Harmonic Drive CHA - Default Chapter; Table of Contents

2 1018854 12/2015 V01
Contents
1. General ................................................................................................................................................. 03
1.1 Description of Safety Alert Symbols ...................................................................................................................................04
1.2 Disclaimer and Copyright .....................................................................................................................................................04
2. Safety and Installation Instructions ................................................................................................... 05
2.1 Hazards .................................................................................................................................................................................05
2.2 Intended Purpose .................................................................................................................................................................06
2.3 Non Intended Purpose .......................................................................................................................................................... 07
2.4 Declaration of Conformity .................................................................................................................................................... 07
3. Technical Description ........................................................................................................................... 08
3.1 Product Description ..............................................................................................................................................................08
3.2 Ordering Code .......................................................................................................................................................................09
3.3 Technical Data .........................................................................................................................................................................11
3.3.1 General Technical Data ......................................................................................................................................11
3.3.2 Actuator Data ................................................................................................................................................... 12
3.3.3 Dimensions ...................................................................................................................................................... 46
3.3.4 Accuracy ........................................................................................................................................................... 50
3.3.5 Torsional Stiness ..........................................................................................................................................50
3.3.6 Output Bearing ................................................................................................................................................. 51
3.3.7 Motor Feedback Systems ............................................................................................................................... 52
3.3.8 Temperature Sensors .......................................................................................................................................57
3.3.9 Electrical Connections .....................................................................................................................................58
3.3.10 Options ............................................................................................................................................................. 63
4. Actuator Selection Preocedure ........................................................................................................... 64
4.1 Selection Procedure and Calculation Example .................................................................................................................... 64
4.2 Calculation of the Torsion Angle ..........................................................................................................................................68
4.3 Output Bearing ..................................................................................................................................................................... 69
4.3.1 Lifetime Calculation ........................................................................................................................................ 69
4.3.2 Angle of Inclination .......................................................................................................................................... 71
5. Installation and Operation ...................................................................................................................72
5.1 Transport and Storage ...........................................................................................................................................................72
5.2 Installation ...........................................................................................................................................................................72
5.3 Mechanical Installation .........................................................................................................................................................72
5.4 Electrical Installation .............................................................................................................................................................73
5.5 Commissioning ......................................................................................................................................................................74
5.6 Overload Protection ...............................................................................................................................................................74
5.7 Protection against Corrosion and Penetration od Liquids and Debris ................................................................................75
5.8 Shutdown and Maintenance .................................................................................................................................................75
6. Decommissioning and Disposal ........................................................................................................... 77
7. Glossary ................................................................................................................................................. 78
7.1 Technical Data ....................................................................................................................................................................... 78
7.2 Labelling, Guidelines and Regulations ................................................................................................................................84