Engineering Data

SHG-2UH / 2SO / 2SH Units

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Contents

1. General................................................................................................................................................... 4
1.1 Description of Safety Alert Symbols.....................................................................................................................................5
1.2 Disclaimer and Copyright.......................................................................................................................................................5

2. Safety and Installation Instructions..................................................................................................... 6

2.1 Hazards...................................................................................................................................................................................6
2.2 Intended Purpose................................................................................................................................................................... 7
2.3 Non Intended Purpose........................................................................................................................................................... 7
2.4 Use in Special Application Areas.......................................................................................................................................... 8
2.5 Declaration of Conformity..................................................................................................................................................... 8
2.5.1 Gears........................................................................................................................................................................... 8
2.5.2 Servo Actuators and Motors..................................................................................................................................... 8

3. Technical Description............................................................................................................................. 9
3.1 Product Description................................................................................................................................................................9
3.2 Ordering Code....................................................................................................................................................................... 10
3.3 Technical Data........................................................................................................................................................................ 11
3.3.1 General Technical Data.............................................................................................................................................. 11
3.3.2 Dimensions............................................................................................................................................................... 12
3.3.3 Minimum Housing Dimensions SHG-2SO and SHG-2SH........................................................................................ 21
3.3.4 Accuracy.................................................................................................................................................................... 21
3.3.5 Torsional Stiffness....................................................................................................................................................22
3.3.6 Bearings.....................................................................................................................................................................23
3.3.7. Housing Materials and Surfaces..............................................................................................................................26

4. Actuator Selection................................................................................................................................27
4.1 Selecting Harmonic Drive® Gears.........................................................................................................................................29
4.1.1 Torque Based Dimensioning.................................................................................................................................... 30
4.1.2 Life of the Wave Generator Bearing........................................................................................................................32
4.1.3 Stiffness Based Dimensioning.................................................................................................................................33
4.2 Calculation of the Torsion Angle..........................................................................................................................................35
4.3 Accuracy of the Oldham Coupling SHG-2SO.......................................................................................................................35
4.4 Efficiency Calculation SHG-2UH..........................................................................................................................................36
4.4.1 Efficiency Calculation Scheme.................................................................................................................................36
4.4.2 Efficiency Correction factor...................................................................................................................................... 37
4.4.3 Efficiency Correction Value....................................................................................................................................... 37
4.4.4 Efficiency Tables...................................................................................................................................................... 38
4.5 No Load Torque values SHG-2UH....................................................................................................................................... 38
4.5.1 No Load Running Torque..........................................................................................................................................39
4.5.2 No Load Starting Torque......................................................................................................................................... 40
4.5.3 No Load Back Driving Torque................................................................................................................................... 40
4.6 Continuous Operation SHG-2UH.......................................................................................................................................... 41
4.7 Output Bearing Operating Life............................................................................................................................................42
4.7.1 Output Bearing at Oscillating Motion..................................................................................................................... 44
4.8 Permissible Static Tilting Moment..................................................................................................................................... 45
4.9 Angle of Inclination............................................................................................................................................................. 45
4.10 Lubrication........................................................................................................................................................................... 46
4.10.1 Grease Lubrication................................................................................................................................................... 46
4.10.2 Oil Lubrication.......................................................................................................................................................... 48
4.11 Axial Forces at the Wave Generator SHG-2SO and SHG-2SH........................................................................................... 49

2 1021387 12/2018 V02

5. Installation and Operation.................................................................................................................. 50
5.1 Transport and Storage......................................................................................................................................................... 50
5.2 Gear Condition at Delivery................................................................................................................................................... 50
5.3 Assembly Information........................................................................................................................................................ 50
5.4 Recommended Tolerances for Assembly SHG-2SO and SHG-2SH.................................................................................... 51
5.5 Lubrication............................................................................................................................................................................52
5.5.1 Grease lubrication SHG-2UH ...................................................................................................................................52
5.5.2 Grease Lubrication SHG-2SO and SHG-2SH............................................................................................................52
5.5.3 Additional Grease Package.......................................................................................................................................53
5.5.4 Grease Change..........................................................................................................................................................53
5.5.5 Oil Lubrication.......................................................................................................................................................... 54
5.6 Assembly Preparation......................................................................................................................................................... 54
5.7 Assembly of SHG-2SO and SHG-2SH Units........................................................................................................................55
5.7.1 Motor Assembly SHG-2SO.......................................................................................................................................56
5.7.2 Wave Generator Components SHG-2SO..................................................................................................................57
5.7.3 Mounting the Wave Generator (WG) to the Motor Shaft .....................................................................................57
5.7.4 Check before Assembly of the Wave Generator (WG)........................................................................................... 58
5.7.5 Assembly of the Wave Generator (WG) into the Flexspline (FS) ......................................................................... 58
5.7.6 Assembly Control..................................................................................................................................................... 58
5.7.7 Assembly of the Output Flange...............................................................................................................................59
5.7.8 Assembly of the Housing Flange.............................................................................................................................59
5.7.9 Installation of the Input Shaft SHG-2UH and SHG-2SH.........................................................................................59

6. Decommissioning and Disposal..........................................................................................................60

7. Glossary.................................................................................................................................................61
7.1 Technical Data ...................................................................................................................................................................... 61
7.2 Labelling, Guidelines and Regulations............................................................................................................................... 68

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1. General

About this documentation

This document contains safety instructions, technical data and operation rules for servo actuators and servo motors of
Harmonic Drive AG.
The documentation is aimed at planners, project engineers, commissioning engineers and machine manufacturers, offering
support during selection and calculation of the servo actuators, servo motors and accessories.

Rules for storage

Please keep this document for the entire life of the product, up to its disposal. Please hand over the documentation when
re-selling the product.

Additional documentation
For the configuration of drive systems using the products of Harmonic Drive AG, you may require additional documents.
Documentation is provided for all products offered by Harmonic Drive AG and can be found in pdf format on the website.

www.harmonicdrive.de

Third-party systems
Documentation for parts supplied by third party suppliers, associated with Harmonic Drive® Components, is not included in
our standard documentation and should be requested directly from the manufacturers.

Before commissioning servo actuators and servo motors from Harmonic Drive AG with servo drives, we advise you to obtain
the relevant documents for each device.

Your feedback
Your experiences are important to us. Please send suggestions and comments about the products and documentation to:

Harmonic Drive AG
Marketing and Communications
Hoenbergstraße 14
65555 Limburg / Lahn
Germany
E-Mail: [email protected]

4 1021387 12/2018 V02

1.1 Description of Safety Alert Symbols

Symbol Meaning

Indicates an imminent hazardous situation. If this is not avoided, death or

DANGER serious injury could occur.

Indicates a possible hazard. Care should be taken or death or serious injury may
WARNING result.

Indicates a possible hazard. Care should be taken or slight or minor injury

ATTENTION may result.

Describes a possibly harmful situation. Care should be taken to avoid damage

ADVICE to the system and surroundings.

INFORMATION This is not a safety symbol. This symbol indicates important information.

Warning of a general hazard. The type of hazard is determined by the

specific warning text.

Warning of dangerous electrical voltage and its effects.

Beware of hot surfaces.

Beware of suspended loads.

Precautions when handling electrostatic sensitive components.

Beware of electromagnetic environmental compatibility.

1.2 Disclaimer and Copyright

The contents, images and graphics contained in this document are predected by copyright. In addition to the copyright, logos,
fonts, company and product names can also be predected by brand law or trademark law. The use of text, extracts or graphics
requires the permission of the publisher or rights holder.

We have checked the contents of this document. Since errors cannot be ruled out entirely, we do not accept liability for mis-
takes which may have occurred. Notification of any mistake or suggestions for improvements will be gratefully received and any
necessary correction will be included in subsequent editions.

1021387 12/2018 V02 5

2. Safety and Installation Instructions
Please take note of the information and instructions in this document. Specially designed models may differ in technical
detail. If in doubt, we recommend to contact the manufacturer, giving the type designation and serial number for
clarification.

2.1 Hazards

DANGER
Electric servo actuators and motors have dangerous live and rotating parts. All work during connection, operation, repair and
disposal must be carried out by qualified personnel as described in the standards EN 50110-1 and IEC 60364! Before starting
any work, and especially before opening covers, the actuator must be properly isolated. In addition to the main circuits, the
user also has to pay attention to any auxilliary circuits.

Observing the five safety rules:

• Disconnect mains
• Prevent reconnection
• Test for absence of harmful voltages
• Ground and short circuit
• Cover or close off nearby live parts

The measures taken above must only be withdrawn when the work has been completed and the device is fully assembled.
Improper handling can cause damage to persons and property. The respective national, local and factory specific regulations
must be adhered to.

ATTENTION
The surface temperature of products exceed 55 degrees Celsius. The hot surfaces should not be touched.

ADVICE
Cables must not come into direct contact with hot surfaces.

DANGER
Electric, magnetic and electromagnetic fields are dangerous, in particular for persons with heart pacemaker, implants or
similiar. Vulnerable individuals must not be in the close proximity of the product.

DANGER
Built-in holding brakes are not functional safe by themselves. Particularly with unsupported vertical axes, functional safety
can only be achieved with additional, external mechanical brakes.

6 1021387 12/2018 V02

 DANGER
Danger of injury due to improper handling of batteries.

Observing of the battery safety rules:

• do not insert batteries in reverse. Observe the + and - marks on the battery and on the electrical device
• do not short circuit
• do not recharge
• do not open or deform
• do not expose to fire, water or high temperature
• do not leave discharged batteries in the electrical device
• keep batteries out of reach of children. In case of ingestion of a battery, seek medical assistance promptly.

WARNING
The successful and safe operation of products requires proper transport, storage and assembly as well as correct operation
and maintenance.

ATTENTION
Use suitable lifting equipment to move and lift products with a weight > 20 kg.

INFORMATION
Special versions of products may differ in the specification from the standard. Further applicable data from data sheets,
catalogues and offers of the special version have to be considered.

2.2 Intended Purpose

Harmonic Drive® Products are intended for industrial or commercial applications.

Typical areas of application are robotics and handling, machine tools, packaging and food machines and similar machines.

The products may only be operated within the operating ranges and environmental conditions shown in the documentation
(altitude, degree of predection, temperature range, etc).

Before commissioning of plants and machinery including Harmonic Drive® Products, the compliance with the Machinery
Directive must be established.

2.3 Non Intended Purpose

The use of products outside the areas of application mentioned above or beyond the operating areas or environmental
conditions described in the documentation is considered as non-intended purpose.

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2.4 Use in Special Application Areas
The use of the products in one of the following application areas requires a risk assessment and approval by
Harmonic Drive AG.

• Aerospace
• Areas at risk of explosion
• Machines specially constructed or used for a nuclear purpose whose breakdown might lead to the emission of radio-activity
• Vacuum
• Household devices
• Medical equipment
• Devices which interact directly with the human body
• Machines or equipment for transporting or lifting people
• Special devices for use in annual markets or leisure parks

2.5 Declaration of Conformity

2.5.1 Gears

Harmonic Drive® Gears are components for installation in machines as defined by the Machinery Directive.
Commissioning is prohibited until the end product conforms to the provisions of this directive.

Essential health and safety requirements were considered in the design and manufacture of these gear component sets.
This simplifies the implementation of the Machinery Directive by the end user for the machinery or the partly completed
machinery. Commissioning of the machine or partly completed machine is prohibited until the end product conforms to the
Machinery Directive.

2.5.2 Servo Actuators and Motors

The Harmonic Drive® Servo Actuators and Motors described in the engineering data comply with the Low Voltage Directive.
In accordance with the Machinery Directive, Harmonic Drive® Servo Actuators and Motors are electrical equipment
for the use within certain voltage limits as covered by the Low Voltage Directive and thus excluded from the scope of the
Machinery Directive. Commissioning is prohibited until the final product conforms to the Machinery Directive.

According to the EMC directive Harmonic Drive® Servo Actuators and Motors are inherently benign equipment, unable to
generate electromagnetic disturbance or to be affected by such disturbance.

The conformity to the EU directives of equipment, plant and machinery in which Harmonic Drive® Servo Actuators and Motors
are installed must be provided by the user before taking the device into operation.

Equipment, plant and machinery with inverter driven motors must satisfy the protection requirements of the EMC directive.
It is the responsibility of the user to ensure that the installation is carried out correctly.

8 1021387 12/2018 V02

3. Technical Description
3.1 Product Description

Maximum torque capacity with largest hollow shaft

The SHG-2UH Series Units are available in ten sizes with gear ratios of 50, 80, 100, 120 and 160:1 offering repeated peak
torques from 23 to 3419 Nm.

The integrated output bearing with high tilting capacity enables the direct attachment of heavy payloads without the need
for further support, ensuring a simple and space-saving design.

The SHG-2UH Unit is fully sealed with a large hollow shaft diameter to feed through supply lines, shafts or cables for further
drive systems. The gears cover a wide torque range and feature a long service life, confirmed by many years of successful
service.

The SHG-2SH and -2SO Simplicity Units are very short and lightweight. The absence of input and output flanges means ma-
ximum flexibility in design integration. The -2SH version comes with a large hollow shaft and the -2SO versions is delivered
with a standard Wave Generator.

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3.2 Ordering Code

Table 10.1

Series Size Ratio1) Version Special design

14 50 80 100
17 50 80 100 120
20 50 80 100 120 160
25 50 80 100 120 160 2UH
32 50 80 100 120 160 According
2SO
SHG to customer
40 50 80 100 120 160 requirements
2SH
45 50 80 100 120 160
50 50 80 100 120 160
58 50 80 100 120 160
65 80 100 120 160

Ordering code

SHG- - - 25 - 100 - - - 2UH - - SP

1)
The ratios shown here are for a standard driving configuration with the circular spline fixed, the Wave Generator used for the input and the Flexspline
attached to the output. Other configurations are possible. Please consult chapter 4 “Ratio”.

Table 10.2

Version

Ordering code Description

2UH Unit with hollow shaft
2SO Simplicity Unit for motor assembly
2SH Simplicity Unit with hollow shaft

Clarification of the technical data can be found in the Glossary

10 1021387 12/2018 V02

3.3 Technical Data
3.3.1 General Technical Data

Table 11.1
Symbol
SHG-14
[Unit]
Ratio i[] 50 80 100
Repeated peak toque TR [Nm] 23 30 36
Average torque TA [Nm] 9.0 14 14
Rated torque TN [Nm] 7.0 10 10
Momentary peak torque TM [Nm] 46 67 70
Maximum input speed (oil lubrication) nin (max) [rpm] 14000
Maximum input speed (grease lubrication) nin (max) [rpm] 8500
Average input speed (oil lubrication) nav (max) [rpm] 6500 / 11001)
Average input speed (grease lubrication) nav (max) [rpm] 3500 / 11001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 0.091
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 0.033
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 0.091
Weight SHG-2UH m [kg] 0.71
Weight SHG-2SO m [kg] 0.41
Weight SHG-2SH m [kg] 0.45
) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.
1)

Table 11.2

Symbol
SHG-17
[Unit]
Ratio i[] 50 80 100 120
Repeated peak toque TR [Nm] 44 56 70 70
Average torque TA [Nm] 34 35 51 51
Rated torque TN [Nm] 21 29 31 31
Momentary peak torque TM [Nm] 91 113 143 112
Maximum input speed (oil lubrication) nin (max) [rpm] 10000
Maximum input speed (grease lubrication) nin (max) [rpm] 7300
Average input speed (oil lubrication) nav (max) [rpm] 6500 / 11001)
Average input speed (grease lubrication) nav (max) [rpm] 3500 / 11001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 0.193
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 0.079
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 0.193
Weight SHG-2UH m [kg] 1.0
Weight SHG-2SO m [kg] 0.57
Weight SHG-2SH m [kg] 0.63
1)
) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

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3.3.2 Dimensions

Illustration 12.1 SHG-14-2UH [mm] Illustration 12.2 SHG-14-2SO [mm] Illustration 12.3 SHG-14-2SH [mm]

Illustration 12.4 SHG-17-2UH [mm] Illustration 12.5 SHG-17-2SO [mm] Illustration 12.6 SHG-17-2SH [mm]

12 1021387 12/2018 V02

Table 13.1

Symbol
SHG-20
[Unit]
Ratio i[] 50 80 100 120 160
Repeated peak toque TR [Nm] 73 96 107 113 120
Average torque TA [Nm] 44 61 64 64 64
Rated torque TN [Nm] 33 44 52 52 52
Momentary peak torque TM [Nm] 127 165 191 191 191
Maximum input speed (oil lubrication) nin (max) [rpm] 10000
Maximum input speed (grease lubrication) nin (max) [rpm] 6500
Average input speed (oil lubrication) nav (max) [rpm] 6500 / 11001)
Average input speed (grease lubrication) nav (max) [rpm] 3500 / 11001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 0.404
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 0.193
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 0.404
Weight SHG-2UH m [kg] 1.38
Weight SHG-2SO m [kg] 0.81
Weight SHG-2SH m [kg] 0.89

) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.
1)

Table 13.2

Symbol
SHG-25
[Unit]
Ratio i[] 50 80 100 120 160
Repeated peak toque TR [Nm] 127 178 204 217 229
Average torque TA [Nm] 72 113 140 140 140
Rated torque TN [Nm] 51 82 87 87 87
Momentary peak torque TM [Nm] 242 332 369 395 408
Maximum input speed (oil lubrication) nin (max) [rpm] 7500
Maximum input speed (grease lubrication) nin (max) [rpm] 5600
Average input speed (oil lubrication) nav (max) [rpm] 5600 / 10001)
Average input speed (grease lubrication) nav (max) [rpm] 3500 / 10001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 1.07
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 0.413
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 1.07
Weight SHG-2UH m [kg] 2.1
Weight SHG-2SO m [kg] 1.31
Weight SHG-2SH m [kg] 1.44

) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.
1)

1021387 12/2018 V02 13

Illustration 14.1 SHG-20-2UH [mm] Illustration 14.2 SHG-20-2SO [mm] Illustration 14.3 SHG-20-2SH [mm]

Illustration 14.4 SHG-25-2UH [mm] Illustration 14.5 SHG-25-2SO [mm] Illustration 14.6 SHG-25-2SH [mm]

14 1021387 12/2018 V02

Table 15.1

Symbol
SHG-32
[Unit]
Ratio i[] 50 80 100 120 160
Repeated peak toque TR [Nm] 281 395 433 459 484
Average torque TA [Nm] 140 217 281 281 281
Rated torque TN [Nm] 99 153 178 178 178
Momentary peak torque TM [Nm] 497 738 841 892 892
Maximum input speed (oil lubrication) nin (max) [rpm] 7000
Maximum input speed (grease lubrication) nin (max) [rpm] 4800
Average input speed (oil lubrication) nav (max) [rpm] 4600 / 10001)
Average input speed (grease lubrication) nav (max) [rpm] 3500 / 10001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 2.85
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 1.69
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 2.85
Weight SHG-2UH m [kg] 4.2
Weight SHG-2SO m [kg] 2.9
Weight SHG-2SH m [kg] 3.1
1)
) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

Table 15.2

Symbol
SHG-40
[Unit]
Ratio i[] 50 80 100 120 160
Repeated peak toque TR [Nm] 523 675 738 802 841
Average torque TA [Nm] 255 369 484 586 586
Rated torque TN [Nm] 178 268 345 382 382
Momentary peak torque TM [Nm] 892 1270 1400 1530 1530
Maximum input speed (oil lubrication) nin (max) [rpm] 5600
Maximum input speed (grease lubrication) nin (max) [rpm] 4000
Average input speed (oil lubrication) nav (max) [rpm] 3600 / 9501)
Average input speed (grease lubrication) nav (max) [rpm] 3000 / 9501)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 9.28
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 4.50
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 9.28
Weight SHG-2UH m [kg] 7.7
Weight SHG-2SO m [kg] 5.1
Weight SHG-2SH m [kg] 5.4
1
) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

1021387 12/2018 V02 15

Illustration 16.1 SHG-32-2UH [mm] Illustration 16.2 SHG-32-2SO [mm] Illustration 16.3 SHG-32-2SH [mm]

Illustration 16.4 SHG-40-2UH [mm] Illustration 16.5 SHG-40-2SO [mm] Illustration 16.6 SHG-40-2SH [mm]

16 1021387 12/2018 V02

Table 17.1

Symbol
SHG-45
[Unit]
Ratio i[] 50 80 100 120 160
Repeated peak toque TR [Nm] 650 918 982 1070 1147
Average torque TA [Nm] 345 507 650 806 819
Rated torque TN [Nm] 229 407 452 523 523
Momentary peak torque TM [Nm] 1235 1651 2041 2288 2483
Maximum input speed (oil lubrication) nin (max) [rpm] 5000
Maximum input speed (grease lubrication) nin (max) [rpm] 3800
Average input speed (oil lubrication) nav (max) [rpm] 3300 / 9001)
Average input speed (grease lubrication) nav (max) [rpm] 3000 / 9001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 13.8
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 8.68
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 13.8
Weight SHG-2UH m [kg] 10
Weight SHG-2SO m [kg] 6.5
Weight SHG-2SH m [kg] 6.9

) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.
1)

Table 17.2

Symbol
SHG-50
[Unit]
Ratio i[] 80 100 120 160
Repeated peak toque TR [Nm] 1223 1274 1404 1534
Average torque TA [Nm] 675 866 1057 1096
Rated torque TN [Nm] 484 611 688 688
Momentary peak torque TM [Nm] 1860 2678 2678 3185
Maximum input speed (oil lubrication) nin (max) [rpm] 4500
Maximum input speed (grease lubrication) nin (max) [rpm] 3500
Average input speed (oil lubrication) nav (max) [rpm] 3000 / 8501)
Average input speed (grease lubrication) nav (max) [rpm] 2500 / 8501)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 25.2
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 12.5
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 25.2
Weight SHG-2UH m [kg] 14.5
Weight SHG-2SO m [kg] 9.6
Weight SHG-2SH m [kg] 10.2
1)
Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

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Illustration 18.1 SHG-45-2UH [mm] Illustration 18.2 SHG-45-2SO [mm] Illustration 18.3 SHG-45-2SH [mm]

Illustration 18.4 SHG-50-2UH [mm] Illustration 18.5 SHG-50-2SO [mm] Illustration 18.6 SHG-50-2SH [mm]

18 1021387 12/2018 V02

Table 19.1

Symbol
SHG-58
[Unit]
Ratio i[] 80 100 120 160
Repeated peak toque TR [Nm] 1924 2067 2236 2392
Average torque TA [Nm] 1001 1378 1547 1573
Rated torque TN [Nm] 714 905 969 969
Momentary peak torque TM [Nm] 3185 4134 4329 4459
Maximum input speed (oil lubrication) nin (max) [rpm] 4000
Maximum input speed (grease lubrication) nin (max) [rpm] 3000
Average input speed (oil lubrication) nav (max) [rpm] 2700 / 8001)
Average input speed (grease lubrication) nav (max) [rpm] 2200 / 8001)
Moment of inertia SHG-2UH Jin [· 10-4 kgm²] 49.5
Moment of inertia SHG-2SO Jin [· 10 kgm²]
-4 27.3
Moment of inertia SHG-2SH Jin [· 10 kgm²]
-4 49.5
Weight SHG-2UH m [kg] 20
Weight SHG-2SO m [kg] 13.5
Weight SHG-2SH m [kg] 14.1
1
) Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

Table 19.2

Symbol
SHG-65
[Unit]
Ratio i[] 80 100 120 160
Repeated peak toque TR [Nm] 2743 2990 3263 3419
Average torque TA [Nm] 1352 1976 2041 2041
Rated torque TN [Nm] 969 1236 1236 1236
Momentary peak torque TM [Nm] 4836 6175 6175 6175
Maximum input speed (oil lubrication) nin (max) [rpm] 3500
Maximum input speed (grease lubrication) nin (max) [rpm] 2800
Average input speed (oil lubrication) nav (max) [rpm] 2400 / 8001)
Average input speed (grease lubrication) nav (max) [rpm] 1900 / 8001)
Moment of inertia SHG-2UH Jin [· 10 kgm²]
-4 94.1
Moment of inertia SHG-2SO Jin [· 10-4 kgm²] 46.8
Moment of inertia SHG-2SH Jin [· 10-4 kgm²] 94.1
Weight SHG-2UH m [kg] 28.5
Weight SHG-2SO m [kg] 19.5
Weight SHG-2SH m [kg] 20.9
1)
Valid for SHG-2UH and SHG-2SH when radial shaft seals are used on the hollow shaft.

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Illustration 20.1 SHG-58-2UH [mm] Illustration 20.2 SHG-58-2SO [mm] Illustration 20.3 SHG-58-2SH [mm]

Illustration 20.4 SHG-65-2UH [mm] Illustration 20.5 SHG-65-2SO [mm] Illustration 20.6 SHG-65-2SH [mm]

20 1021387 12/2018 V02

3.3.3 Minimum Housing Dimensions SHG-2SO and SHG-2SH
Table 21.1

Size Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

∅w [mm] 38 45 53 66 86 106 119 133 154 172

x [mm] 1.0 1.0 1.5 1.5 1.5 2.0 2.0 2.0 2.5 2.5
y [mm] 1.7 2.1 2.0 2.0 2.0 2.0 2.3 2.5 2.9 3.5
∅z [mm] 31 38 45 56 73 90 101 113 131 150

Illustration 21.2

3.3.4 Accuracy
Table 21.3

Symbol
SHG-14 SHG-17 SHG-20
[Unit]
Ratio i[] ≥ 50 ≥ 80 ≥ 50 ≥ 80 ≥ 50 ≥ 80
Transmission accuracy [arcmin] < 1,5 < 1,5 <1
Repeatability [arcmin] < ±0,1 < ±0,1 < ±0,1
Hysteresis loss [arcmin] <2 <1 <2 <1 <2 <1
Lost Motion [arcmin] <1 <1 <1

Table 21.4

Symbol
SHG-25 SHG-32 SHG-40
[Unit]
Ratio i[] ≥ 50 ≥ 80 ≥ 50 ≥ 80 ≥ 50 ≥ 80
Transmission accuracy [arcmin] <1 <1 <1
Repeatability [arcmin] < ±0,1 < ±0,1 < ±0,1
Hysteresis loss [arcmin] <2 <1 <2 <1 <2 <1
Lost Motion [arcmin] <1 <1 <1

Table 21.5

Symbol
SHG-45 SHG-50 SHG-58 SHG-65
[Unit]
Ratio i[] ≥ 50 ≥ 80 ≥ 80 ≥ 80 ≥ 80
Transmission accuracy [arcmin] <1 <1 <1 <1
Repeatability [arcmin] < ±0,1 < ±0,1 < ±0,1 < ±0,1
Hysteresis loss [arcmin] <2 <1 <1 <1 <1
Lost Motion [arcmin] <1 <1 <1 <1

1021387 12/2018 V02 21

3.3.5 Torsional Stiffness

Table 22.1

Symbol
SHG-14 SHG-17 SHG-20
[Unit]

T1 [Nm] 2 3.9 7
Limit torque
T2 [Nm] 6.9 12 25
Ratio i[] 50 ≥ 80 50 ≥ 80 50 ≥ 80
K3 [· 103 Nm/rad] 5.7 7.1 13 16 23 29
Torsional Stiffness K2 [· 10 Nm/rad]
3
4.7 6.1 11 14 18 25
K1 [· 103 Nm/rad] 3.4 4.7 8.1 10 13 16

Table 22.2

Symbol
SHG-25 SHG-32 SHG-40
[Unit]

T1 [Nm] 14 29 54
Limit torque
T2 [Nm] 48 108 196
Ratio i[] 50 ≥ 80 50 ≥ 80 50 ≥ 80
K3 [· 103 Nm/rad] 44 57 98 120 180 230
Torsional Stiffness K2 [· 10 Nm/rad]
3
34 50 78 110 140 200
K1 [·103 Nm/rad] 25 31 54 67 100 130

Table 22.3

Symbol
SHG-45 SHG-50 SHG-58 SHG-65
[Unit]

T1 [Nm] 76 108 168 235

Limit torque
T2 [Nm] 275 382 598 843
Ratio i[] 50 ≥ 80 ≥ 80 ≥ 80 ≥ 80
K3 [· 103 Nm/rad] 260 330 440 710 980
Torsional Stiffness K2 [· 10 Nm/rad]
3
200 290 400 610 880
K1 [·103 Nm/rad] 150 180 250 400 540

22 1021387 12/2018 V02

3.3.6 Bearings

Output Bearing

SHG Units incorporate a high stiffness cross roller bearing to support output loads. This specially developed bearing can
withstand high axial and radial forces as well as high tilting moments. The reduction gear is thus protected from external
loads, so guaranteeing a long life and constant performance. The integration of an output bearing also serves to reduce subse-
quent design and production cost, by removing the need for additional output bearings in many applications. However, in some
applications the machine element to be driven requires additional bearing support. In this case, please take care to avoid
overdetermination of the bearing arrangement. The cross roller bearing of the unit should be used as the fixed bearing,
whilst the additional support bearing should be floating, if possible. Table 23.1 lists ratings and important dimensions for the
output bearings.

Table 23.1

Symbol
SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG- 65
[Unit]

Bearing type1) C C C C C C C C C C

Pitch circle ø dp [m] 0.050 0.060 0.070 0.085 0.111 0.133 0.154 0.170 0.195 0.218

Offset2) R [m] 0.022 0.024 0.026 0.030 0.036 0.044 0.048 0.053 0.062 0.072

Dynamic load rating C [N] 5800 10400 14600 21800 38200 43300 77600 81600 87400 130000

Static load rating C0 [N] 8600 16300 22000 35800 65400 81600 135000 149000 171000 223000

Permissible dynamic
M [Nm] 74 124 187 258 580 849 1127 1487 2180 2740
tilting moment3)

Permissible static
M0 [Nm] 144 328 515 1070 2425 3623 6949 8505 11159 16200
tilting moment4)

Tilting moment
KB [Nm/arcmin] 25 45 73 114 291 521 748 1021 1545 2155
stiffness6)

Permissible axial
load5) Fa [N] 3050 5469 7678 11464 20088 22770 40808 42911 45961 68364

Permissible radial
Fr [N] 2044 3664 5144 7681 13459 15256 27341 28751 30794 45804
load5)

Normally, the gear life is determined by the life of the Wave Generator bearing. Depending on the specific load conditions the output bearing can also be determinant for the unit
life.
1)
F = Four-point bearing, C = Cross roller bearing
2)
See illustration 23.2
3)
These values are valid for moving gears. They are not based on the equation for lifetime calculation of the output bearing but on the maximum allowable deflection of the
Harmonic Drive® Component set. The values indicated in the table must not be exceeded even if the lifetime equation of the bearing permits higher values.
4)
These values are valid for gears at a standstill and for a static load safety factor fs = 1.8 for sizes 14 ... 20 and 1,5 for sizes 25 ... 58. For other values of fs, please refer to
chapter 4.7.
5)
These data are valid for fw = 1.3, n = 15 rpm and L10 = 15000 h
3) 4) 5)
These data are only valid if the following conditions are fulfilled:
For: M, M0 : Fa = 0, Fr = 0 | Fa : M = 0; Fr = 0 | Fr : M = 0, Fa = 0
6)
Average value

Illustration 23.2

1021387 12/2018 V02 23

Output Bearing and Housing Tolerances

In the case of the SHG-2UH Unit the load is connected to the output bearing by means of a flange. Depending on the manner
of fastening, either the flange which is connected to the outer ring, or the flange which is connected to the internal ring of
the output bearing, can be used as output element (see illustration 24.1 and illustration 24.2). The tolerance values indicated
in table 24.3 are the sum of bearing and flange tolerances.

Illustration 24.1 Illustration 24.2

Output
Abtrieb
Output
Abtrieb Mounted to housing
Am Gehäuse befestigt
Mounted to housing
Am Gehäuse befestigt

Table 24.3

Symbol
SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG- 65
[Unit]

A [mm] 0.033 0.038 0.040 0.046 0.054 0.057 0.057 0.063 0.063 0.67

B [mm] 0.035 0.035 0.039 0.041 0.047 0.050 0.053 0.060 0.063 0.63

C [mm] 0.064 0.071 0.079 0.085 0.104 0.111 0.118 0.121 0.121 0.131

D [mm] 0.053 0.053 0.059 0.061 0.072 0.075 0.078 0.085 0.088 0.089

E [mm] 0.040 0.045 0.051 0.057 0.065 0.071 0.072 0.076 0.076 0.082

F [mm] 0.038 0.038 0.047 0.049 0.054 0.060 0.065 0.067 0.070 0.072

G [mm] 0.037 0.039 0.046 0.047 0.059 0.063 0.070 0.070 0.070 0.076

H [mm] 0.031 0.031 0.038 0.038 0.045 0.048 0.050 0.050 0.050 0.054

I [mm] 0.064 0.071 0.079 0.085 0.104 0.111 0.118 0.121 0.121 0.131

K [mm] 0.053 0.053 0.059 0.061 0.072 0.075 0.078 0.085 0.088 0.089

24 1021387 12/2018 V02

Input Bearing SHG-2UH

The hollow shaft incorporated in the SHG-2UH Unit is supported by two single row deep groove ball bearings. Illustration
25.2 shows the points of application of force of the maximum permissible radial and axial loads as indicated in illustrations
26.1 and 26.2.
Example: If the hollow shaft of a SHG-40-2UH Unit is subjected to an axial load of 500 N, then the maximum permissible
radial force will be 420 N, see illustration 26.2.

The maximum values shown are valid for an average input speed of 2000 rpm and a mean bearing life of L50 = 35000 h. For
SHG-2UH Units of size 14 up to 25 the bearing A is pretensioned in axial direction by means of roller bearing compensation
washers. If the hollow shaft is subjected to an axial force acting in the negative direction (-Fa, see illustration 25.2) it can be
shifted by the value „s” given in table 25.1. For the size 32 up to 58 the bearing A is designed as a fixed bearing.

Table 25.1

Symbol
SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG- 65
[Unit]

C [N] 4000 4300 4500 4900 14100 19400 17400 24400 32000 42500
Bearing A
C0 [N] 2470 2950 3450 4350 10900 16300 16100 22600 29600 36500

C [N] 4000 4300 4500 4900 5350 11500 11900 12500 18700 19600
Bearing B
C0 [N] 2470 2950 3450 4350 5250 10900 12100 13900 20000 21200

Offset a [mm] 27 29 27 29.5 33 39.5 44 49 56.2 67

Offset b [mm] 16.5 17.5 15.5 16.5 23.0 27.5 28.5 31.5 36.5 44.5
Max. permissible
F [N] 263 284 303 275 813 1210 1000 1550 2060 2300
radial load

Max. axial movement

of hollow shaft s [mm] 1.8 2.8 2.4 3.2 — — — — — —
at axial force = - Fa

Illustration 25.2

Lager A Lager B
Bearing A Bearing B

Fr
- Fa +

b a

1021387 12/2018 V02 25

 Eingangslagerung SHG-2UH 32-65

BG F [N] Fr [N]
Illustration 26.1 a Illustration 26.2
32 0 770
100 770
Fr [N] 570 100 Fr [N]
300 2500
40 0 20 1060
80 1060
720 17 100
2000
45 0 880
200
520 100 65

14 1500
40
50 0 1360 50
20 1360
58
820 100
1000
100
58 0 1720
960 200
25 500 32
65 0 2320
100 2320
1650 100
0 0
45
0 100 200 300 0 500 1000 1500 2000
Fa [N] Fa [N]

3.3.7. Housing Materials and Surfaces

Materials:
Housing: cast iron and bearing steel.
Adapter flange, if supplied by Harmonic Drive AG: high tensile aluminium or steel.

Surfaces:
Screws: black phosphatized.
Housing: Bright.
Output bearing: corrosion protected (optional: browned).

26 1021387 12/2018 V02

4. Actuator Selection
A variety of different driving arrangements are possible with Harmonic Drive® Gears.

Equation 27.1

Input speed
Ratio i =
Output speed

Overview Harmonic Drive® Products

The three main components of the Harmonic Drive® Units, Circular Spline (CS), Flexspline (FS) and Wave Generator (WG) can
be seen in the illustration 27.2.

Illustration 27.2

WG (—2SO)

WG (—2SH/2UH)

The values ​​for ratios of Harmonic Drive® Gears refer to the standard drive arrangement (example 1 in the table below). Other
arrangements are possible, and also shown in the table.

1021387 12/2018 V02 27

Ratio

1) 2) 3)

FS WG
CS

Reduction gearing Reduction gearing Reduction gearing

CS Fixed FS Fixed WG Fixed
WG Input WG Input FS Input
FS Output CS Output CS Output

Equation 28.1 Equation 28.2 Equation 28.3

i Ratio = i+1 Ratio = i+1

Ratio = -
1 1 i

Input and output rotate in opposite directions. Input and output rotate in same direction. Input and output rotate in same direction.

4) 5) 6)

Speed increaser gearing Speed increaser gearing Speed increaser gearing

WG Fixed CS Fixed FS Fixed
CS Input FS Input CS Input
FS Output WG Output WG Output

Equation 28.4 Equation 28.5 Equation 28.6

i
Ratio = Ratio = - 1 Ratio = 1
i+1 i i+1

Input and output rotate in same direction. Input and output rotate in opposite directions. Input and output rotate in same direction.

7)

Differential gear
WG Control input
CS Main drive input
FS Main drive output

Numerous differential functions can be obtained by combinations of the speed and rotational direction of the three basic elements.
Please refer to our broshure “Differential Applications” available to download from our website.

28 1021387 12/2018 V02

4.1 Selecting Harmonic Drive® Gears

When choosing a gear, both torque as well as stiffness requirements should be taken into account. In robot applications, for
example, the necessary torque is the more crucial factor for the gear size, while the torsional stiffness is often decisive in
machine tool applications. We therefore recommend that you always take both criteria into account according to the following
procedures.

ADVICE
We will be pleased to make a gear calculation and selection on your behalf. Please contact our application engineers.

Application

Preselection gear

Torque based dimensioning

according to selection
procedure on page 30

Selection of a
bigger size

Yes Gear size No

sufficient?

Stiffness based dimensioning

according to selection
procedure on page 33

Selection of a
bigger size

Yes Gear size No

sufficient?

End of gear
selection

1021387 12/2018 V02 29

4.1.1 Torque Based Dimensioning

Output Data

Illustration 30.1

Torques T1 ... Tn [Nm] n2

during the load phases t1 ... tn [s] n1 n3 n1

Speed
during the pause time tp [s] np
and output speeds n1 ... nn [rpm] Time
t1 t2 t3 tp t1
T1 T1

Torque
Emergency stop/momentary peak torque Tk [Nm] T2

at output speed nk [rpm] T3

Time
and duration tk [s]

Equation 30.2
Load limit 1,
Calculation of the average output torque Tav

3
|n1 · T13| · t1 + |n2 · T23| · t2 + ... + |nn · Tn3| · tn
Tav =
|n1| · t1 + |n2| · t2 + ... + |nn| · tn

Equation 30.3

Values for TA see rating tables No

Selection of a bigger size
Tav ≤ TA

Equation 30.4 Equation 30.5

Calculation of the average output speed

Average input speed
|n1| · t1 + |n2| · t2 + ... + |nn| · tn nin av = i · nout av
nout av =
t1 + t2 + ... + tn + tp

Equation 30.6 Equation 30.7

Permissible maximum input speed Permissible average input speed

nin av ≤ Limit for average input speed
nin max = nout max · i ≤ Maximum input speed (see rating table) (see rating table)

Equation 30.8 Equation 30.9 Equation 30.10

Allowable number of momentary peak torques

Load limit 2, TR Load limit 3, TM
10 4
Nk max = < 104
Tmax ≤ TR Tk ≤ TM n
2 · k · i · tk
60

Equation 30.11

Operating life

L50 = Ln · Rated input speed · ( Rated torque T

)
3
N
nin av T av

Values for Ln see table 32.1

30 1021387 12/2018 V02

Output Data

T1 = 400 Nm t1 = 0.3 s n1 = 7 rpm

T2 = 320 Nm t2 = 3.0 s n2 = 14 rpm
T3 = 200 Nm t3 = 0.4 s n3 = 7 rpm
Tk = 500 Nm tk = 0.15 s nk = 14 rpm
tp = 0.2 s np = 0 rpm

Ratio i = 120
Life L50 = 30000 h (required)

Load limit 1,
calculation of the average output torque Tav

3
7 rpm · (400 Nm)3 · 0.3 s + 14 rpm · (320 Nm)3 · 3 s + 7 rpm · (200 Nm) 3 · 0.4 s
Tav =
7 rpm · 0.3 s + 14 rpm · 3 s + 7 rpm · 0.4 s

Selected size
Tav = 319 Nm ≤ TA = 451 Nm
HFUC-40-120-2A-GR

Calculation of the average

output speed
Average input speed
nout av = 7 rpm · 0.3 s + 14 rpm · 3 s + 7 rpm · 0.4 s = 12.0 rpm nin av = 120 · 12.0 rpm = 1440 rpm
0.3 s + 3 s + 0.4 s + 0.2 s

Permissible maximum input speed Permissible average input speed

nin max = 14 rpm · 120 = 1680 rpm ≤ 4000 rpm nin av = 1440 rpm ≤ 3000 rpm

Allowable number of
Load limit 2, TR Load limit 3, TM
momentary peak torques

Nk max = 104 = 1190 < 104

Tmax = 400 Nm ≤ TR = 617 Nm Tk = 500 Nm ≤ TM = 1180 Nm 14 · 120
2 · 60 · 0.15

Operating life

L50 = 35000 h · 2000 rpm · ( 294

319 Nm)
Nm 3
HFUC-40-120-2A-GR: L50 = 38054 h > 30000 h
1440 rpm

1021387 12/2018 V02 31

4.1.2 Life of the Wave Generator Bearing

The life expectancy of a Harmonic Drive® Strain Wave Gear is based on the average life of the Wave Generator Bearing. The
rated torque at the rated speed given in the rating table is based on the nominal service life Ln of the Wave Generator Bearing.

The life expectancy of a component set or an unit operating at an input speed n (rpm) and output torque T (Nm) may be
estimated from equation 32.2.

Table 32.1

Harmonic Drive® Series Einheit Ln

CobaltLine®, CSG, SHG h 50000

HFUC, SHG, CSD, CPU, CSF, SHD h 35000
PMG Gearbox h 15000

Equation 32.2

nN TN
L50 = Ln
nin av ( T )3
av

Equation 32.3

L10 ≈ –1
•L
5 50

nN = Rated input speed [2000 rpm]

nin av = Average input speed [rpm] (equation 30.5)
TN = Rated output torque at rated speed [Nm]
Tav = Average output torque [Nm] (equation 30.2)
Ln = nominal service life of the Wave Generator Bearing, see table 32.1

32 1021387 12/2018 V02

4.1.3 Stiffness Based Dimensioning

In addition to the “Torque Based Dimensioning” stated on page 30, we recommend that you carry out a selection based on
stiffness. For this, the values provided in table 33.1 for the individual resonance frequencies recommended for each application
should be taken into account.

Table 33.1 [Hz]

Application fn

Slowly rotating turntables, base axes of slow moving welding robots (not laser welding), slowly rotating welding and swinging
≥4
tables, gantry robot axes

Base axes of articulated robots, hand axes of articulated robots with low requirements regarding dynamic perfomance, tool
≥8
revolvers, tool magazines, swivelling and positioning axes in medical and measuring devices

Standard applications in general mechanical engineering, tilting axes, palette changers, highly dynamic tool changers, revolvers
and magazines, hand axes of robots, scara robots, gantry robots, polishing robots, dynamic welding manipuators, base axes of ≥ 15
welding robots (laser welding), swivelling and positioning axes of medical equipment

B / C axes in 5 axis grinding machines, hand axes of welding robots (laser welding), milling heads for plastics machining ≥ 20

C axes in turning machines, milling heads for light metal machining, milling heads for woodworking (chipboards etc.) ≥ 25

Milling heads for woodworking (hardwood etc.) ≥ 30

C axes in turning machines* ≥ 35

Milling heads for metal machining*, B axes in turning milling centers for metal machining ≥ 40

Milling heads for metal machining*, B axes in turning milling centers for metal machining with high requirements regarding
≥ 50
surface quality*

Milling heads for metal machining with very high requirements regarding surface quality* ≥ 60

* Depending on the application, a secondary gear stage may be useful. Please contact Harmonic Drive AG for more information..

1021387 12/2018 V02 33

Selection Example: Stiffness Based Dimensioning

Resonance Frequency (Gear Output)

The formula

Equation 34.1

fn = 1 K1 [Hz]
2� J

fn = Resonance frequency [Hz]

K1 = Gear torsional stiffness [Nm/rad]
J = Load moment of inertia [kgm2]

allows the calculation of the resonance frequency at the gear output, from the given the torsional stiffness K1 of the Harmonic
Drive® Gear and the load‘s moment of inertia. The calculated frequency should correspond with the value provided in table
33.1. The higher the load‘s moment of inertia, the higher is the influence of the type of application on the gear selection. If
the moment of inertia = 0, the selected application has no numerical influence on the selection result.

Resonance Speed (Gear Input)

The resonance speed nn on the input side (motor side) can be calculated using the formula

nn = fn· 30 [rpm]

During operation, we recommend passing the resonance speed quickly. This can be achieved by selecting a suitable gear ratio.
Another possibility the selection of a suitable gear stiffness such that the resonance speed lies beyond the required speed range.

Selection Example

HFUC-40-120-2A-GR preselected from “Selection Procedure” on page 31.

Intended application: milling head for woodworking

Moment of inertia at the gear output: 7 kgm2. Recommended resonance frequency from table 33.1: ≥ 30 Hz.
Resonance frequency using the preselected gear
HFUC-40-120-2A-GR:

fn = 1 . 1.3 . 105 = 22 [Hz]

2� 7

According to stiffness based dimensioning, this gear size is too small for the application.
The larger gear HFUC-50-120-2A-GR results in a resonance frequency of:

fn = 1 . 2.5 . 10 5 = 30 [Hz]

2� 7
Based on stiffness based dimensioning, the gear HFUC-50-120-2A-GR is recommended.

The calculated resonance speed at the input (motor) is:

nn = 30 · 30 = 900 [rpm]

Either, this speed should be passed quickly during acceleration and deceleration or it should
lie beyond the utilised speed range.

34 1021387 12/2018 V02

4.2 Calculation of the Torsion Angle

Calculation of the torsion angle φ at torque T:

Equation 35.1 Equation 35.2 Equation 35.3

T <
– T1 T1 < T ≤ T2 T
<
T2
T T1 T - T1 T1 T2 - T1 T - T2
φ= φ= K + K φ= K + K + K
K1 1 2 1 2 3

φ = Angle [rad]
T1 = Limit torque 1 from section 3.3.5 [Nm]
T2 = Limit torque 2 from section 3.3.5 [Nm]
K1 = Torsional stiffness up to the limit torque T1 from section 3.3.5 [Nm/rad]
K2 = Torsional stiffness up to the limit torque T2 from section 3.3.5 [Nm/rad]
K3 = Torsional stiffness above the limit torque T2 from section 3.3.5 [Nm/rad]

Example: HFUC-32-100-2UH
29 Nm 60 Nm - 29 Nm
φ= +
6.7 . 104 Nm/rad 11 . 104 Nm/rad

T = 60 Nm K1 = 6.7 . 104 Nm/rad φ = 7.15 . 10-4 rad

T1 = 29 Nm K2 = 1.1 . 105 Nm/rad φ = 2.5 arcmin

T2 = 108 Nm K3 = 1.2 . 105 Nm/rad

Equation 35.4

.
φ [arcmin] = φ [rad] . 180 60
�

4.3 Accuracy of the Oldham Coupling SHG-2SO

Information concerning the Oldham coupling can be found in section 5.7.2.

In the region of tooth engagement Harmonic Drive® Gears have no backlash. If an Oldham coupling is used for the compensa-
tion of eccentricity errors of the motor shaft, a small backlash in the range of a few arcsec can occur at the output shaft, as
listed in table 35.5.

Table 35.5

Ratio Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

50 [arcsec] 36 20 17 17 14 14 12 — — —
80 [arcsec] 23 13 11 11 9 9 8 8 6 6
100 [arcsec] 18 10 9 9 7 7 6 6 5 5
120 [arcsec] – 8 8 8 6 6 5 5 4 4
160 [arcsec] – – 6 6 5 5 4 4 3 3

1021387 12/2018 V02 35

4.4 Efficiency Calculation SHG-2UH

The efficiency of Harmonic Drive® Gears varies depending on the following conditions
• Ratio
• Input speed
• Load torque
• Temperature
• Lubrication condition (type of lubricant and the quantity)

The efficiency curves are valid for gears operating at rated output torque. The efficiency of a gear operating at a load below
the rated torque may be estimated using a compensation curve and equation as shown on the next page. The efficiency of the
Simplicity Units SHG-2SO and SHG-2SH strongly depends on the integration into the application, like sealing concept, bearing
concept etc. Please contact the Harmonic Drive AG for further support.

4.4.1 Efficiency Calculation Scheme

Table 36.1

Calculation Procedure Example

Efficiency of SHG-20-80-2UH with

input speed n = 1000 rpm
output torque T = 35 Nm at 20 °C ambient temperature.
Lubrication: Harmonic Drive­® Grease

The efficiency may be determined See illustration 38.4

using the efficiency graphs. ηR = 63 %

Calculate
the torque factor V.
35 Nm
V = = 0.8
Tav 44 Nm
V= [Equation 36.2]
TN

With:
Tav = Average torque Tav = 35 Nm

TN = Rated torque at rated speed TN = 44 Nm

Determination of the correction factor K

depending on the gear type and the torque factor V, K = 0.9
see example in illustration 38.2.

Determination of correction value ηe, ηe = -6.6 %

see illustration 38.3

Calculation of the total efficiency ηL

ηL = 0.9 · (62 % - 6.6 %) = 50 %
hL= K • (hR + he) [Equation 36.3]

36 1021387 12/2018 V02

 1

0,9

0,8

Korrekturfaktor K
4.4.20,7 Efficiency Correction factor
0,6

The efficiency
0,5 of a Harmonic Drive® Strain Wave Gear depends on the load torque. When the load torque is lower than the
rated 0,4
torque, the
500 min
1000 min
efficiency value decreases. The correction factor K can be determined with illustration 36.2. When the load
-1
-1

torque0,3is higher
2000 min than the rated torque, the correction factor is K = 1.
3500 min
-1
-1

Calculation
0,2 of torque factor V

0,1
Equation 37.1 with:
0 T = Actual torque
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
T TN = Rated torque at rated speed
V= Drehmomentverhältnis V
TN

sch Illustration 37.2

0,9

0,8
Correction coefficient K

0,7

0,6

0,5

500 min-1
0,4
1000 min-1
2000 min-1
0,3 3500 min-1

0,2

0,1

0
0 0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1
Torque ratio V

4.4.3 Efficiency Correction Value

The SHG-2UH Series Unit is equipped with two support bearings and two shaft seals running on the hollow shaft, having an
large impact on the gear's efficiency. The impact depends on the gear size and ratio and is considered by the correction value ηe.

Illustration 37.3

-2

-4
Correction value he [%]

i = 30

-6 i = 50

-8 i = 80, 100

i = 120, 160
-10
14 1720 25 32 40 45 50 58
Size

1021387 12/2018 V02 37

 4.4.4 Efficiency Tables

The following illustrations show the efficiency of the SHG-2UH Series Unit at rated torque and lubrication with Harmonic Drive®
Grease.

SHG-2UH
Illustration 38.4

Ratio = 50, 80, 100,

Untersetzung 120
/ Ratio = 50, 80, 100, 120 Ratio = 160
Untersetzung / Ratio = 160
100100 100100

90 90 90 90

80 80 8080

Wirkungsgrad [%]
Wirkungsgrad [%]

70 70 70 70

60 60 500 rpm
500 rpm 60 60
500 rpm

Wirkungsgrad / Efficiency [%]

Wirkungsgrad / Efficiency [%]

500 rpm
50 50 50 50
1000 rpm
1000 rpm

40 40 2000 rpm
2000 rpm 4040 1000rpm
1000 rpm

30 30 3500 rpm
3500 rpm 30 30 2000 rpm
2000 rpm
3500 rpm
3500 rpm
20 20 20 20

10 10 10 10
-10 0 10 20 30 40 -10 0 10 20 30 40
-10 0 10 20 30 40 -10 0 10 20 30 40

Temperature [°C]
Umgebungstemp. / Ambient Temp.[°C] Temperature
Umgebungstemp. / Ambient [°C]
Temp.[°C]

Remarks on Efficiency

The SHG-2UH Series Units are equipped with two rotary shaft seals at the hollow shaft as standard. The friction of the rotary
shaft has a considerable influence on the efficiency of these units because the seals are mounted on the fast running input
side and seal on the relatively large diameter of the hollow shaft.

If there is insufficient heat dissipation during operation (e. g. the unit is not connected to the machine housing and the load)
the unit may reach a high temperature within a few minutes. This may result in overpressure which may have a negative
impact on the pre-load of the rotary shaft seal. In this case the efficiency of the unit may be lower than the value given in the
catalogue.

Cleaning the area of the seals with compressed air may also result in an unacceptable overpressure within the unit.

When the unit is equipped with standard seals, the over-pressure on the seals can be released by lifting up one of the sealing
lips with a soft tool (e. g. by means of a toothpick on the outside of the sealing lip near the shaft. Be careful not to damage
the sealing lip!). If special seals are used, we ask you to contact Harmonic Drive AG.

4.5 No Load Torque values SHG-2UH

No Load Running Torque
The no load running torque is the torque required to maintain rotation of the input element (high speed side) at a defined input
speed with no load applied to the output.

No Load Starting Torque

The no load starting torque is the quasistatic torque required to commence rotation of the input element (high speed side)
with no load applied to the output element (low speed side).

No Load Back Driving Torque

The no load back driving torque is the torque required to commence rotation of the output element (low speed side) with
no load applied to the input element (high speed side). The approximate range for no load back driving torque, based on
tests of actual production gears, is shown in the matching table. In no case should the values given be regarded as a margin
in a system that must hold an external load. Where back driving is not permissible a brake must be fitted. The diagrams are
valid for: Harmonic Drive® Grease, standard grease amount according to this engineering data and ratio i = 100.

For other ratios the compensation values have to be applied. When oil lubrication is used please contact Harmonic Drive AG.

38 1021387 12/2018 V02

 4.5.1 No Load Running Torque
No Load Running Torque SHG-2UH
Illustration 39.1

Eingangsdrehzahl / Input Speed = 500 rpm Eingangsdrehzahl / Input Speed = 1000 rpm
Input Speed = 500 rpm Input Speed = 1000 rpm
10000
10000 10000
10000
Lastfreies Laufdrehmoment / No Load Running Torque [Ncm]

Lastfreies Laufdrehmoment / No Load Running Torque [Ncm]

No load running torque [Ncm]

No load running torque [Ncm]

Size Size
1000
1000 1000
1000

65
65 58
58 50
50
50
50 45
100
100 45
45
100
100 45
40
40
40
40
32
32
32
32
25
25
25
25
20 20
20
20
1010 1010 17
17
17
17

14
14

1 1 1 1
-10
-10 0
0 10
10 20
20 30
30 40
40 -10
-10 0
0 10
10 20
20 30
30 40
40
Umgebungstemp. / Ambient Temp.[°C] Umgebungstemp. / Ambient Temp.[°C]
Temperature [°C] Temperature [°C]

Eingangsdrehzahl / Input Speed = 2000 rpm Eingangsdrehzahl / Input Speed = 3500 rpm
Input Speed = 2000 rpm Input Speed = 3500 rpm
10000
10000 10000
10000
Lastfreies Laufdrehmoment / No Load Running Torque [Ncm]
Lastfreies Laufdrehmoment / No Load Running Torque [Ncm]
No load running torque [Ncm]

No load running torque [Ncm]

Size Size
1000
1000 1000
1000
65
65 58
58 50
50
50
50 45
45
45
45 40
40
100
100 40
40 100
100 32
32
32
32 25
25
25
25 20
20
20
20 1717
17
17
1010 1010 14
14

1 1 1 1
-10
-10 0
0 10
10 20
20 30
30 40
40 -10
-10 0
0 10
10 20
20 30
30 40
40
Umgebungstemp. / Ambient Temp.[°C] Umgebungstemp. / Ambient Temp.[°C]
Temperature [°C] Temperature [°C]

1021387 12/2018 V02 39

Compensation Values For No Load Running Torque SHG-2UH

When using gears with ratios other than i ≠ 100, please apply the compensation values from the table to the values taken
from the curves .

Table 40.1

Ratio Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

50 [Ncm] 1.1 1.8 2.6 4.2 8.0 13.3 18.2 – – –

80 [Ncm] 0.2 0.4 0.5 0.8 1.5 2.4 3.3 4.3 6.2 8.1

120 [Ncm] – -0.2 -04 -0.6 -1.1 -1.7 -2.4 -3.1 -4.4 -5.8

160 [Ncm] – – -0.8 -1.3 -2.5 -4.0 -5.5 -7.2 -10.3 -13.7

4.5.2 No Load Starting Torque

No Load Starting Torque SHG-2UH

Table 40.2

Ratio Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

50 [Ncm] 8.8 27 36 56 85 136 165 – – –

80 [Ncm] 7.5 25 33 50 74 117 138 179 244 314

100 [Ncm] 6.9 24 32 49 72 112 131 171 231 297

120 [Ncm] – 24 31 48 68 110 126 165 223 287

160 [Ncm] – – 31 47 67 105 122 156 213 276

4.5.3 No Load Back Driving Torque

No Load Back Driving Torque SHG-2UH

Table 40.3

Ratio Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

50 [Nm] 5.3 16 22 34 51 82 99 – – –

80 [Nm] 7.2 24 31 48 70 112 133 172 234 301

100 [Nm] 8.2 29 38 59 86 134 158 205 278 356

120 [Nm] – 34 45 69 97 158 182 237 322 413

160 [Nm] – – 59 90 128 201 233 299 408 530

40 1021387 12/2018 V02

4.6 Continuous Operation SHG-2UH

The friction of the rotary shaft seals at the input side can result in an increased temperature of the hollow shaft units during
operation. Therefore the defined “Limit for average input speed” of these units is reduced. For continuous operation at rated
speed the max. operating times specified in table 41.2 should not be exceeded.

Alternatively a design according to illustration 41.1 can be used. This application example shows the removal of the rotary
shaft seals at the (fast running) input side. For this design, the operating time is not limited. The removal of one or both
rotary shaft seals at the input element should only be carried out if other measures have been undertaken to prevent the
leakage of grease or oil, or if a leakage can be ruled out due to the installation position.

Illustration 41.1

Max. Permissible Operating Time At Continuous Operation

Table 41.2

Operating time Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

At no load [min] 90 90 90 60 45 40 35 30 20 15

At rated torque [min] 60 60 60 45 35 30 25 20 15 10

The data mentioned in table 41.2 are valid for:

• Ambient temperature: 25 °C
• Input speed: 2000 rpm
• Max. lubrication temperature: 80 °C
• Mounting of the unit on a plate with the following dimensions:
Height of plate: 330 mm
Thickness of plate: 15 mm for sizes: 15 mm for sizes ≤ 32
30 mm for sizes ≥ 40
• Plate material: Steel
• An additional output flange is not mounted.

1021387 12/2018 V02 41

4.7 Output Bearing Operating Life

The operating life of the output bearing can be calculated using equation 42.1.

Equation 42.1

106 C B
L10 = 60 . n .
av
(f w
)
. PC

with:
L10 [h] = Operating life
nav [rpm] = Average output speed (equation 42.2)
C [N] = Dynamic load rating see section 3.3.6
PC [N] = Dynamic equivalent load (equation 43.1)
fW = Operating factor (table 42.3)
B = Bearing type (table 42.4)

Average Output Speed

Equation 42.2

| n1 | t1 + | n2 | t2 + ... + | nn | tn
nav =
t1 + t2 + ... + tn + tp

Table 42.3

Load conditions fW

No impact loads or vibrations 1 ...1.2

Normal rotating, normal loads 1.2 ... 1.5
Impact loads and / or vibrations 1.5 ... 3

Table 42.4

Bearing type B

10
Cross roller bearings 3
Four point contact bearings 3

42 1021387 12/2018 V02

Dynamic Equivalent Load

Equation 43.1

(
PC = x . Frav +
2M
dp )
+ y . Faav

with:
Frav [N] = Radial force (equation 43.2) x = Radial load factor (table 43.4)
Faav [N] = Axial force (equation 43.3) y = Axial load factor (table 43.4)
dp [m] = Pitch circle (see section 3.3.5) M = Tilting moment

Equation 43.2

( |n1 | . t1 . (|Fr1 |)B +|n2 | . t2 . (|Fr2 |)B + ... + |nn | . tn . (|Frn |)B
)
1/B
Frav =
|n1| . t1 + |n2 | . t2 + ... + |nn| . tn

Equation 43.3

( |n1| . t1 . (|Fa1 |)B + |n2 | . t2 . (|Fa2 |)B + ... + |nn | . tn . (|Fan |)B
)
1/B
Faav =
|n 1 | . t1 + |n 2 | . t 2 + ... + |nn | . t n

Table 43.4

Load factors x y

Faav
≤ 1.5 1 0.45
Frav + 2 · M / dp
Faav
> 1.5 0.67 0.67
Frav + 2 · M / dp

Illustration 43.5

Please note:
Frx = represents the maximum radial force.
Fax = represents the maximum axial force.
tp = represents the pause time between cycles.

1021387 12/2018 V02 43

4.7.1 Output Bearing at Oscillating Motion

Life for Oscillating Motion

The operating life at oscillating motion can be calculated using equation 44.1

Equation 44.1

LOC =
106
60 . n1
.
180
ϕ
. ( f C. P )
w C
B

with:
LOC [h] = Operating life for oscillating motion
n1 [cpm] = Number of oscillations/minute*
C [N] = Dynamic load rating, see table “Output Bearing” in the appropriate product chapter (table 23.1)
PC [N] = Dynamic equivalent load (equation 43.1)
ϕ [°] = Oscillating angle
fW = Operating factor (table 42.3)

* one oscillation means 2ϕ

Oscillating Angle

At oscillating angles < 5° fretting corrosion may occur due to insufficient lubrication.
In this case please contact our sales engineer for counter measures.

Illustration 44.2

Tabelle 44.3

Bearing type B

10
Cross roller bearing 3
Four point contact bearing 3

44 1021387 12/2018 V02

4.8 Permissible Static Tilting Moment

In case of static load, the bearing load capacity can be determined as follows:

Equation 45.1

fS =
C0
P0 (
mit P0 = x0 Fr +
2M
dp )
+ y0 . Fa

and so
Equation 45.2

dp . CO
MO =
2 . fS

fs = Static load safety factor

(fs = 1.5 ... 3) (table 45.3)
C0 = Static load rating
Fr = Fa = 0
x0 = 1
y0 = 0.44
P0 = Static equivalent load (equation 43.1)
dp = Pitch circle diameter of the output bearing (section 3.3.6)
M = Moment acting
M0 = Allowable static overturning moment

Table 45.3

Rotation conditions of bearing Lower limit value for fs

Normal ≥ 1.5
Vibrations / Impacts ≥2
High transmission accuracy ≥3

4.9 Angle of Inclination

The angle of inclination of the output flange, as a function of the tilting moment acting on the output bearing, can be
calculated by means of equation 45.4:

Equation 45.4

M
γ=
KB

with:
y [arcmin] = Angle of inclination of the output flange
M [Nm] = Tilting moment acting on the output bearing
KB [Nm/arcmin] = Moment stiffness of the output bearing (table 23.1)

1021387 12/2018 V02 45

4.10 Lubrication

Ratings and Lubricants

Harmonic Drive® Products achieve the specified ratings and characteristics in the standard ambient temperature range (0 °C
to 40 °C) when they are used with the lubricants named in the catalogue. Harmonic Drive AG can guarantee for the data
specified in the catalogue only if a Harmonic Drive® Grease or a mineral oil qualified for the specific product used. Lubricants
and lubricant quantities other than recommended by Harmonic Drive AG should be qualified by means of prototype tests, as
necessary.

The warranty becomes void when lubricants that have not been recommended in the Harmonic Drive® Catalogue or that have
not been approved in writing for the specific application are used.

4.10.1 Grease Lubrication

Application of Harmonic Drive® Grease

Depending on product, size and if necessary ratio, the matching Harmonic Drive® Grease should be selected.

Caution!
The Harmonic Drive® Greases 4B No.2 and Flexolub®-A1 have relatively low viscosities during operation. Therefore the design
must be oil-tight. Because of the special characteristics of this grease, a small base oil leakage at the oil seals can not
completely be ruled out.

Table 46.1
Ratio ≥ 50
Size
Grease
8 11 14 17 20 25 32 40 45 50 58 65 80 90 100

Flexolub®-A1 – Standard for CPU and CobaltLine®

SK-1A – Standard
SK-2 Standard –

4B No.2 – For heavy duty operation*

Table 46.2
Ratio = 30
Size
Grease
8 11 14 17 20 25 32

Flexolub®-A1 – Standard for CPU

SK-1A – Standard
SK-2 Standard –

4B No.2 – For heavy duty operation*

Notes:
* = recommended for heavy duty operation or at operating temperatures ranging from -10 °C to +110 °C
– = not approved

46 1021387 12/2018 V02

Table 47.1 gives some important information regarding Harmonic Drive® Greases.

Table 47.1

Harmonic Drive® Greases

Standard Special
Type
SK-1A SK-2 Flexolub®-A1 4B No.2
Operating temperature range 0 °C ... +80 °C 0 °C ... +80 °C -40 °C ... +120 °C -10 °C ... +110 °C
Base oil Mineral oil Mineral oil PAO / Ester oil Synthetic oil
Thickener Lithium soap Lithium soap Lithium soap Urea
Consistency class (NLGI) 2 2 1 1-2
Base oil viscosity (40 °C; 100 °C) 37; 5.9 mm2/St 37; 5.9 mm2/St 25; 5.2 mm2/St 50; 12 mm2/St
Drop point 197 °C 198 °C 180 °C 247 °C
Colour yellow green pale yellow pale yellow
Max. storage time in hermetically sealed container 5 years
Ease of sealing (safety against grease- or base oil leakage
+ + +/- +/-
at the oil seals)
Notes:
+ = Good
+/– = May be critical depending on design / mounting position / application, please contact Harmonic Drive AG

Safety data sheets and technical data sheets for the Harmonic Drive® Greases are available from Harmonic Drive AG.

Precautions for using Harmonic Drive® Grease 4B No.2

Harmonic Drive® Grease 4B No.2 has fluid characteristics (thickness, shear characteristics etc.) suited to Harmonic Drive®
Gears. The following procedures can be utilised to improve the lubricant life:

1) apply the grease to the required areas before operation.

2) remove any abrasion particles after the running-in period.
3) re-grease the contact areas.

Precautions

1) When greasing:
The consistency of Harmonic Drive® Grease 4B No.2 when stored in the container is higher than during operation. However,
please note that the consistency varies depending on the storage period.
Before greasing please mix the grease to soften the consistency.

2) Aging (running-in):
The aging process before the fully loading the gears softens the grease. More effective grease performance can be realised
when the grease flows around the required contact areas of the Harmonic Drive® Gear.

Therefore the following aging method is recommended:

• Keep the internal operating temperature below 80 °C. Do not allow a steep increase in temperature during the aging process.
• Limit the input speed to between 1000 and 3000 rpm. Lower speeds are more effective. Select an input speed as close to
1000 rpm as possible.
• The time required for aging is 20 minutes or longer.
• Keep the output rotation angle as large as possible during the aging process.

Contact our offices if you have any questions about handling Harmonic Drive® Grease 4B No.2.

1021387 12/2018 V02 47

Special Operating Demands

Table 48.1 shows examples of lubricants for special operating demands. In individual cases other lubricants may
be recommendable, and special limit values may have to be considered for product calculations at extended operating
temperatures. Please ask Harmonic Drive AG for more information.

Table 48.1

Lubricants for special operating demands

Application Type Manufacturer, Designation Operating temperature range1)

Broadband temperature range Grease Harmonic Drive®, Flexolub®-A1 -40 °C ... +120 °C3)
Grease
Low temperature Harmonic Drive®, Flexolub®-M0 -50 °C ... +120 °C2)5)
Oil
Grease Mobil, Mobil Grease 28 -55 °C ... +160 °C2)
High temperature
Oil Mobil, Mobil SHC 626 -15 °C ... +140 °C2)

Food-/pharmaceutical industry Grease Bechem, Berulub FG-H 2 SL -40 °C ... +120 °C2)4)

Notes:
1)
Operating temperature = Lubricant temperature
2)
User specific prototype tests recommended
3)
Applicability confirmed for all Harmonic Drive® Catalogue products with cup type Flexspline for size 14 and up. 1 kg bundles available at HDAG
4)
NSF-H1 certification. Applicability confirmed for HFUC-XX, CPU-XX, SHG-XX, CPL-XX, CHA-XX with i=100 at full usage of the catalogue performance
data. Please consult Harmonic Drive AG for i > 100 applications. For food / pharmaceutical compatibility, grease change is necessary for output- and support
bearings. 400 g bundles available at Harmonic Drive AG.
5)
Recommended for applications requiring best possible efficiency at low temperatures. Not suitable for high output torque.

4.10.2 Oil Lubrication

Harmonic Drive® Units with oil lubrication are customer specific solutions. Oil quantity and change interval are specified
individually.

Table 48.2

Approved lubricating oils

Manufacturer Klüber Mobil Castrol Shell

Designation Syntheso D 68 EP Mobilgear 600 XP 68 Optigear BM 68 Omala S2 G 68

Please note the information in section 5.5.5.

48 1021387 12/2018 V02

4.11 Axial Forces at the Wave Generator SHG-2SO and SHG-2SH

When a Harmonic Drive® Gear is used as a speed reducer (input via Wave Generator), the deflection of the Flexspline leads to
an axial force acting on the Wave Generator. This axial force acts in the direction of the Flexspline diaphragm.
When the Harmonic Drive® Component Set is used as a speed accelerating gear (reverse operation, e.g. when braking), the
axial force acts in the opposite direction. In any case the axial force must be supported by the input shaft (motor shaft).
The Wave Generator thus needs to be fixed on the input shaft in the axial direction. In closed Harmonic Drive® Units
and gearboxes with support bearings the axial force is absorbed internally.

Illustration 49.1

Speed reducer Reverse

operation

Table 49.2

Ratio

T
30 FAX = 2 · _ · µ · tan 32° [Equation 49.3]
D
T
50 FAX = 2 · _ · µ · tan 30° + 2µPF [Equation 49.4]
D
T
80 ... 160 FAX = 2 · _ · µ · tan 20° + 2µPF [Equation 49.5]
D

with:
FAX = Axial force [N]
D = (Size) · 0.00254 [m]
T = Torque at the output [Nm]
µ = 0.07, Coefficient of friction
2µPF = Additional force (only CSD and SHD) [N]
Example
Size 32 (CSD-32-50)
Output torque = 200 Nm
Coefficient of friction μ = 0.07

FAX = 2 · (32200 Nm
· 0.00254) m · 0.07 · tan 30° + 16 N
FAX = 215 N

Table 49.6

Unit 14 17 20 25 32 40 50

2µPF for CSD and SHD [N] 2.1 4.1 5.6 9.8 16 24 39

1021387 12/2018 V02 49

5. Installation and Operation
5.1 Transport and Storage
Gears should be transported in the original packaging. If the gear is not put into service immediately on receipt, it should be
stored in a dry area in the original packaging. The permissible storage temperature range is -20 °C to + 60 °C.

5.2 Gear Condition at Delivery

The gears are generally delivered according to the dimensions indicated in the confirmation drawing.

Gears with Grease Lubrication

• SHG-2UH
These units are supplied with a lifetime lubrication as standard.

• SHG-2SO und SHG-2SH

These units are supplied without lifetime lubrication. Before commissioning of the unit an initial lubrication has to be applied
by the customer. A recommendation for the lubricant type can be found at chapter 4.10.1 and the recommended amount of
grease at chapter 5.5.2.

Gears with Oil Lubrication

Harmonic Drive® Units with oil lubrication are generally customer-specific solutions. Please follow the notes given on the
confirmation drawing. The oil temperature during operation must not exceed 90 °C. Oil must be filled into the unit by the
customer as the standard delivery does not include any oil lubricant.

Oil Quantity
The values specified in the confirmation drawing include the valid oil quantities to fill in. The oil quantity defined on the
confirmation drawing must be obeyed in any case. Too much oil results in excessive heat production and early wear due to the
thermal destruction of the oil. If the oil level is too low, this may lead to early wear as a result of lubricant deficiency.

5.3 Assembly Information

ADVICE
Screws which have been tightened by the gear manufacturer must not be loosened.

50 1021387 12/2018 V02

5.4 Recommended Tolerances for Assembly SHG-2SO and SHG-2SH

In order to use the full performance of Harmonic Drive® Units, it is essential that the tolerances according to
table 51.2 are observed for the input assembly.

Illustration 51.1

Recommended housing tolerances H7

Recommended shaft tolerances h6

Table 51.2

Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

a [mm] 0.011 0.015 0.017 0.024 0.026 0.026 0.027 0.028 0.031 0.034
[mm] 0.017 0.020 0.020 0.024 0.024 0.032 0.032 0.032 0.032 0.032
b
[mm] (0.008) (0.010) (0.010) (0.012) (0.012) (0.012) (0.013) (0.015) (0.015) (0.015)
[mm] 0.030 0.034 0.044 0.047 0.050 0.063 0.065 0.066 0.068 0.070
c
[mm] (0.016) (0.018) (0.019) (0.022) (0.022) (0.024) (0.027) (0.030) (0.033) (0.035)

The values in brackets are the recommended tolerances for component sets featuring a Wave Generator without Oldham Coupling. The Oldham Coupling
serves to compensate for eccentricity of the input shaft and is available in the standard version. For the direct mounting of a Wave Generator without
Oldham Coupling (Solid Wave Generator) on a motor shaft, the shaft tolerances should fulfill the DIN 42955 R standard.

1021387 12/2018 V02 51

5.5 Lubrication
5.5.1 Grease lubrication SHG-2UH

Harmonic Drive® SHG-2UH Units are delivered ready for immediate installation. They are supplied with lifetime lubricant which
is a high performance grease that meets the specific requirements of the Harmonic Drive® Gears based on strain wave gear
principle. It guarantees constant accuracy of the gears for their whole life. A re-lubrication of the Units is not necessary.

5.5.2 Grease Lubrication SHG-2SO and SHG-2SH

These units are delivered without lifetime lubrication. Before commissioning of the unit an initial lubrication has to be applied
by the customer. A recommendation for the lubricant type can be found at chapter 4.10.1. If any other grease is used this will be
indicated on the customer drawing. On delivery of SHG-2SO and -2SH Units as standard, Flexspline and Circular Spline teeth are
lubricated ready for use. Before mounting, the Wave Generator Bearing and the inner part of the Flexspline must be greased.
It may be necessary to place an additional amount of grease on the front face of the Wave Generator (see illustration 53.1).

Illustration 52.1 shows the areas requiring grease.

Illustration 52.1

The areas
Wave Generator Bearing
Inner part of Flexspline
must be lubricated when
the unit is mounted into the
machine.

On delivery, standard Units are

greased ready for
use in the areas
Gear teeth
Output bearing

Table 52.2

Symbol SHG- SHG- SHG- SHG- SHG- SHG- SHG- SHG- SHG- SHG-
[Unit] 14 17 20 25 32 40 45 50 58 65

Dimension (Illustration 52.3) s [mm] 3 4 5 6 8 10 11 12 14 16

[g] 5,8 11 18 32 64 120 185 235 385 495
Standard amount of grease
[cm3] 6,4 12 20 35 70 132 203 258 423 544
Additionally required grease quantity for operation [g] 3,1 4 4 10 20 30 45 55 95 135
with Wave Generator above [cm3] 3,4 4 4 11 22 33 49 60 104 148

The following operating positions “Wave Generator above” or “Wave Generator below” refer to the position of the Wave
Generator in relative to the output bearing of the Unit, see illustration 52.3.

Illustration 52.3
Operating positions
Vertical, Wave Generator above Wave Generator horizontal Vertical, Wave Generator below
Wave Generator Wave Generator Output Bearing

Output Bearing Output Bearing Wave Generator

52 1021387 12/2018 V02

5.5.3 Additional Grease Package

The required grease quantity is depending on the operating position. If the unit is mainly operated with Wave Generator
above, additional grease must be supplied above the Wave Generator, see illustration 52.3 and table 52.2.
Illustration 53.1

If the units are used Adapter flange Motor

mainly with Wave Gene-
rator above, then additi-
onal grease lubrication
is necessary. In this
case about 60 % of the
available space in the
adaptor flange should
be filled with grease.

5.5.4 Grease Change

If the strain wave gear is operated at regular operating conditions (average environmental temperatures ≤ 40 °C, average
application loads ≤ rated torque and rated speed), the initial lubrication is sufficient for the lifetime of the gear. Abrasion of
the sliding parts of a strain wave gear is influenced by the grease condition. Grease performance changes by temperature and
deteriorates rapidly as the temperature rises. Therefore a replacement of the grease may become necessary depending on the
operating conditions.

In illustration 53.2, the grease change interval depending on the grease temperature is given. This chart is valid for a gear loaded
with rated torque and rated speed. If the application's average torque is higher than the rated torque, the grease change interval
can be determined with equation 53.3. This means, that for a temperature of Harmonic Drive® Grease SK-1A or SK-2 of 40 °C a
change should take place after approx. 8.5 · 108 revolutions of the input shaft.

To change the grease the gear should be completely disassembled and cleaned before regreasing. Fresh grease should be
applied to the inside of the Flexspline, the Wave Generator bearing, the Oldham Coupling and the teeth of the Circular Spline
and Flexspline.

Illustration 53.2 Equation 53.3

1E+10
1E+10
LGT = LGTn
.
( TT )
N
3
Number of Wave Generator revolutions

av

LGT = Number of Wave Generator revolutions until grease change

Flexolub®-A1
LGTn = see diagram
1E+09
1E+09

TN = Rated torque
4B No.2 Tav = Average torque of the application

SK-1A, SK-2
1E+08
1E+08
20
20 40
40 60
60 80
80 100
100 120
120 140
140

Grease Temperature [°C]

1021387 12/2018 V02 53

5.5.5 Oil Lubrication

Harmonic Drive® Units with oil lubrication are generally customer-specific solutions. Please follow the notes given on the
confirmation drawing and refer to chapter 4.10.2 for allowed oil types. The oil temperature during operation must not exceed
90 °C. The minimum requirement is mineral oil CLP 68 (ISO VG 68) according to DIN 51517 T3. Oil must be filled into the unit by
the customer as the standard delivery does not include any oil lubricant.

The confirmation drawing includes the required oil quantities. The oil quantity defined on the confirmation drawing must be
obeyed in any case. Too much oil results in excessive heat production and early wear due to the thermal destruction of the oil.
If the oil level is too low, this may lead to early wear as a result of the lack of lubricant.

The first oil change should be performed after about 100 hours of operation. Subsequent change intervals depending
on the load, but should be carried out in a period of about 1000 hours.

To change the oil, the old oil must be completely drained and new oil introduced. Recommended oil types can be found in
table 49.2. The mixture of lubricants with different specifications is to be avoided.

5.6 Assembly Preparation

Assembly preparation
The gear assembly must be carried out very carefully and within a clean environment. Please make sure that during the
assembly procedure no foreign particles enter the gear.

General information
Clean, degrease and dry all mating surfaces to ensure an adequate coefficient of friction. The values given are valid for
12.9 quality screws which must be tightened by means of a torque wrench. Locking devices such as spring washers or toothed
washers should not be used.

Auxiliary materials for assembly

For the assembly, we recommend the application of the following auxiliary materials or the use of those with similar
characteristics. Please pay attention to the application guidelines given by the manufacturer. Auxiliary materials must
not enter the gear.

Surface sealing
• Loctite 518
• Loxeal 28-10
Recommended for all mating surfaces, if the use of o-ring seals is not intended. Flanges provided with O-ring grooves must
be sealed with sealing compound when a proper seal cannot be achieved using the O-ring alone.

Screw fixing
• Loctite 243
• Loxeal 55-03
This adhesive ensures that the screw is fixed and also provides a good sealing effect and is recommended for all screw
connections.

Assembly paste
• Klüber Q NB 50
Recommended for o-rings which may come out of the groove during the assembly procedure. Before starting with the
assembly you should spread some grease (which you can take from the gear) on all other o-rings.

Adhesives
• Loctite 638
Adhesive applicable to the connections between motor shaft and Wave Generator. You should make use of it only if this is
specified in the confirmation drawing.

54 1021387 12/2018 V02

5.7 Assembly of SHG-2SO and SHG-2SH Units

The following explanations refer to SHG-2SO Series units, having a Wave Generator with Oldham Coupling or a Solid Wave
Generator.

The assembly of the SHG-2SH Series units with hollow shaft is not described explicitly in this manual. Please contact
Harmonic Drive AG if necessary.

The assembling method of the gear depends strongly on the design details. Thus, this assembly manual only provides
general guidelines. The assembly procedure may differ from those described herein in exceptional cases.

If the described assembling sequence cannot be observed, please ask Harmonic Drive AG whether in the concrete case
another sequence is permissible.

The assembly must be carried out without the use of excessive force. The assembly instructions of the machine manufacturer
should be referred to. Unless otherwise noted, all screws must be tightened crosswise in 3 steps to the prescribed torque.

Pre-assembled screws must not be released. On delivery, Flexspline and Circular Spline of SHG-2SO and SHG-2SH Units are
pre-assembled only by a few screws. Therefore the full output bearing and torque load can only be applied after the unit has
been attached completely to the machine frame and the load. Therefore we recommend to connect the unit to the machine
housing and load (please take care of the dead weight) before applying any radial or axial forces.

1021387 12/2018 V02 55

5.7.1 Motor Assembly SHG-2SO

Assembly of the adapter flange to the motor

For the planning of the assembly sequence it may be helpful to know the max. diameter of the Wave Generator, see illustration
56.1. In table 56.2 the diameters of the Wave Generator main axes are indicated.
Illustration 56.1

Wave Generator
- Main axis

Table 56.2

Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

ca. ø Wave Generator - Main axis mm 36 43 50 63 82 100 114 125 146 164

Installation steps (see Illustration 57.3):

1) Mount the adapter flange (1) to the motor (2) using the screws (8).
2) Mount the Wave Generator (5) to the motor shaft.
3) Mount the adapter flange - motor subassembly to the unit (10).

Illustration 56.3

O-rings (3) and (9) or sealing agent should be used for sealing the adapter flange (1) towards the motor (2) and the unit (10).
The sealing surfaces of the o-ring or the sealing agent must not be interrupted ( e. g. by boreholes). When the unit is
lubricated with 4B No.2 or mainly operated with Wave Generator below, a motor with shaft seal should be used in order to
avoid the intrusion of the grease base oil into the motor.

56 1021387 12/2018 V02

5.7.2 Wave Generator Components SHG-2SO

Illustration 57.1 shows a standard Wave Generator with Oldham Coupling.

Illustration 57.1
1) Ball Separator
1) 2) 2) Wave Generator Bearing
3) Wave Generator Plug
3) 4) Insert
5) Thrust washers
6) Snap ring
7) Wave Generator Hub
7)
6)
4)
5)

5.7.3 Mounting the Wave Generator (WG) to the Motor Shaft

The axial position of the Wave Generator in the gearbox is critical for the correct operation of the unit. Please check the
correct position of the Wave Generator against the confirmation drawing.

• Push the greased Wave Generator onto the motor shaft according to the assembly dimension given in the confirmation
drawing. If there is no assembly value given, the Wave Generator must be moved until it reaches the shaft collar.

• Insert the plug into the bore of the Wave Generator Hub and tighten with the screw. When a clamping element is used,
tighten its screws in five steps to the torque given in the confirmation drawing. Final control of the assembly. Some
types of clamping elements can move axially during tightening. Adjust as appropriate.

1021387 12/2018 V02 57

5.7.4 Check before Assembly of the Wave Generator (WG)

• Final check of position of the Wave Generator. For some clamping elements an axial movement may
occur during tightening. Please take account of this effect when positioning the Wave Generator on the
shaft.

• Check whether the WG is lubricated. When the gear is oil lubricated, fill in the recommended oil quantity.

5.7.5 Assembly of the Wave Generator (WG) into the Flexspline (FS)

When the Wave Generator is assembled into the Flexspline please consider that the parts must not be tilt during assembly.
By parallel assemby it is ensured that the teeth of Flexspline and Circular Spline mesh symmetrically.

Alternatively the assembly can be executed during slowly rotation of the input shaft (n < 10 rpm). This method eases the
assembly.

5.7.6 Assembly Control

Very rarely, an eccentric tooth mesh, called dedoidal, may occur, see illustration 57.1. The correct assembly can be checked as
follow:

• Check the running behaviour by rotating the input shaft (in case of types with input shaft). Alternatively you may rotate
the output flange. If you notice torque variations these may be caused by eccentric tooth mesh.

• Check the running behaviour and the motor current while the motor is rotating. Strong fluctuations in the motor current
or an excessive no-load current may be the result of an eccentric tooth mesh.

In case of a dedoidal assembly you can avoid permanent damage of the gear if the wrong installation is recognized by means
of the above mentioned inspection. The problem can be solved by disassembling the gear followed by a new assembly.

Illustration 58.1

Right Wrong
(dedoidal)

58 1021387 12/2018 V02

5.7.7 Assembly of the Output Flange

In the case of these Units the load is connected to the output bearing by means of a flange. Depending on the manner of
fastening, either the flange which is connected to the outer ring, or the flange which is connected to the internal ring of the
output bearing, can be used as output element. The tolerance values indicated in table 51.2 are the sum of bearing and
flange tolerances, valid for standard Units. On request Units with optimized flange tolerances are available.

Table 59.1

Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

Number of Bolts 16 16 12 16 12 16

Bolt Size M3 M3 M3 M4 M5 M6 M8 M8 M10 M10

Bolt pitch diameter [mm] 44 54 62 77 100 122 140 154 178 195

Tightening Torque [Nm] 2.4 2.4 2.4 5.4 10.8 18.3 44 44 89 89

Torque transmitting
[Nm] 88 216 248 520 1080 1867 2914 4274 5927 8658
capacity1)

5.7.8 Assembly of the Housing Flange

Table 59.2

Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

Number of Bolts 8 12 12 12 12 12 18 12 16 16

Bolt Size M3 M3 M3 M4 M5 M6 M6 M8 M8 M10

Bolt pitch diameter [mm] 64 74 84 102 132 158 180 200 226 258

Tightening Torque [Nm] 2.4 2.4 2.4 5.4 10.8 18.4 18.4 44 44 74

Torque transmitting
[Nm] 128 222 252 516 1069 1813 3098 4163 6272 9546
capacity1)
* Friction coefficient μ = 0.15; 12.9 quality screws

Housing and output flange is to be assembled as per tables 59.1 and 59.2

5.7.9 Installation of the Input Shaft SHG-2UH and SHG-2SH

Table 59.3

Unit SHG-14 SHG-17 SHG-20 SHG-25 SHG-32 SHG-40 SHG-45 SHG-50 SHG-58 SHG-65

Number of Bolts 3 3 6 6 6 6 6 6 8 6

Bolt Size M3 M3 M3 M3 M3 M4 M4 M4 M4 M5

Tightening Torque [Nm] 2.1 2.1 2.1 2.1 2.1 4.0 4.0 4.0 4.0 9.0

1021387 12/2018 V02 59

6. Decommissioning and Disposal

The gears, servo actuators and motors from Harmonic Drive AG contain lubricants for bearings and gears as well as electronic
components and printed circuit boards. Since lubricants (greases and oils) are considered hazardous substances in accordance
with health and safety regulations, it is necessary to dispose of the products correctly. Please ask for safety data sheet where
necessary.

60 1021387 12/2018 V02

7. Glossary
7.1 Technical Data

AC Voltage constant kEM [Vrms / 1000 rpm]

Effective value of the induced motor voltage measured at the motor terminals at a speed of 1000 rpm and an operating tempera-
ture of 20 °C.

Ambient operating temperature [°C]

The intended operating temperature for the operation of the drive.

Average input speed (grease lubrication) nav (max) [rpm]

Maximum permissible average gear input speed for grease lubrication. The applications average input speed must be lower than
the permitted average input speed of the gear.

Average input speed (oil lubrication) nav (max) [rpm]

Maximum permissible average gear input speed for oil lubrication. The applications average input speed must be lower than
the permitted average input speed of the gear.

Average torque TA [Nm]

When a variable load is applied to the gear, an average torque should be calculated for the complete operating cycle. This
value should not exceed the specified TA limit.

Backlash (Harmonic Planetary Gears) [arcmin]

When subjected to the rated torque, Harmonic Planetary
Torsion
Gears display characteristics shown in the hysteresis curve. φ
When a torque is applied to the output shaft of the gear
Hysteresis loss/
with the input shaft locked, the torque-torsion relationship Backlash
can be measured at the output. Starting from point 0 the
graph follows successive points A-B-A'-B'-A where the value
B-B' is defined as the backlash or hysteresis. Torque T +TN

Brake closing time tC [ms] TN = Rated torque

φ = Output angle
Delay time to close the brake.

Brake current to hold IHBr [ADC]

Current for applying the brake.

Brake current to open IOBr [ADC]

Current required to open the brake.

Brake holding torque TBR [Nm]

Torque the actuator can withstand when the brake is applied, with respect to the output.

Brake opening time tO [ms]

Delay time for opening the brake.

1021387 12/2018 V02 61

Brake voltage UBr [VDC]
Terminal voltage of the holding brake.

Continuous stall current I0 [Arms]

Effective value of the motor phase current to produce the stall torque.

Continuous stall torque T0 [Nm]

Allowable actuator stall torque.

Demagnetisation current IE [Arms]

Current at which rotor magnets start to demagnetise.

Dynamic axial load FA dyn (max) [N]

With the bearing rotating, this is the maximum allowable axial load with no additional radial forces or tilting moments
applied.

Dynamic load rating C [N]

Maximum dynamic load that can be absorbed by the output bearing before permanent damage may occur.

Dynamic radial load FR dyn (max) [N]

With the bearing rotating, this is the maximum allowable radial load with no additional axial forces or tilting moments
applied.

Dynamic tilting moment Mdyn (max) [Nm]

With the bearing rotating, this is the maximum allowable tilting moment with no additional axial forces or radial forces
applied. This value is not based on the equation for lifetime calculation of the output bearing but on the maximum allowable
deflection of the Harmonic Drive® Component Set. This value must not be exceeded even if the lifetime calculation of the
bearing permits higher values.

Electrical time constant τe [s]

The electrical time constant is the time required for the current to reach 63 % of its final value.

Hollow shaft diameter dH [mm]

Free inner diameter of the axial hollow shaft.

Hysteresis loss (Harmonic Drive® Gears) Torsion

φ
When a torque is applied to the output of a Harmonic Drive®
Gear with the input locked, the torque-torsion relationship A
measured at the output typically follows, starting from point
0, the successive points the hysteresis curve A-B-A'-B'-A Hysteresis loss
(see figure). The value of the displacement B-B' is defined as
the hysteresis loss. B

-TN Torque T + TN
0
B‘

A‘

TN = Rated output torque

φ = Output rotation angle

62 1021387 12/2018 V02

Inductance (L-L) LL-L [mH]
Terminal inductance calculated without taking into account the magnetic saturation of the active motor parts.

Lost Motion (Harmonic Drive® Gears) [arcmin]

Harmonic Drive® Gears exhibit zero backlash in the teeth.
Lost motion is the term used to characterise the torsional Torsion

Lost Motion
stiffness in the low torque region. φ

The illustration shows the angle of rotation ϕ measured

φ1 ; φ2
against the applied output torque as a hysteresis curve with
the Wave Generator locked. The lost motion measurement Torque T
of the gear is taken with an output torque of about ± 4 % of φ1‘ ; φ2‘
the rated torque.

~ -4 % TN ~ +4 % TN

Maximum current Imax [A]

The maximum current is the maximum current that can be applied for a short period.

Maximum DC bus voltage UDC (max) [VDC]

The maximum DC bus power supply for the correct operation of the actuator. This value may only be exceeded for a short
period during the braking or deceleration phase.

Maximum hollow shaft diameter dH (max) [mm]

For gears with a hollow shaft, this value is the maximum possible diameter of the axial hollow shaft.

Maximum input speed (grease lubrication) nin (max) [rpm]

Maximum allowable input speed with grease lubrication for short period. The maximum input speed can be applied as often
as desired, as long as the application's average speed is lower than the permitted average input speed of the gear.

Maximum input speed (oil lubrication) nin (max) [rpm]

Maximum allowable input speed for gearing with oil lubrication for short period. The maximum input speed can be applied as
often as desired, as long as the application's average speed is lower than the permitted average input speed of the gear.

Maximum motor speed nmax [rpm]

The maximum allowable motor speed.

Maximum output speed nmax [rpm]

The maximum output speed. Due to heating issues, this may only be momentarily applied during the operating cycle. The
maximum output speed can occur any number of times as long as the calculated average speed is within the permissible
continuous operation duty cycle.

Maximum output torque Tmax [Nm]

Specifies the maximum allowable acceleration and deceleration torques. For highly dynamic processes, this is the maximum
torque available for a short period. The maximum torque can be parameterised by the control unit where the maximum
current can be limited. The maximum torque can be applied as often as desired, as long as the calculated average torque is
within the permissible continuous operation duty cycle.

1021387 12/2018 V02 63

Maximum power Pmax [W]
Maximum power output.

Mechanical time constant τm [s]

The mechanical time constant is the time required to reach 63 % of its maximum rated speed in a no-load condition.

Momentary peak torque TM [Nm]

In the event of an emergency stop or collision, the Harmonic Drive® Gear may be subjected to a brief momentary peak torque.
The magnitude and frequency of this peak torque should be kept to a minimum and under no circumstances should the
momentary peak torque occur during the normal operating cycle. The allowable number of momentary peak torque events
can be calculated with the equations given in chapter "selection procedure".

Moment of inertia J [kgm²]

Mass moment of inertia at motor side.

Moment of inertia Jin [kgm²]

Mass moment of inertia of the gear with respect to the input.

Moment of inertia Jout [kgm2]

Mass moment of inertia with respect to the output.

Motor terminal voltage (Fundamental wave only) UM [Vrms]

Required fundamental wave voltage to achieve the specified performance. Additional power losses can lead to restriction of
the maximum achievable speed.

Nominal Service Life Ln [h]

When loaded with rated torque and running at rated speed the Wave Generator Bearing will reach the nominal service life Ln
with 50 % propability of failure. For different load conditions the service life of the Wave Generator Bearing can be calculated
using the equations in chapter "selection procedure".

Number of pole pairs p

Number of magnetic pole pairs on the rotor of the motor.

Offset R [m]
Distance between output 's center plane and contact point of the load.

Pitch circle diameter dp [m] or [mm]

Pitch circle diameter of the output bearing rolling element raceway.

Protection class IP
The degree of protection according to EN 60034-5 provides suitability for various environmental conditions.

Rated current IN [A]

RMS value of the sinusoidal current when driven at rated torque and rated speed.

Rated motor speed nN [rpm]

The motor speed which can be continuously maintained when driven at rated torque TN, when mounted on a suitably dimensi-
oned heat sink.
64 1021387 12/2018 V02
Rated power PN [W]
Output power at rated speed and rated torque.

Rated speed nN [rpm], Servo

The output speed which can be continuously maintained when driven at rated torque TN, when mounted on a suitably
dimensioned heat sink.

Rated speed nN [rpm], Mechanical

The rated speed is a reference speed for the calculation of the gear life. When loaded with rated torque and running at
rated speed the Wave Generator Bearing will reach the nominal service life Ln with 50 % propability of failure. The rated speed
nN is not used for the dimensioning of the gear.

Product series Unit nN

CobaltLine®, HFUC, HFUS, CSF, CSG, CSD, SHG, SHD [rpm] 2000
PMG size 5 [rpm] 4500
PMG size 8 to 14 [rpm] 3500
HPG, HPGP, HPN [rpm] 3000

Rated torque TN [Nm], Servo

The output torque which can be continuously transmitted when driven at rated input speed, when mounted on a suitably
dimensioned heat sink.

Rated torque TN [Nm], Mechanical

The rated torque is a reference torque for the calculation of the gear life. When loaded with rated torque and running at rated
speed the Wave Generator Bearing will reach the nominal service life Ln with 50 % propability of failure. The rated torque TN is
not used for the dimensioning of the gear.

Rated voltage UN [Vrms]

Supply voltage for operation with rated torque and rated speed.

Ratio i [ ]
The ratio is the reduction of input speed to the output speed.
Note for Harmonic Drive® Gears: In the standard drive arrangement, the Wave Generator is the drive element while the
Flexspline is the driven element and the Circular Spline is fixed to the housing. Since the direction of rotation of the input
(Wave Generator) is opposite to the output (Flexspline), a negative ratio must be considered.

Repeatability [arcmin]
The repeatability of the gear describes the position differ-
ence measured during repeated movement to the same
desired position from the same direction. The repeatability is φ1
defined as half the value of the maximum difference meas-
φ2
ured, preceded by a ± sign.
φ7
x
x/2 x/2
Repeatability = ±x /2

1021387 12/2018 V02 65

Repeated peak torque TR [Nm]
Specifies the maximum allowable acceleration and deceleration torque. During the normal operating cycle the repeated peak
torque TR must not be exceeded. The repeated peak torque can be applied as often as desired, as long as the application's
average torque is lower than the permitted average torque of the gear.

Resistance (L-L, 20 °C) RL-L [Ω]

Winding resistance measured between two conductors at a winding temperature of 20 °C.

Size
1) Actuators / Gears with Harmonic Drive® Gears or Harmonic Planetary Gears
The frame size is derived from the pitch circle diameter of the gear teeth in inches multiplied by 10.

2) CHM Servo Motor Series

The size of the CHM Servo Motors is derived from the stall torque in Ncm.

3) Direct drives from the TorkDrive® Series

The size of the TorkDrive® Series is the outer diameter of the iron core of the stator.

Static load rating C0 [N]

Maximum static load that can be absorbed by the output bearing before permanent damage may occur.

Static tilting moment M0 [Nm]

With the bearing stationary, this is the maximum allowable radial load with no additional axial forces or tilting moments
applied.

Synchronous inductance Ld [mH]

Sum of air gap inductance and leakage inductance in relation to the single-phase equivalent circuit diagram of the
synchronous motor.

Tilting moment stiffness KB [Nm/arcmin]

The ratio of the tilting angle of the output bearing and the applied moment load.

Torque constant (motor) kTM [Nm/Arms]

Quotient of stall torque and stall current.

Torque constant (output) kTout [Nm/Arms]

Quotient of stall torque and stall current, taking into account the transmission losses.

66 1021387 12/2018 V02

Torsional stiffness
(Harmonic Drive® Gears) K1, K2, K3 [Nm/rad] Torsion
φ
The amount of elastic rotation at the output for a given
torque with the Wave Generator blocked. The torsional stiff- K3
ness may be evaluated by dividing the torque-torsion curve
into three regions. The torsional stiffness values K1, K2 and K3 φ2 K2
are determined by linearization of the curve. K1
φ1
K1: low torque region 0 ~ T1 Torque T
K2: middle torque region T1 ~ T2 0 T1 T2
K3: high torque region > T3 K1, K2, K3 = Torsional stiffness,  = Output angle
φ1 = Torsion angle, with output torque T1
The values given for the torsional stiffness K1, K2 and K3 are φ2 = Torsion angle, with output torque T2
average values that have been determined during numerous
tests. The limit torques T1 and T2 and an calculation example
for the torsional angle can be found in chapter "torsional
stiffness" and "calculation of the torsion angle" of this
documentation.

Torsional stiffness
(Harmonic Planetary Gears) K3 [Nm/rad]
The amount of elastic rotation at the output for a given
torque and blocked input shaft. The torsional rigidity of the
Harmonic Planetary Gear describes the rotation of the gear
above a reference torque of 15 % of the rated torque. In this
area the torsional stiffness is almost linear.

TN = Rated torque
φ = Output angle

Transmission accuracy [arcmin]

The transmission accuracy of the gear represents the linear-
ity error between input and output angle. The transmission
accuracy is measured for one complete output revolution
Transmission

using a high resolution measurement system. The measure-

accuracy

ments are carried out without direction reversal. The trans-

mission accuracy is defined as the sum of the maximum
Accuracy

positive and negative differences between the theoretical

and actual output rotation angles.
360° Output
angle

Weight m [kg]
The weight specified in the catalogue is the net weight without packing and only applies to standard versions.

1021387 12/2018 V02 67

7.2 Labelling, Guidelines and Regulations

CE-Marking
With the CE marking, the manufacturer or EU importer declares in accordance
with EU regulation, that the product meets the applicable requirements of the
EU harmonization legislation.

REACH Regulation REACH

REACH is a European Community Regulation on chemicals. REACH stands for Verordnung
Registration, Evaluation, Authorization and Restriction of Chemicals. Nr. 1907/2006

RoHS EU Directive
The RoHS EU Directive on the restriction of the use of certain hazardous
substances in electrical and electronic equipment.

68 1021387 12/2018 V02

 12/2018 V02

Deutschland
1021387

Harmonic Drive AG T +49 6431 5008-0 [email protected] Subject to technical changes

Hoenbergstraße 14 F +49 6431 5008-119 www.harmonicdrive.de
65555 Limburg/Lahn