Harmonic csf lw_specsheet
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The document describes a new lightweight version of Harmonic Drive's CSF-2UH gear unit called the CSF-LW. It is 30% lighter than the standard CSF-2UH without reducing torque rating or changing interface dimensions. This increases torque density and makes it suitable for industrial robots, mobile robots, and direct connection to servo motors. It provides specifications and application examples.
Harmonic csf lw_specsheet
- 1. Harmonic Drive™ CSF-LW – Lightweight Gear Unit Harmonic Drive now offers a NEW lightweight version of our CSF-2UH Gear Units! 30% lighter than our standard CSF-2UH! Using new lightweight materials and an optimized design, a 30% reduction in weight has been achieved without reducing the torque rating of the gear unit or changing the interface dimensions. This weight savings dramatically increases the “Torque Density” of the gear making it ideally suited for many applications including… Industrial Robots – allowing operation with higher acceleration rates and payload capacity Mobile Robots – allowing lower weight designs which improves battery life without sacrificing performance Application Examples Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor 5th and 6th axis drive for the wrist of an Industrial Robot Drive for SCARA Robot Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. lb-in 35 48 69 69 78 142 195 212 212 133 221 301 354 354 354 239 345 558 593 593 593 478 673 1,044 1,212 1,212 1,212 1,212 1,823 2,345 2,602 2,602 1,558 2,770 3,124 3,558 3,558 2,168 3,292 4,160 4,682 4,682 3,124 4,859 6,160 6,594 6,594 4,337 6,594 8,417 8,417 8,417 Ordering Code 50 80 100 120 160 50* 80 100 120 160 50* 80 100 120 160 14,000 10,000 10,000 7,500 7,000 5,600 5,000 4,500 4,000 3,500 8,500 7,300 6,500 5,600 4,800 4,000 3,800 6,500 6,500 6,500 5,600 4,600 3,600 3,300 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com (Custom Specification) leave blank for standard 3,500 3,500 3,500 3,500 3,500 3,000 3,000 3,500 3,000 2,800 3,000 2,700 2,400 2,500 2,200 1,900 product 12.5 27.3 46.8 12.8 27.9 47.8 245 372 470 529 529 353 549 696 745 745 490 745 951 951 951 715 941 980 1,080 1,180 1,020 1,480 1,590 1,720 1,840 1,420 2,110 2,300 2,510 2,630 350 519 666 813 843 520 770 1,060 1,190 1,210 720 1,040 1,520 1,570 1,570 1,080 1,180 1,180 950 1,270 1,570 1,760 1,910 1,430 1,860 2,060 2,060 2450 1,960 2,450 3,180 3,330 3,430 2,830 3,720 4,750 4,750 4,750 lb-in 80 159 204 248 142 301 381 478 478 239 496 655 726 770 814 443 867 1,213 1,390 1,478 1,558 885 1,912 2,691 2,947 3,124 3,292 3,558 4,594 5,027 5,461 5,726 4,425 6,249 6,682 7,284 7,806 6,328 8,329 8,674 9,559 10,444 9,028 13,099 14,073 15,223 16,285 12,568 18,675 20,357 22,215 23,277 lb-in 60 61 97 97 106 230 239 345 345 177 301 411 434 434 434 336 487 770 956 956 956 664 956 1,478 1,912 1,912 1,912 1,735 2,514 3,292 3,992 3,992 2,345 3,452 4,425 5,487 5,576 3,098 4,594 5,895 7,196 7,461 4,602 6,815 9,382 10,532 10,709 6,373 9,205 13,453 13,896 13,896 lb-in 150 310 416 478 266 620 770 956 761 443 867 1,124 1,301 1,301 1,301 841 1,646 2,257 2,514 2,691 2,779 1,770 3,381 5,027 5,726 6,072 6,072 6,072 8,674 9,559 10,444 10,444 8,408 11,240 13,896 15,577 16,905 12,657 16,462 18,233 18,233 21,684 17,347 21,684 28,145 29,473 30,358 25,048 32,,925 42,041 42,041 42,041 Model Rating Table Size Gear Ratio Type Lightweight Special SP Size Oil Grease Oil Grease CSF Series 14~65 30:1~160:1 2UH (Gearhead) Ratio Table 2-1 Rated Torque at 2000rpm Limit for Repeated Peak Torque Limit for AverageTorque Limit for Momentory Peak Torque Maximum Input Speed Limit for Average Input Speed Moment of Inertia 50 58 65 1. Moment of Inertia: I=1/4GD2. 2. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure. 3. *Gear units size 50 and over with a gear ratio of 50:1 must use oil lubrication. If it is necessary to use grease, the rated torque is reduced by 50%.
- 3. No Load Running Torque 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. Measurement condition Table 3-1 Ratio: 100 Harmonic grease SK-2 Recommended quantity No Load Running Torque for Ratio 100 Input Speed 500r/min Input Speed 1000r/min Ambient Temperature (C°) Input Speed 2000r/min No Load Running Torque (Ncm) Size Size Size Size No Load Running Torque (Ncm) Ambient Temperature (C°) Ambient Temperature (C°) No Load Running Torque (Ncm) No Load Running Torque (Ncm) Input Speed 3500r/min Sold & Serviced By: Ambient Temperature (C°) Lubricant Grease Name Grease quantity Harmonic grease SK-1A Torque value is measured after 2 hour run-in at 2000 rpm input. Please contact HDLLC if you are using oil lubricant. Compensation Value for Each Ratio The no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compen-sation value from table 3-2. Table 3-2 Unit: Ncm Ratio Size ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Efficiency Efficiency at Rated Torque (Size 14) Ratio 30 Ambient Temperature (C°) Efficiency (%) Compensation Coefficient (ke) Ratio 100 Ambient Temperature (C°) Efficiency (%) Based on recommended tolerance Efficiency Compensation Coefficient Ratio 50, 80 dR=Efficiency at Rated Torque Torque Ambient Temperature (C°) The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, 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. 3VHK;VYXL™9H[LK;VYXL!,MMPJPLUJ`$,MMPJPLUJ`MYVT.YHWO 3VHK;VYXL#9H[LK;VYXL!,MMPJPLUJ`$,MMPJPLUJ`MYVT.YHWO_ *VTWLUZH[PVU*VLMMPJPLU[MYVT.YHWO Efficiency (%) Torque = Load Torque Rated Torque Table 4-1 Graph 4-1 Measurement condition Installation Load torque Rated torque Lubricant Grease Name Grease quantity Harmonic grease SK-1A Harmonic grease SK-2 Recommended quantity Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. Efficiency Efficiency at Rated Torque (Sizes 17-65) Ratio 30 Ambient Temperature (C°) Efficiency (%) Ratio 50 Ambient Temperature (C°) Efficiency (%) Ratio 80, 100 Ambient Temperature (C°) Efficiency (%) Ratio 120 Ambient Temperature (C°) Efficiency (%) Ratio 160 Ambient Temperature (C°) Efficiency (%) Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. External Dimensions Detailed drawing for input side φT h7 a φe B※ B※ C E F H φm r N 0 t※ -0.1 0 -0.030 C φA E H φk h φR H7 2.5 (#14) 3 (#17) 2-M3×4 2-M3×6 D※ c-φd W f-g φb V F G φy φy φS φQ φP φ0 h7 M1 Y-Z* φX L i φU H7 φT h7 (#14) (#17) No key on WG hub for #14, #17 Please contact Harmonic Drive LLC for installation drawings. * Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension ‘Z’ , damage to the flexspine may occur. Please refer to installation drawing. Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. Dimension Table Symbol Size Note 1: Dimensions in parentheses indicates values for 30:1 gear ratio. Note 2: *Dimensions B, D, t and u indicate the location and tolerance of the wave generator flexspline and circular spline. Please Weight Comparison Unit: kg strictly comply with these dimensions since it influences performance and strength of the gear. Table 7-1 Unit: mm 14 0 -0.9 0 -0.1 0 -0.9 0 -1.0 0 -1.0 0 -1.1 0 -1.1 0 -1.2 0 -1.3 0 -1.3 0 -1.3 0 -0.8 0 -0.9 0 -1.0 0 -1.0 0 -1.1 0 -1.1 0 -1.2 0 -1.3 0 -1.3 0 -1.3 +0.1 0 +0.1 0 +0.1 0 +0.1 0 +0.1 0 +0.1 0 +0.1 0 +0.2 0 17 20 25 32 40 45 50 58 65 73 41 34 7 27 724 1.1 9.4 - 17.6 56 54.6 40.5 11 -8 38 6-- 23 6 M4×8 1 65 6 4.5 38 6 M4 29.0×0.50 S50 31 10 21.4 26 14 0.32 79 45 37 8 29 824 1.1 9.5 - 19.5 63 59.5 47.5 10 -7 48 8-- 27 6 M5×10 1 71 8 4.5 45 8 M4 34.5×0.80 S56 38 10.5 23.5 27 18 0.46 93 45.5 38 7.5 28 10 35 1.1 9- 20.1 72 70 55.5 14 - 10 56 12 13.8 4 32 8 M6×9 1.5 82 8 5.5 53 8 M5 40.64×1.14 S67 45 15.5 23 2.4 7.4 21 0.64 107 52 46 6 36 10 35 1.1 12 - 20.2 86 84.6 71 20 - 15 67（68） 14 16.3 5 42 8 M8×12 1.5 96 10 5.5 66 10 M5 53.28×0.99 S80 58 20 29 2.8 8.8 26 1.1 138 62 57 5 45 12 3 4.5 1.2 15 - 22 113 110 91.1 26 - 20 90 14 16.3 5 55 8 M10×15 1.5 125 14 6.6 86 14 M6 S71 S105 78 27 37 3 11 26 2.2 160 72.5 66.5 6 50.5 16 4 4.5 1.6 5- 27.5 127 124.5 103 32 - 24 110 14 16.3 5 68 8 M10×15 2 144 10 9 106 10 M8 AS568-042 S125 90 34 39.5 5.5 15.5 32 3.5 180 79.5 74 5.5 58 16 46 1.6 6- 27.9 148 143 123 32 - 25 124 19 21.8 6 82 8 M12×18 2 164 16 9 119 16 M8 S100 S145 107 36 45.5 6.1 18.1 32 5.1 190 90 85 5 69 16 4618- 32 158 155 130 40 - 32 135 19 21.8 6 84 8 M14×21 2 174 18 9 133 18 M8 S105 S155 112 39 53 5 19 32 7.0 226 104.5 97 7.5 77 20 56 1.5 10 - 34.9 186 183 155 46 - 38 156 22 24.8 6 100 8 M16×24 2.5 206 16 11 154 16 M10 S125 S180 135 46 62.8 6.8 22.8 40 11.3 260 115 108.5 6.5 84.5 24 56 1.5 10 4 40.9 212 208 180 52 142 44 177 24 27.3 8 110 8 M16×24 2.5 236 12 14 172 12 M12 S135 S205 155 56 66.5 7.6 23.6 48 16.2 φA B※ C D※ E F G H L M1 M2 N φO h7 φP φQ φR1 H7 φR2 H7 φS φT h7 φU H7 V W Js9 φX Y Z a φb c φd φe ｆ g h i φk φm r ｔ※ u※ φy Weight （kg） 14 0.52 0.32 62 17 0.68 0.46 68 20 0.98 0.64 65 25 1.5 1.1 73 32 3.2 2.2 69 40 5.0 3.5 70 65 20.9 16.2 78% 45 7.0 5.1 73% 50 8.9 7.0 79% 58 14.6 11.3 % % % % % % 77% Size CSF Series standard unit type CSF Series LW unit type Weight ratio Sold Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 8. Specification for Crossroller Bearing Pitch Circle dp Offset R Basic Dynamic Rated Load C Basic Static Rated Load Co Allowable Moment Load Mc Moment Stiffness Km m m x102 N lb x102 N lb Nm lb-in x104 Nm/rad x104 lb-in/rad 0.035 0.0425 0.05 0.064 0.083 0.096 0.111 0.119 0.141 0.16 0.0093 0.0091 0.0098 0.0118 0.0133 0.0148 0.0158 0.0180 0.0205 0.0185 47.0 52.9 57.8 96.0 150 213 230 348 518 556 1,057 1,189 1,299 2,158 3,372 4,788 5,171 7,823 11,645 12,499 Installation and Transmission Torque Size 14 17 20 25 32 40 45 50 58 65 60.7 75.5 90.0 151 250 365 426 602 904 1,030 1,365 1,697 2,023 3,395 5,620 8,206 9,577 13,534 20,323 23,155 Bolt connection to output flange and resulting transmission torque 14 6 M4 23 17 6 M5 27 20 8 M6 32 25 8 M8 42 32 8 M10 55 33.6 52.5 74.6 128 257 369 563 622 838 1,525 40 8 M10 68 297 465 660 1,133 2,275 3,266 4,983 5,505 7,417 13,497 45 8 M12 82 50 8 M14 84 3.6 6.4 10.5 19.8 44.2 74.6 116 140 201 331 58 8 M16 100 32 57 93 175 391 660 1,027 1,239 1,779 2,930 65 8 M16 110 4.5 40 49 434 9.0 80 91 805 15.3 135 204 1,806 37 327 486 4,301 74 655 1,019 9,019 74 655 1,258 11,134 128 1133 2,200 19,472 205 1,814 3,070 27,172 319 2,823 4,980 44,077 319 2,823 5,480 48,502 Size Number of screws Size of screws Pitch circle diameter Screw Tightening Torque Torque transmitting capacity lb-in lb-in Bolt connection to housing and resulting transmission torque 14 6 M4 65 3.2 28 98 867 17 8 M4 71 3.2 28 143 1,266 20 8 M5 82 6.4 57 261 2,310 25 10 M5 96 6.4 57 382 3,381 32 12 M6 125 10.8 96 842 7,452 40 10 M8 144 26.5 235 1,488 13,170 45 16 M8 164 26.5 235 2,712 24,003 50 18 M8 174 26.5 235 3,237 28,650 58 16 M10 206 51.9 459 5,350 47,351 65 12 M12 236 90 797 6,649 58,849 Size Number of screws Size of screws Pitch circle diameter Screw Tightening Torque 5 Torque transmitting capacity lb-in lb-in 1. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.9 2. Torque coefficient : K=0.2 3. Clamp coefficient A=1.4 4. Coefficient of friction: 0.15 5. 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. (Please contact a Sales Engineer for more information.)