Installation and transmission torque
Fig. 25-1
CSD-2UH
CSD-2UF
Case side
Output flange side
Case side
Case side
Output flange side
■ CSD-2UH
CSD-2UH: Installation of output flange side with transmission torque
Item
Model
14
17
20
Table 25-1
25
32
40
50
Number of bolts
10
8
8
8
10
10
10
Bolt size
M3
M5
M6
M8
M8
M10
M12
88
Installation of bolts: P.C.D.
Bolt tightening torque
Bolt transmission torque
mm
25
27
34
42
57
72
Nm
2.4
10.8
18.4
44
44
74
74
Kgfm
0.24
1.10
1.87
4.5
4.5
7.6
7.6
Nm
50
122
217
486
824
1665
2933
Kgfm
5.1
12.4
22.1
49.6
84.1
170
299
20
25
32
40
50
CSD-2UH: Installation of case side with transmission torque
Item
Model
Number of bolts
Bolt size
Installation of bolts: P.C.D.
Bolt tightening torque
Bolt transmission torque
14
17
Table 25-2
6
10
12
18
18
18
22
M3
M3
M3
M3
M4
M5
M6
mm
49
56
64
79
104
117.5
147
Nm
2.4
2.4
2.4
2.4
5.4
10.8
18.4
Kgfm
0.24
0.24
0.24
0.24
0.55
1.10
1.87
Nm
43
82
112
207
461
833
1804
Kgfm
4.4
8.4
11.4
21.1
47.0
85.0
184
25
32
40
■ CSD-2UF
CSD-2UF: Installation of output flange side with transmission torque
Item
Model
Number of bolts
Bolt size
Installation of bolts: P.C.D.
Bolt tightening torque
Bolt transmission torque
14
17
20
Table 25-3
8
10
8
8
8
12
M3
M3
M4
M5
M6
M6
mm
42
50
60
73
96
116
Nm
2.4
2.4
5.4
10.8
18.4
18.4
Kgfm
0.24
0.24
0.55
1.10
1.87
1.87
Nm
70
104
167
329
765
1109
Kgfm
7.1
10.6
17.0
33.6
78.1
113
20
25
32
40
CSD-2UF: Installation of case side with transmission torque
Item
Model
Number of bolts
Bolt size
Installation of bolts: P.C.D.
Bolt tightening torque
Bolt transmission torque
14
17
Table 25-4
6
8
8
10
10
10
M3
M3
M3
M4
M5
M6
mm
64
74
84
102
132
158
Nm
2.4
2.4
2.4
5.4
10.8
18.4
Kgfm
0.24
0.24
0.24
0.55
1.10
1.87
Nm
80
123
140
359
743
1259
Kgfm
8.2
12.6
14.3
36.6
75.8
128
(Table 25-1∼25-4/Notes)
1. It is assumed that the material of the female screws can endure the bolt tightening torque.
2. Recommended bolt Bolt name: JIS B 1176 hexagonal bolt
Intensity type: JIS B 1051 12.9 or more
3. Torque efficiency: K=0.2
4. Tightening efficiency: A=1.4
5. Tightening friction coefficient μ=0.15
25
Lubrication
Grease lubrication is the standard for lubrication of a unit type.
* Contact us if you desire zero consistency (NLGI 0) due to
maintenance.
Name of lubricant
Table 26-1
SK-2
Harmonic grease
Grease
Temperature range of the operating environment
SK-1A
Harmonic grease
Harmonic grease
Grease
4B No.2
Table 26-2
SK-1A
0℃∼＋40℃
SK-2
0℃∼＋40℃
4B No.2
-10℃∼＋70℃
o
* Keep the hot section up to 40 C above the ambient temperature.
Grease lubricant
■ Types of lubricant
Grease characteristics
Harmonic grease SK-1A
This has been developed as grease exclusively for HarmonicDrive® and is
excellent in durability and efficiency compared to commercial general-purpose
grease.
Harmonic grease SK-2
This has been developed exclusively for the compact HarmonicDrive® and is
excellent in smoothness during wave generator rotation by liquefying extremepressure additive.
Harmonic grease 4B No.2
This has been developed exclusively for the CSF and CSG series, has the fluid
characteristic suited to longer operating life and is used for a wide temperature
range.
(Note)
1. A seal mechanism is required for grease lubrication. Take the following
actions for the rotor and the surface-contacting joints. In particular, a strong
seal mechanism is required in using Harmonic grease 4B No.2.
Rotor: Use an oil seal with a spring.
Parts-contacting joints: Use an O-ring or sealing agent paying attention to
the warp and flaw on the plain surface.
SK-1A
SK-2
4B No.2
Durability
○
○
◎
Fretting resistance
○
○
◎
Low-temperature performance
△
△
◎
Grease leakage
◎
◎
△
Excellent
◎
Appropriate ○
Doubtful
△
■ Recommended size for the inner wall of the case
Use the recommended size for the inner wall of the case of
HarmonicDrive so that grease does not fly away and remains inside
HarmonicDrive during operation. Contact us if you cannot secure
the recommended size.
Recommended size for the inner wall of the case
2. Harmonic grease becomes soft at the portion (near the wave generator) that
is subject to shear even in an early stage of operation. Although the
consistency varies depending on the operating conditions, it is about JIS
consistency No.0 up to 00.
CSD-2UH
CSD-2UF
a
Mixing consistency range
0
00
355∼385
400∼430
Grease specification
ＳＫ-2
Refined oil
4B No.2
Composite hydrocarbon oil
Puffing agent
Lithium soap base
Lithium soap base
Urea
φb
ＳＫ-１Ａ
Refined oil
φb
Table 26-4
Grease
Base oil
Additive
Extreme-pressure additive, others Extreme-pressure additive, others Extreme-pressure additive, others
NLGI consistency No.
No. 2
No. 2
No. 1.5
Consistency (25oC)
265∼295
265∼295
290∼320
Drop point
Appearance
197oC
Yellow
198oC
Green
247oC
Light yellow
Storage life
5 years in sealed condition 5 years in sealed condition 5 years in sealed condition
■ Compatible grease by model
Compatible grease varies depending on the model number. See
the following compatibility table (Table 26-5). We recommend SK1A and SK-2 for general use.
Compatible grease for a reduction ratio of 30
Table 26-5
Model
14
17
20
25
32
40
50
SK-1A
SK-2
4B No.2
ー
ー
○
○
○
○
○
○
○
△
△
△
△
△
□
□
□
□
□
□
□
○ mark: Standard grease
△ mark: Semi-standard grease
□ mark: Recommended grease for long life and high load
Table 26-7
Unit: mm
Recommended size for the inner wall of the case
Symbol
Model
a
φb+0.50
14
1（3）
16
17
20
25
32
40
50
1（3） 1.5
（4.5） 1.5
（4.5） 2（6） 2.5
（7.5）3.5
（10.5）
26
30
37
37
Note: Values in ( ) are for the wave generator facing upward.
26
Fig. 26-1
a
Table 26-3
JIS consistency No.
Table 26-6
Grease
45
45
Abrasion of the sliding parts of HarmonicDrive® is influenced
by grease performance. Grease performance changes by
temperature and deteriorates rapidly as the temperature rises.
Therefore, the grease needs to be replaced earlier than usual.
The graph on the right indicates the time to replace the grease
from the relation between the grease temperature and the total
number of rotations when the average load torque is equal to
or less than the rated torque. Obtain the time to replace the
grease from the following calculation formula when the
average load torque exceeds the rated torque.
Calculation formula when the average load
torque exceeds the rated torque
（
L GT＝L GTn×
Tr
Tav
Formula 27-1
）
3
Table 27-1
L GT
Replacement timing if it is
equal to rated torque or more
Number of
rotation
L GTn
Replacement timing if it is
equal to rated torque or less
Number of
rotation
See Graph 27-1.
Tr
Rated torque
Nm, kgfm
See the "Rating table"
on page 7.
Tav
Average load torque on the
output side
Calculation formula:
See Page 28.
When to replace grease: LGTn (when the average load
torque is equal to or less than the rated torque)
Graph 27-1
10 10
Life of grease
The total number of rotations of the wave generator
corresponding to the time to replace grease (times)
■ When to replace grease
4B No.2
10 9
SK-1A
SK-2
10 8
Life of wave generator
10 7
20
40
60
80
100
120
Grease temperature (oC)
* Life of wave generator indicates the 10% of damage possibility.
Warranty period and terms
Products that are described in this catalog are warranted as follows:
■ Warranty period
Under the condition that the products are handled, used and maintained properly followed each item of the technical materials, the
manuals, and this catalog, all the products are warranted against defects in workmanship and materials for the shorter period of either
one year after delivery or 2,000 hours of operation time.
■ Warranty terms
All the products are warranted against defects in workmanship and materials for the warranted period.
This limited warranty does not apply to any product that has been subject to:
(1)
(2)
(3)
(4)
User's misapplication, improper installation, inadequate maintenance, or misuse.
Disassembling, modification or repair by others than Harmonic Drive Systems, Inc.
Imperfection caused by the other than the products.
Disaster or others that does not belong to the responsibility of Harmonic Drive Systems, Inc.
Our liability shall be limited exclusively to repairing or replacing the product only found by Harmonic Drive Systems, Inc. to be defective.
Harmonic Drive Systems, Inc. shall not be liable for consequential damages of other equipment caused by the defective products, and
shall not be liable for the incidental and consequential expenses and the labor costs for detaching and installing to the driven equipment
Trademark
The academic and general nomenclature for “Harmonic Drive®” is “wave motion gearing” and “Harmonic Drive®” is a registered trademark
only usable on products manufactured and sold by Harmonic Drive Systems.
27
Model number selection
In general, the servo system is rarely in a continuous constant
load state. The input rotational speed, load torque change and
comparatively large torque are applied at start and stop.
Unexpected impact torque may be applied.
These fluctuating load torques should be converted to the
average load torque in selecting a model number.
As an accurate cross roller bearing is built in the direct external
load support (output flange) of the CSD series type, the
maximum moment load, lifespan of the cross roller bearing and
the static safety coefficient should also be checked (see
“Checking the main roller bearing” on Page 20).
■ Flowchart of model number selection
Select a model number according to the following flowchart.
If you find a value exceeding that from the ratings, you should review
it with the upper-level model number or consider reduction of
conditions including the load torque.
Calculate the average load torque applied on the output side of
Harmonic Drive from the load torque pattern: Tav (Nm).
Tav =
■ Checking the load torque pattern
3
3
3
3 n 1 ･t1 ･|T1 | +n2 ･t2 ･|T2 | +･･･nn ･tn ･|Tn |
n 1 ･t1 +n2 ･t2 +･･･nn ･tn
Select a model number temporarily with the following conditions.
Tav ≦ Permissible maximum value of the average load torque
(See the ratings Page 7).
First, you need to look at the picture of the load torque pattern.
Check the specifications shown in the figure below.
グラフ28-1
T1
＋
Tn
Load torque
T4
Time
−
T3
Output rotational
speed
t1
n1
t2
n2
t3
t4
n3
tn
nn
NG
n4
* N1, N2 and N3 indicate the average values.
<Impact torque>
When impact torque is applied
Calculate the maximum input rotational
speed from the max. output rotational
speed (no max) and the reduction ratio
(R): ni max (r/min)
ni max = no max･R
Ni av ≦
Check whether the temporarily
selected model number satisfies
the following condition from the Ni max ≦
ratings.
T1, t1 n1
T2, t2, n2
T3, t3, n3
T4, t4 n4
no max
ni max
Permissible average input rotational
speed (r/min)
Permissible max. input rotational speed
(r/min)
Check whether T1 and T3 are equal to or less than the permissible
peak torque (Nm) value at start and stop from the ratings.
OK
Review of the operation conditions and model number
<Maximum rotational speed>
Max. output rotational speed
Max. input rotational speed
(Restricted by motors)
ni av = no av･R
OK
NG
<Normal operation pattern>
Starting time
Steady operation time
Stopping (slowing) time
Break time
Calculate the average input rotational
speed from the average output
rotational speed (no av) and the
reduction ratio (R): ni av (r/min)
Time
Obtain the value of each load torque pattern.
Load torque
Tn (Nm)
Time
tn (sec)
Output rotational speed
nn (r/min)
NG
Check whether Ts is equal to or less than the permissible maximum
momentary torque (Nm) value from the ratings.
OK
NG
Calculate the permissible
number of times from output
rotational speed ns and time
ts when the impact torque is
applied, and check whether it
satisfies the usage conditions.
4
10
4
N (times)･･N S ≦ 1.0×10 (times)
S =—————
n S ･R
2･——
——･t 60
OK
Calculate the lifetime.
(
) (
3
)
Tr
nr
L = 7000･ ——— ･ ——— (hours)
Tav
niav
Ts, ts ns
NG
<Required lifespan>
Check whether the calculated lifetime is equal to or more than the
lifespan of the wave generator (see Page 8).
L10 = L (hours)
OK
The model number is determined.
28
ni max
—————— ≧ R
no max
Obtain the reduction ratio (R). A
limit is placed on “ni max” by
motors.
T2
n1 ･t1 +n2 ･t2 +･･･nn ･tn
no av = ———— —————————
———
t1 + t 2 +･･･ tn
Calculate the average output
rotational speed: no av (r/min)
■ Example of model number selection
Value of each load torque pattern.
Load torque
Tn (Nm)
Time
tn (sec)
Output rotational speed nn (r/min)
<Maximum rotational speed>
Max. output rotational speed
Max. input rotational speed
(Restricted by motors)
<Impact torque>
When impact torque is applied
<Normal operation pattern>
Starting time
T1 = 400Nm, t1 = 0.3sec, n1 = 7r/min
Steady operation time
T2 = 320Nm, t2 = 3sec, n2 = 14r/min
Stopping (slowing) time T3 = 200Nm, t3 = 0.4sec, n3 = 7r/min
Break time
T4 = 0Nm, t4 = 0.2sec, n4 = 0r/min
no max = 14 r/min
ni max = 1800 r/min
Ts = 500Nm, ts = 0.15sec,
ns = 14r/min
<Required lifespan>
L10 = 7000 (hours)
Calculate the average load torque applied on the output side of Harmonic Drive from the load torque pattern: Tav (Nm).
3
Tav =
7r/min･0.3sec･|400Nm|3+14r/min･3sec･|320Nm|3+7r/min･0.4sec･|200Nm|3
7r/min･0.3sec+14r/min･3sec+7r/min･0.4sec
Select a model number temporarily with the following conditions. Tav = 319 Nm ≦ 451 Nm
(Permissible maximum value of the average load torque for model number CSD-50-100 2UH: See the ratings on Page 7.)
Thus, CSD-50-100-2UH is temporarily selected.
Calculate the average output rotational speed: no av (r/min)
Obtain the reduction ratio (R).
Calculate the average input rotational speed from the
average output rotational speed (no av) and the reduction
ratio (R): ni av (r/min)
Calculate the maximum input rotational speed from the
maximum output rotational speed (no max) and the
reduction ratio (R): ni max (r/min)
Check whether the temporarily selected model
number satisfies the following condition from the
ratings.
7r/min･0.3sec+14r/min･3sec+7r/min･0.4sec
no av = ————————————————————————————= 12r/min
0.3sec + 3sec + 0.4sec + 0.2sec
1800r/min
———————= 128.6 ≧ 120
14r/min
ni av = 12r/min･120 = 1440r/min
ni max = 14r/min･120 = 1680r/min
Ni av = 1440 r/min ≦ 3600 r/min (Permissible average input rotational speed of model No. 40)
Ni max = 1680 r/min ≦ 3600 r/min (Permissible max. input rotational speed of model No. 40)
NG
Check whether T1 and T3 are equal to or less than
the permissible peak torque (Nm) value at start
and stop from the ratings.
T1 = 400 Nm ≦ 617 Nm (Permissible peak torque at start and stop of model number 40)
T3 = 200 Nm ≦ 617 Nm (Permissible peak torque at start and stop of model number 40)
NG
OK
Check whether Ts is equal to or less than the
permissible maximum momentary torque (Nm)
value from the ratings.
NG
Ts = 500 Nm ≦ 1180 Nm (Permissible maximum momentary torque of model number 40)
OK
Calculate the permissible number of times from output
rotational speed ns and time ts when the impact torque is
applied, and check whether it satisfies the usage conditions.
4
10
4
N S =———————— = 1190 ≦ 1.0×10 (times)
14r/min･120
2･————————･0.15sec 60
NG
OK
(
) (
3
Review of the operation conditions and model number
OK
)
294Nm
2000r/min
L = 7000･ —————— ･ ————————— (hours)
319Nm
1440r/min
Calculate the lifespan.
Check whether the calculated lifespan is equal to or more than the lifespan of the wave generator (see Page 8).
L=7610 hours ≧ 7000 (lifespan of the wave generator: L10)
NG
OK
Model number CSD-50-100-2UH is determined from the result described above.
29
HarmonicDrive® Reducer for precision control
For Safe Use of Harmonic drive® component
and unit
Warning : Means that improper use or handling could result in a risk of death or serious injury.
Caution : Means that improper use or handling could result in personal injury or damage to property.
Limited Applications
This product cannot be used for the following applications:
* Space equipment
* Aircraft equipment
* Vacuum equipment
* Automotive equipment
* Equipment for transport of humans
* Nuclear power equipment
* Equipment and apparatus used in domestic homes
* Game equipment
* Equipment that directly works on human bodies
* Equipment for use in a special environment
Please consult Harmonic Drive Systems beforehand when intending to use one of its product for the aforementioned applications.
Install a safety device that avoids an accident even if output of this product becomes uncontrollable due to
breakdown when using it in equipment that affects human lives and that may trigger serious damage.
Design Precaution: Be certain to read the catalog when designing the equipment.
Install the equipment in a specified manner.
Use only in a specified environment.
● Please ensure the following environmental conditions are
complied with:
• Ambient temperature 0 to 40°C
• No splashing of water or oil
• Do not expose to corrosive or explosive gas
• No dust such as metal powder
Caution
Caution
Install the equipment in a specified precision.
Caution
● Design and assemble parts to keep the recommended
installation precision on the catalog.
● Failure to keep the precision can cause troubles such as
generation of vibration, reduction of life, deterioration of
precision and breakdown.
● Carry out assembly precisely in the specified order according to
the catalog.
● Observe our recommended tightening methods (such as bolts
used).
● Operating the equipment without precise assembly can cause
troubles such as generation of vibration, reduction of life,
deterioration of precision and breakdown.
Use the specified lubricant.
Caution
● Using other lubricant than our recommended products can
reduce the life. Replace the lubricant in a specified
condition.
● Grease is sealed in a unit product. Do not mix other kinds of
grease.
Operational Precaution: Be certain to read the catalog before operating the equipment.
Apply torque within the allowable range.
Be careful in handling products and parts.
Caution
● Do not give strong shock to parts and units with a hammer. Do
not scratch or bruise them. Possible damage is assumed.
● If you use the equipment in a damaged condition, the specified
performance may not be retained. It can also cause troubles
such as breakdown.
Caution
Do not change a set of parts.
Do not break down unit products.
● The product is manufactured with sets of parts. the
specified performance may not be retained if you have used
mixed sets of parts.
Caution
● Do not apply torque exceeding the instantaneous allowable max.
torque. Applying excess torque can cause troubles such as loose
tightening bolts, generation of backlash and breakdown.
● Striking an arm directly attached to the output shaft can damage
the arm and make the output shaft uncontrollable.
● Do not break down and reassemble unit products. Original
Caution
performance may not be reproduced.
Handling lubricant
Treatment of waste oil and containers
Precautions on handling lubricant
● Lubricant got in the eye can cause an inflammation. Wear
●
●
●
Warning
●
protective glasses to prevent it from getting in your eye
when you handle it.
Lubricant coming in contact with the skin can cause an
inflammation. Wear protective gloves to prevent it from
contacting your skin when you handle it.
Do not eat it (to avoid diarrhea and vomiting).
When you open the container, you might have your hand cut
by it. Wear protective gloves.
Keep lubricant off children.
First-aid
● If lubricant gets in your eye, you should wash your eye with
clean water for 15 minutes and submit to medical treatment.
● If lubricant comes in contact with your skin, you should
thoroughly wash it with water and soap.
● If you swallowed it, you should immediately submit to
medical treatment without throwing it up by constraint.
30
Caution
● Treatment methods are obliged by law. Treat wastes
appropriately according to the law. If you are unsure how to
treat them, you should consult with the dealer before
treating them.
● Do not apply pressure on an empty container. The container
may blow up.
● Do not weld, heat, drill or cut the container. The remainder
may ignite with an explosion.
Storage
● Tightly plug the container after use to prevent intrusion of
Caution
dusts and water. Avoid direct sunlight to store lubricant in a
dark place.
When Discarding Actuator and Servo Driver
Please discard as industrial waste.
Caution
● Please discard as industrial waste when discarding.
As a Specialist in Precision Control Field
Through close cooperation in areas of development design, production and marketing, Harmonic Drive Systems creates unique products
tailored to customer needs.
Chubu Sales Office
Tokyo Sales Office
Kansai Sales Office
Kita-Kanto Sales Office
Sales and
Marketing
Chugoku/Kyushu
Sales Office
HDAG, Germany
(Overseas
Special Distribution)
Proposes optimum products
meeting the operating
environment by precisely
determining the needs of
individual customers
Koshu/Shin-etsu Sales Office
Overseas Division
HD L.L.C., USA
(Overseas affiliate)
Planetary gear speed reducer
development design: Harmonic A. D.
(Invested 100% by Harmonic Drive Systems)
Mechanical electronics development design
Development Design
Development design departments closely
collaborate and highly integrate on
organization-developed technologies, actively
creating new technologies and products.
HarmonicDrive®
Systems
Development Design
Future Business Division
Hotaka Plant
Production
Clear awareness of and
techniques for quality control
establish a viable production
system, promising a supply of
high-quality and high-precision
products.
AccuDrives®
AccuDrive® is a planetary gear
speed reducer featuring high
precision and stiffness, created by
utilizing expertise in precision
machining technology of harmonic
drives® in the field of low speed
reduction ratio. A high rotational
accuracy is achieved by a unique
backlash removal mechanism.
Rotary motion
High-torque actuators at low-speed
are optimally combined with each
servo motor with HarmonicDrive® and
excellent control characteristics.
Hotaka Plant of Harmonic Drive Systems
overlooking North Alps of Japan
Linear motion
The linear actuators compactly
combining a precision screw and
HarmonicDrive®. Versatile series are
available for ultra precision
positioning and high driving force
positioning.
Galvano scanner
In 1995 and 1998, Harmonic Drive Systems
respectively obtained approvals for ISO 9001
(International Quality Management Standard) and for
ISO 14001 (International Environmental Management
Systems) from TÜV Product Service, a German
accreditation organization. The approvals signify global
recognition of the quality assurance and environment
management systems of Harmonic Drive Systems.
Galvano scanners are developed
based on the small motors and
optical sensor technology, which are
researched by Harmonic Drives.
Smooth operation is realized by high
response and precision of optical
scanning.
Information desk for urgent repair and inquiry [Information desk for urgent repair request and technical consultation]
TEL: CS division 0263 (83) 6812
Business hours: Monday ~ Friday 9:00~12:00 13:00~ 17:00 (Except Saturdays, Sundays, national holidays and our specified days off)
Certifications for ISO 14001 (Hotaka Plant) and ISO 9001 and obtained from TÜV Product Service GmbH
http://www.hds.co.jp/
Head Office:
Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan
140-0013 TEL 03(5471)7800 FAX 03(5471)7811
Tokyo Office:
Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan
140-0013 TEL 03(5471)7830 FAX 03(5471)7836
Kita-Kanto Office:
Y.S.T. Building 3F, 4-263 Sakuragi-cho, Ohmiya-ku, Saitama-shi,
Saitama, Japan 330-0854 TEL 048(647)8891 FAX: 048(647)8893
Koshin Office:
1856-1 Maki, Hotaka, Azumino-shi, Nagano, Japan
399-8305 TEL 0263(83)6910 FAX: 0263(83)6911
Chu-bu Office:
Nagoya Inter Building 6F, 2-173-4 Hongo, Meito-ku, Nagoya-shi, Aichi,
Japan 465-0024 TEL 052(773)7451 FAX 052(773)7462
Kansai Office:
Shin-Osaka Ueno To-yo Building 3F, 7-4-17 Nishi-nakajima,
Yodogawa-ku, Osaka-shi, Osaka, Japan 532-0011
TEL 06(6885)5720 FAX 06(6885)5725
Chugoku-Kyushu Office: EME Hakata station-front Building 7F, 1-15-20 Hakata station-front,
Hakata-ku, Fukuoka-shi, Fukuoka, Japan
812-0011 TEL 092(451)7208 FAX 092(481)2493
Overseas Division:
Believe Omori 7F, 6-25-3 Minami-Ohi, Shinagawa-ku,Tokyo, Japan
140-0013 TEL +81-(0)3-5471-7800 FAX: +81-(0)3-5471-7811
Hotaka Plant:
1856-1 Maki, Hotaka, Azumino-shi, Nagano, Japan
399-8305 TEL 0263(83)6800 FAX 0263(83)6901
Harmonic Drive AG:
Hoenbergstrasse 14 D-65555 Limburg a.d. Lahn Germany
TEL +49-6431-5008-0 FAX +49-6431-5008-18
Harmonic Drive L.L.C: 247 Lynnfield Street, Peabody, MA, 01960, U.S.A.
TEL +1-978-532-1800 FAX +1-978-532-9406
Specifications and dimensions described in this catalog may be changed without prior notice.
“HarmonicDrive®” is a registered trademark of Harmonic Drive Systems.
This catalog is printed with soy ink.
This catalog contains information as of June 2008.
No.0806-0R-CSD