Harmonic Drive FHA Series User Manual

• Calculating average loads: average radial
and axial loads, average output speed
When the radial and/or axial loads vary during motion, calculate and verify
the life of the cross roller bearing converting the loads to their average values.
• Average radial load: Frav
10/3
n
1
t
1
|
Fr
1
|
10/3
+n
2
t
2
|
Fr
2
|
10/3
...n
n
t
n
|
Frn
10/3
Faav= (2)
√ n
1
t
1
+ n
2
t
2
+ ... +nn tn
Note: "Fr
1
" is the maximum radial load in "t
1
" range,
and "Fr
3
" is the maximum radial load in "t
3
" range.
• Average axial load: Faav
10/3
n
1
t
1
|
Fa
1
|
10/3
+n
2
t
2
|
Fa
2
|
10/3
...n
n
t
n
|
Fa
n
|
10/3
Faav= (3)
√ n
1
t
1
+ n
2
t
2
+ ... +n
n
t
n
Note: "Fa
1
" is the maximum radial load in "t
1
" range,
and "Fa
3
" is the maximum radial load in "t
3
" range.
• Average output speed: Nav
10/3
n
1
t
1
+n
2
t
2
+...n
n
t
n
(4)
Nav=
t
1
+ t
2
+ ... + t
n
• Calculating radial load factor and axial load factor
Both load factors are different with average loads as follows:
• When the right formula is satisfied,
Faav
Frav + 2(Frav ( L r+ R ) + Faav
.
La ) /dp
<1.5 (5)
X=1.0, and Y=0.45
•
When the formula below is satisfied,
Faav
Frav + 2(Frav ( Lr + R ) + Faav
.
La ) /dp
>1.5 (5’)
X=0.67, and Y=0.67
Where, the variables of the formula are:
Mmax: Maximum torsional moment in N•m(kgf•m); obtained by the formula (1)
Frmax: Maximum radial load in N(kgf); See Fig.1.
Famax: Maximum axial load in N(kgf); See Fig.1.
Lr, La: Loading point in mm; See Fig.1.
R: Offset; See Fig.1 and Table 1.
dp: Circular pitch of roller: See Fig.1 and Table 1.
Chapter 2 Guidelines for sizing
Time
Time
Time
Fr
1
Fr
2
Fa
1
Fa
2
Fr
3
Fa
3
t
1
t
2
t
3
n
1
n
2
n
3
– Axial load +
– Axial load +– Axial load +
21

Harmonic Drive FHA Series Specifications

General

Brand	Harmonic Drive
Model	FHA Series
Category	Controller
Language	English