Embed Size (px)
827149373885
3,222
0.883.016.842.1100364
84286
1,6204,0019,52334,518
9.5032.3183452
1,0763,900
9191,5873,8897,374
17,08533,272
40.970.6173328760
1,480
7011,1492,3834,6099,352
20,368
31.251.1106205416906
0.0060.0110.01150.0140.0190.023
0.02750.04050.0640.0850.1230.170
Nm lb-in x104
Nm/radx104
lb-in/rad111420325065
x102Nm m lb x102N lb
4M16260255
2,2575,180
45,847
4M12190103912
2,03017,967
4M1013551.5456868
7,682
4M810526.1231428
3,788
4M3461.412
26.3233
114
M5706.356110974
14 20 32 50 65
mmNmlb-inNmlb-in
65503220114
M4184.540
25.3224
148
M4304.54084743
8M645
15.3135286
2,531
8M860
37.2329697
6,169
8M1290
128.41,1362,40621,295
8M16120319
2,8235,972
52,857
mmNmlb-inNmlb-in
HPGP
HPGP
HPGP
The HPGP series has achieved higher torque while maintaining high precision through use of our innovative ring-gear technology and high moment stiffness through use of an integral cross-roller output bearing. The HPGP series achieves longer life and can allow smaller gearheads to be used.
Harmonic Drive™
HPGP Series – High Performance Gearhead for ServomotorsHarmonic Drive now offers a NEW high-torque planetary gearhead based upon our high precision HPG Series HarmonicPlanetary® gears.
Application Examples
Robot linear axis (rack and pinion) Machine tool gantry robot SCARA robot
Machine Tools Industrial Automation Industrial robots
Cross roller bearing
rack and pinion
belt
chain
Shielded input bearing
Motor mounting flange
Quick-Connect input couplingInnovative Ring Gear
The HPGP Series has 33% higher torque than the original HarmonicPlanetary® HPG SeriesSizeNumber of ScrewsSize of ScrewsPitch Circle Diameter
Torque TransmittingCapacity
Screw Tightening Torque
Number of ScrewsSize of ScrewsPitch Circle Diameter
Torque TransmittingCapacity
Screw Tightening Torque
Size
Pitch Circledp
OffsetR Basic Dynamic Load Rating C
Basic Load Rating
Basic Static Load Rating Co
Allowable Moment Load Mc Moment Stiffness Km
Specification for Crossroller Bearing
Bolt Connection to Output Flange and Resulting Transmission Torque
Installation and Transmission Torque
HPGP Series HPG Series (Original product)
Output Flange Bolt Pattern Reference Drawing
The number of bolts, size of bolts & PCD vary depending on the size of the gear. Additionally, the HPGP Series has an added dowel pin hole.
Please refer to the Gearhead Series Catalog or contact our Sales Division for more information.
Harmonic Drive is a trademark of Harmonic Drive LLC.
Harmonic Drive LLCBoston US Headquarters247 Lynnfield StreetPeabody, MA 01960
New York Sales Office100 Motor ParkwaySuite 116Hauppauge, NY 11788
Group CompaniesHarmonic Drive Systems, Inc.6-25-3 Minami-Ohi, Shinagawa-kuTokyo 141-0013, Japan
Harmonic Drive AGHoenbergstrasse, 14, D-6555Limburg/Lahn Germany
San Jose Sales Office333 W. San Carlos Street Suite 1070San Jose, CA 95110
T: 800.921.3332T: 978.532.1800F: 978.532.9406www.HarmonicDrive.net
Rev_03_13
• The moment stiffnesses are average values.
Recommended bolt : JIS B 1176 socket head cap screw, Bolt strength: JIS B 1051, 12.9 or higher
The torque of the HPGP is higher than HPG Series and has a different number of bolts, size of bolts & PCD. Detailed drawings are available upon request.Recommended bolt : JIS B 1176 socket head cap screw, Bolt strength: JIS B 1051, 12.9 or higher
High Performance Gearhead for Servo Motors
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
Nm lb-in lb-in lb-in lb-inNm Nm Nm r/min r/min
A
5,21,37,45
5,11,15,21,33,45
4,5,12,15,20,25
FO : Output FlangeJ20 : Shaft without a keyJ60 : Shaft with a key and center tapped hole
FO : Output Flange J2 : Shaft without a key J6 : Shaft with key and center tapped hole (J2 & J6 for size 65 are by special order only)
This code represents the motor mounting configuration. This code differs depending on the motor to be used. Please contact the Sales Division for the mounting codes of motors not listed in the matching table.
BL 1 : Backlash less than 1 arc-min. (Available size # 14-65)D : Input side contact sealed bearing (DDU)NR6 : Noise reduction, backlash less than 6 arc-min (Available size # 14-50 )Blank : Standard productSP : Custom Specification
HPGP,High-Torque,
11
14
20
32
50
65
11
14
20
32
50
65
52137455
11152133455
11152133455
11152133455
111521334545
12152025
3.4
4.6
7.810
12
13
21263233
39
87104122130
143
226266306346
359
665705798971
1,0601,130
30
41
6989
106106115115186230283292345345770920
1,0801,1511,2661,2662,0002,3542,7083,062
3,177
5,8866,2407,0638,5949,382
10,001
6.7
8
17
20
47607073
80
200
226
266
452532600
665
1,2001,3301,4601,730
2,000
59
71
150177177177177177416531620646708708
1,7702,0002,0002,0002,3542,3544,0014,7095,3105,8865,8865,886
10,62111,77112,92215,31217,70117,701
10
13
30
133
400
1,130
2,920
89
115
266
1,177
3,540
10,001
25,844
20
56
217
650
1,850
4,500
177
496
1,921
5,753
16,374
39,828
3,000
3,000
3,000
3,000
2,000
2,000
10,000
6,000
6,000
6,000
4,500
2,500
3,000
0.00400.0019
0.000690.00050
0.0230.0190.017
0.00930.00300.0028
0.200.170.16
0.0730.0300.023
1.1
0.770.370.170.126.24.23.71.7
0.750.5246*9
30*9
22*9
20*9
7.8*9
7.2*9
0.00240.0018
0.000660.00048
0.0170.0180.016
0.00900.00290.0027
0.160.170.15
0.0710.0290.022
0.81.0
0.740.350.170.124.94.03.51.6
0.720.50312120197.36.8
0.18
0.24
0.54
0.63
1.6
1.9
2.01.94.4
5.1
5.45.113
15
32*9
47*9
0.14
0.20
0.42
0.51
1.2
1.5
1.61.53.0
3.7
4.03.710
12
22
37
11
14
20
32
50
65
5
4
4
4
3
3
14.5
11.6
11.6
11.6
8.7
8.7
±30
±20
±15
±15
±15
±15
4.02.91.61.48.68.07.45.23.32.41915129.36.44.7332725221511804540362420
2882401251109584
0.350.260.140.120.760.710.70.50.30.21.71.31.10.80.60.42.92.42.21.91.31.07.14.03.53.22.11.82521111087
0.20
0.60
0.640.430.90
1.1
0.931.71.82.0
2.1
1.72.93.74.74.85.14.05.06.07.67.88.9
12
15171921
1.785.335.335.693.828.009.89.89.89.88.3
15.116.017.818.718.715.125.832.941.842.645.335.544.453.367.569.379.1107107133151169187
5.01.3
0.900.809.84.9
2.9
2.0
2815118.85.94.9733829241413
1306047402420
420360190160130110
0.440.120.080.070.90.40.30.30.20.22.51.31.00.80.50.46.53.42.62.11.21.2
11.55.34.23.52.11.8373217141210
arc min x10-4rad arc sec Ncm lb-in Nm lb-in Ncm lb-in5
2137455
11152133455
11152133455
11152133455
111521334545
12152025
HPGP 14 A 05 FO XXX SP
Rating Table
Performance Table High Performance Gearhead for Servo Motors
Dimensions
Ordering Code
Size
Size RevisionModel
Ratio
Ratio Output Shaft Options Special OptionsInput Shaft Configuration
Rated Torque at 3000rpm*1
Limit for RepeatedPeak Torque*3
Limit for Average Torque*2
Limit for Momentory
Torque*4
MaximumInput Speed*6
Max. Average Input Speed*5
Moment of Inertia*7
Input Shaft TypeWeight*8
Shaft x 10-4kg.m2 Shaft kgf Flange kgfFlange x 10-4kg.m2Gearheads w/Output
Positioning Accuracy *1 Backdriving Torque *4 No Load Running Torque *5Repeatability *2 Starting Torque *3
Size Ratio
Please contact our sales office for detailed dimensions.
Quick couple input shaft and motor flange allow easy mounting to a servo motor, the same as the conventional HPG series.
Easy mounting to a wide variety of servo motors.
Please contact our sales office for servo motors not listed in this brochure.In the future, additional motor manufacturers will be listed in the catalog and on our website.
Yaskawa Electric, Mitsubishi Electric, Fanuc, Panasonic, Sanyo Electric, Tamagawa Seiki, Fuji Electric, Omron, Toshiba Machine, Keyence.*1: Rated torque is based on an L10 life of 20,000 hours with an input speed of 3,000 rpm, which is the typical rated speed of servo motors. Rated input speed for sizes 50
and 65 are 2,000 rpm.*2: The limit for average torque is calculated based on the load torque pattern. *3: The limit for torque seen during start and stop cycles.*4: The limit for torque resulting from an emergency stop or from external shock loads. Always operate below this value. Calculate the permissible number of events to assure it meets the required operating conditions.*5: Maximum instantaneous input speed.*6: Maximum average input speed depends on the operating environment, but it is the limiting value for the continuous operating speed or the average input speed of a motion profile. Average input speed is limited due to heat generated in the reducer. *7: Inertia value is for the gearhead only*8: The weight is for the gearhead only. (Without input shaft coupling and motor flange )*9: Flange output is standard for the size 65 gearhead. Shaft type (J2 & J6) is available by special order only.
*1: Positioning accuracy represents the error between the theoretical and actual output angle. The values in the table are maximum values. *2: Repeatability is the difference in position measured after multiple movements to the same desired position from the same direction. The repeatability is defined as one half the value of the maximum difference measured, preceded by a ± sign. The values in the table are maximum values. *3: Starting torque is the torque required to begin rotation of the input element (high speed side), with no load applied to the output. The values in the table are maximum values. *4: Backdriving torque is the torque applied at the output side (low speed side) to begin rotation of the input element (high speed side). The values in the table are maximum values. *5: No-load running torque is the input torque required to rotate the input at 3,000 rpm with no load applied to the output.
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
Nm lb-in lb-in lb-in lb-inNm Nm Nm r/min r/min
A
5,21,37,45
5,11,15,21,33,45
4,5,12,15,20,25
FO : Output FlangeJ20 : Shaft without a keyJ60 : Shaft with a key and center tapped hole
FO : Output Flange J2 : Shaft without a key J6 : Shaft with key and center tapped hole (J2 & J6 for size 65 are by special order only)
This code represents the motor mounting configuration. This code differs depending on the motor to be used. Please contact the Sales Division for the mounting codes of motors not listed in the matching table.
BL 1 : Backlash less than 1 arc-min. (Available size # 14-65)D : Input side contact sealed bearing (DDU)NR6 : Noise reduction, backlash less than 6 arc-min (Available size # 14-50 )Blank : Standard productSP : Custom Specification
HPGP,High-Torque,
11
14
20
32
50
65
11
14
20
32
50
65
52137455111521334551115213345511152133455111521334545
12152025
3.4
4.6
7.810
12
13
21263233
39
87104122130
143
226266306346
359
665705798971
1,0601,130
30
41
6989
106106115115186230283292345345770920
1,0801,1511,2661,2662,0002,3542,7083,062
3,177
5,8866,2407,0638,5949,382
10,001
6.7
8
17
20
47607073
80
200
226
266
452532600
665
1,2001,3301,4601,730
2,000
59
71
150177177177177177416531620646708708
1,7702,0002,0002,0002,3542,3544,0014,7095,3105,8865,8865,886
10,62111,77112,92215,31217,70117,701
10
13
30
133
400
1,130
2,920
89
115
266
1,177
3,540
10,001
25,844
20
56
217
650
1,850
4,500
177
496
1,921
5,753
16,374
39,828
3,000
3,000
3,000
3,000
2,000
2,000
10,000
6,000
6,000
6,000
4,500
2,500
3,000
0.00400.0019
0.000690.00050
0.0230.0190.017
0.00930.00300.0028
0.200.170.16
0.0730.0300.023
1.1
0.770.370.170.126.24.23.71.7
0.750.5246*9
30*9
22*9
20*9
7.8*9
7.2*9
0.00240.0018
0.000660.00048
0.0170.0180.016
0.00900.00290.0027
0.160.170.15
0.0710.0290.022
0.81.0
0.740.350.170.124.94.03.51.6
0.720.50312120197.36.8
0.18
0.24
0.54
0.63
1.6
1.9
2.01.94.4
5.1
5.45.113
15
32*9
47*9
0.14
0.20
0.42
0.51
1.2
1.5
1.61.53.0
3.7
4.03.710
12
22
37
11
14
20
32
50
65
5
4
4
4
3
3
14.5
11.6
11.6
11.6
8.7
8.7
±30
±20
±15
±15
±15
±15
4.02.91.61.48.68.07.45.23.32.41915129.36.44.7332725221511804540362420
2882401251109584
0.350.260.140.120.760.710.70.50.30.21.71.31.10.80.60.42.92.42.21.91.31.07.14.03.53.22.11.82521111087
0.20
0.60
0.640.430.90
1.1
0.931.71.82.0
2.1
1.72.93.74.74.85.14.05.06.07.67.88.9
12
15171921
1.785.335.335.693.828.009.89.89.89.88.3
15.116.017.818.718.715.125.832.941.842.645.335.544.453.367.569.379.1107107133151169187
5.01.3
0.900.809.84.9
2.9
2.0
2815118.85.94.9733829241413
1306047402420
420360190160130110
0.440.120.080.070.90.40.30.30.20.22.51.31.00.80.50.46.53.42.62.11.21.211.55.34.23.52.11.8373217141210
arc min x10-4rad arc sec Ncm lb-in Nm lb-in Ncm lb-in5
2137455111521334551115213345511152133455111521334545
12152025
HPGP 14 A 05 FO XXX SP
Rating Table
Performance Table High Performance Gearhead for Servo Motors
Dimensions
Ordering Code
Size
Size RevisionModel
Ratio
Ratio Output Shaft Options Special OptionsInput Shaft Configuration
Rated Torque at 3000rpm*1
Limit for RepeatedPeak Torque*3
Limit for Average Torque*2
Limit for Momentory
Torque*4
MaximumInput Speed*6
Max. Average Input Speed*5
Moment of Inertia*7
Input Shaft TypeWeight*8
Shaft x 10-4kg.m2 Shaft kgf Flange kgfFlange x 10-4kg.m2
Gearheads w/Output
Positioning Accuracy *1 Backdriving Torque *4 No Load Running Torque *5Repeatability *2 Starting Torque *3
Size Ratio
Please contact our sales office for detailed dimensions.
Quick couple input shaft and motor flange allow easy mounting to a servo motor, the same as the conventional HPG series.
Easy mounting to a wide variety of servo motors.
Please contact our sales office for servo motors not listed in this brochure.In the future, additional motor manufacturers will be listed in the catalog and on our website.
Yaskawa Electric, Mitsubishi Electric, Fanuc, Panasonic, Sanyo Electric, Tamagawa Seiki, Fuji Electric, Omron, Toshiba Machine, Keyence.*1: Rated torque is based on an L10 life of 20,000 hours with an input speed of 3,000 rpm, which is the typical rated speed of servo motors. Rated input speed for sizes 50
and 65 are 2,000 rpm.*2: The limit for average torque is calculated based on the load torque pattern. At this torque, life will be 2,000 hours or more when operated at an input speed of 2,000 rpm. *3: The limit for torque seen during start and stop cycles.*4: The limit for torque resulting from an emergency stop or from external shock loads. Always operate below this value. Calculate the permissible number of events to assure it meets the required operating conditions.*5: Maximum instantaneous input speed.*6: Maximum average input speed depends on the operating environment, but it is the limiting value for the continuous operating speed or the average input speed of a motion profile. Average input speed is limited due to heat generated in the reducer. *7: Inertia value is for the gearhead only*8: The weight is for the gearhead only. (Without input shaft coupling and motor flange )*9: Flange output is standard for the size 65 gearhead. Shaft type (J2 & J6) is available by special order only.
*1: Positioning accuracy represents the error between the theoretical and actual output angle. The values in the table are maximum values. *2: Repeatability is the difference in position measured after multiple movements to the same desired position from the same direction. The repeatability is defined as one half the value of the maximum difference measured, preceded by a ± sign. The values in the table are maximum values. *3: Starting torque is the torque required to begin rotation of the input element (high speed side), with no load applied to the output. The values in the table are maximum values. *4: Backdriving torque is the torque applied at the output side (low speed side) to begin rotation of the input element (high speed side). The values in the table are maximum values. *5: No-load running torque is the input torque required to rotate the input at 3,000 rpm with no load applied to the output.
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
827149373885
3,222
0.883.016.842.1100364
84286
1,6204,0019,52334,518
9.5032.3183452
1,0763,900
9191,5873,8897,374
17,08533,272
40.970.6173328760
1,480
7011,1492,3834,6099,352
20,368
31.251.1106205416906
0.0060.0110.01150.0140.0190.023
0.02750.04050.0640.0850.1230.170
Nm lb-in x104
Nm/radx104
lb-in/rad
111420325065
x102Nm m lb x102N lb
4M16260255
2,2575,180
45,847
4M12190103912
2,03017,967
4M1013551.5456868
7,682
4M810526.1231428
3,788
4M3461.412
26.3233
114
M5706.356110974
14 20 32 50 65
mmNmlb-inNmlb-in
65503220114
M4184.540
25.3224
148
M4304.54084743
8M645
15.3135286
2,531
8M860
37.2329697
6,169
8M1290
128.41,1362,40621,295
8M16120319
2,8235,972
52,857
mmNmlb-inNmlb-in
HPGP
HPGP
HPGP
The HPGP series has achieved higher torque while maintaining high precision through use of our innovative ring-gear technology and high moment stiffness through use of an integral cross-roller output bearing. The HPGP series achieves longer life and can allow smaller gearheads to be used.
Harmonic Drive™
HPGP Series – High Performance Gearhead for ServomotorsHarmonic Drive now offers a NEW high-torque planetary gearhead based upon our high precision HPG Series HarmonicPlanetary® gears.
Application ExamplesRobot linear axis (rack and pinion) Machine tool gantry robot SCARA robot
Machine Tools Industrial Automation Industrial robots
Cross roller bearing
rack and pinion
belt
chain
Shielded input bearing
Motor mounting flange
Quick-Connect input couplingInnovative Ring Gear
The HPGP Series has 33% higher torque than the original HarmonicPlanetary® HPG SeriesSizeNumber of ScrewsSize of ScrewsPitch Circle Diameter
Torque TransmittingCapacity
Screw Tightening Torque
Number of ScrewsSize of ScrewsPitch Circle Diameter
Torque TransmittingCapacity
Screw Tightening Torque
Size
Pitch Circledp
OffsetR Basic Dynamic Load Rating C
Basic Load Rating Basic Static Load Rating Co
Allowable Moment Load Mc Moment Stiffness Km
Specification for Crossroller Bearing
Bolt Connection to Output Flange and Resulting Transmission Torque
Installation and Transmission Torque
HPGP Series HPG Series (Original product)
Output Flange Bolt Pattern Reference Drawing
The number of bolts, size of bolts & PCD vary depending on the size of the gear. Additionally, the HPGP Series has an added dowel pin hole.
Please refer to the Gearhead Series Catalog or contact our Sales Division for more information.
Rev_05_13
• The moment stiffnesses are average values.
Recommended bolt : JIS B 1176 socket head cap screw, Bolt strength: JIS B 1051, 12.9 or higher
The torque of the HPGP is higher than HPG Series and has a different number of bolts, size of bolts & PCD. Detailed drawings are available upon request.Recommended bolt : JIS B 1176 socket head cap screw, Bolt strength: JIS B 1051, 12.9 or higher
High Performance Gearhead for Servo Motors
ELECTROMATEToll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099www.electromate.com
Sold & Serviced By:
