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Harmonic Drive FHA Series User Manual

Harmonic Drive FHA Series
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Equivalent static radial load
Equivalent static radial load is obtained by formula (9) below.
2Mmax
P
O
= Frmax + 0.44 Famax (9)
dp
Where, the variables of the formula are:
Po: Equivalent static radial load in N (kgf)
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.
dp: Circular pitch of roller: See Fig.1 and Table 1.
• Static safety factor
Generally, the static safety factor is limited by the basic static load rating (Co).
However, for the heavy duty, the factor is limited by the following formula:
Co
fs = (10)
Po
Where, the variables of the formula are:
fs: Static safety factor;
For precise positioning operation: fs > 3
For operation with shock and/or vibration: fs > 2
For normal operation: fs > 1.5
Co: Basic static load rating in N (kgf). See Table 1.
Po: Equivalent static radial load in N (kgf); obtained by formula (9).
23
Chapter 2 Guidelines for sizing

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Harmonic Drive FHA Series Specifications

General IconGeneral
BrandHarmonic Drive
ModelFHA Series
CategoryController
LanguageEnglish

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