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Harmonic Drive Reducer

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Detail

■ CSF Series

The strain wave reducer of CSF series have a standard cup-shaped flexspline, the input shaft is matched with the inner hole of wave generator through Oldham’s coupling which has a function of certain self-alignment.

● Rated Parameters

Model	Reduction ratio	Rated torque @2000 r/min (Nm)	Permissible peak torque of starting/stopping (N ·m)	Permissible max value of ave. load torque (N ·m)	Instantaneous permissible max torque (N ·m)	Permissible max input rotational speed (r/min)	Permissible ave input rotational speed (r/min)	Inertia moment (×10*kgm²)	Life in design (h)
14	50	5.4	18	6.9	35	8500	3500	0.033	10000
	80	7.8	23	11	47
	100	7.8	28	11	54
17	50	16	34	26	70	7300	3500	0.079	10000
	80	22	43	27	87
	100	24	54	39	108
20	50	25	56	34	98	6500	3500	0.193	10000
	80	34	74	47	127
	100	40	82	49	147
	120	40	87	49	147
25	50	39	98	55	186	5600	3500	0.413	10000
	80	63	137	87	255
	100	67	157	108	284
	120	67	167	108	304
32	50	76	216	108	382	4800	3500	1.690	10000
	80	118	304	167	568
	100	137	333	216	647
	120	137	353	216	686

● Transmission accuracy

unite: arc-min

Reduction ratio	Model	14	17	20	25	32
50		1.8	1.8	1.5	1.5	1.5
80 or more		1.5	1.5	1.2	1.2	1.2

● Lost motion

unite: arc-min

Reduction ratio	Model	14	17	20	25	32
50		2.0	2.0	2.0	2.0	2.0
80以上80 or more		1.0	1.0	1.0	1.0	1.0

● Max. backlash quantity

Unit: arc-sec

● Torsional rigidity

Symbol	Model	14	17	20	25	32
T₁	N-m	2.00	3.90	7.00	14.0	29.0
T₂	N ·m	6.90	12.0	25.0	48.0	108
Reduction ratio 50	K,(×10⁴N-m/rad)	0.34	0.81	1.30	2.50	5.40
	K₂ (×10'N ·m/rad)	0.47	1.10	1.80	3.40	7.80
	K₃ (×10⁴N ·m/rad)	0.57	1.30	2.30	4.40	9.80
	θ,(arc min)	2.00	1.70	1.80	1.90	1.90
	θ₂ (arc min)	5.60	4.20	5.30	5.40	5.40
Reduction ratio 80 or more	K,(×10*N ·m/rad)	0.47	1.00	1.60	3.10	6.70
	K₂ (×10°N ·m/rad)	0.61	1.40	2.50	5.00	11.0
	K₃ (×10*N-m/rad)	0.71	1.60	2.90	5.70	12.0
	θ,(arc min)	1.40	1.30	1.50	1.50	1.50
	θ₂ (arc min)	4.20	3.30	3.90	3.80	4.00

■ Outline drawing

Note: The engagement length of bolt should be less than the depth of internal thread. ΦS represent the shape of the through hole which leads to the inside of the product. The shape
of the output flange will be different according to different models of reducers. For details of dimensions, please confirm the delivered outline drawing with reducer.

■ Specification Table

Symbol	Model	14	17	20	25	32
ΦA		73	79	93	107	138
B*		41⁺⁰_{- 0.9}	45⁺⁰_{- 0.9}	45⁺⁰_{- 1.0}	52⁺⁰_{- 1.0}	62⁺⁰_{- 1.1}
C		34	37	38	46	57
D*	CSG	7⁺⁰_{- 0.4}	8⁺⁰_{- 0.4}	7.5⁺⁰_{- 0.4}	6⁺⁰_{- 0.5}	5⁺⁰_{- 0.5}
D*	CSF	7⁺⁰_{- 0.8}	8⁺⁰_{- 0.9}	7.5⁺⁰_{- 1.0}	6⁺⁰_{- 1.0}	5⁺⁰_{- 1.1}
E		27	29	28	36	46
F		7	8	10	10	12
G		2	2	3	3	3
H		3.5	4	5	5	5
1		16.5	16.5	16.5	18.5	22.5
J		4.5	4.5	4	4.5	5.5
K		12	12	12.5	14	17
L		0.5	0.5	0.5	0.5	1.0
M1		9.4	9.5	9	12	15
N⁺⁰_{- 0.1}	CSG	18.5	20.7	21.5	21.5	23.6
N⁺⁰_{- 0.1}	CSF	17.6	19.5	20.1	20.2	22
Ф0h7		56	63	72	86	113
ФP		55	62	70	85	112
ФQ		42.5	49.5	58	73	96
ΦR1 H7		11	10	14	20	26
ФS		8	7	10	15	20
ФT h7		38	48	56	67	90
ФU h7		6	8	12	14	14
V		-	9.4^+0.1₊₀	13.8^+0.1₊₀	16.3^+0.1₊₀	16 .3^+0.1₊₀
W Js9		-	3	4	5	5
ФX		23	27	32	42	55
Y		6	6	8	8	8
Z		M4X8	M5X10	M6X9	M8X12	M10X15
a		1	1	1.5	1.5	1.5
Φb		65	71	82	96	125
C	CSG	8	8	8	10	12
C	CSF	6	6	6	8	12
Φd		4.5	4.5	5.5	5.5	6.6
Φe		38	45	53	66	86
f	CSG	8	8	8	10	12
f	CSF	6	6	6	8	12
g		M4	M4	M5	M5	M6
h		29X0.5	34.5X0.8	40.64X1.14	53.28X0.99	S71:70.5X2
i		48X2	53X2	66X2	78X2	102X2
Φk		31	38	45	58	78
Φm		10	10.5	15.5	20	27
		21.4	23.5	23	29	37
t*	CSG	1.1	0.8	1	1.4	1.4
t*	CSF	2	2	2.4	2.8	3
u*	CSG	5.1	5.8	6	7.4	9.4
u*	CSF	6	7	7.4	8.8	11
Φy		14	18	21	26	26
Weight(kg)		0.52	0.68	0.98	1.5	3.2
· Specification with * mark: The B, D, t, u indicate the mounting positions in the shaft direction and allowance of the three parts--wave generator, flexspline, circular spline. Strictly follow the requirement of these specifications as they affect the performance and intensity.
· The dimension tolerances are existing according to different manufacturing methods.
· The wave generator is packed separately when the product is delivered.

Harmonic Drive Reducer

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