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HFUS-2A Series
Harmonic Drive HFUS-2A Series User Manual
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HFUS-
2A C
omponent Sets
Engineering Data
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2
Table of Contents
Default Chapter
2
Table of Contents
2
1 General
3
Description of Safety Alert Symbols
4
Disclaimer and Copyright
4
2 Safety and Installation Instructions
5
Hazards
5
Intended Purpose
6
Non Intended Purpose
6
Declaration of Conformity
7
3 Technical Description
8
Product Description
8
Ordering Code
9
Technical Data
10
General Technical Data
10
Dimensions
11
Minimum Housing Clearance
15
Accuracy
15
Torsional Stiffness
15
4 Actuator Selection Procedure
16
Selecting Harmonic Drive® Gears
18
Torque Based Dimensioning
19
Life of the Wave Generator Bearing
21
Stiffness Based Dimensioning
22
Calculation of the Torsion Angle
24
Accuracy of the Oldham Coupling
24
Efficiency Versus Load
25
Efficiency Calculations
25
Efficiency Tables
26
No Load Starting-, Back Driving- and Running Torque
29
No Load Running Torque
29
No Load Starting Torque
30
No Load Back Driving Torque
30
Lubrication
31
Grease Lubrication
31
Oil Lubrication
33
Axial Forces at the Wave Generator
34
5 Installation and Operation
35
Transportation and Storage
35
Gear Conditions at Delivery
35
Assembly Instructions
36
Recommended Tolerances for Assembly
40
Wave Generator Components
41
Bore Diameter for Solid Wave Generators
41
Lubrication
42
Grease Lubrication
42
Grease Reservoir
44
Grease Change
44
Gears with Oil Lubrication
45
Lubrication Holes
46
Preparation for Assembly
46
Assembly
47
Assembly of the Circular Spline
48
Assembly of the Flexspline
48
Flexspline Screws
49
Assembly of the Wave Generator to the Input Shaft
50
Check before Assembly of the Wave Generator
50
Final Check of Position of the Wave Generator
50
Assembly Control
50
6 Glossary
51
Technical Data
51
Labelling, Guidelines and Regulations
57
4
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Harmonic Drive HFUS-2A Series Specifications
General
Type
Harmonic Drive
Model
HFUS-2A Series
Category
Industrial Equipment
Input Speed
6000 rpm
Backlash
<1 arcmin
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