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Component Sets
The proven HFUC component sets achieve excellent
accuracy and high efficiency.
The component sets CPL are based on the proven HFUC components. Weight is
reduced up to 50 % und moment of inertia up 40%.
The CSG component sets feature a further increase in torque capacity and
operating life. Optimisation of the Flexspline and Circular Spline teeth
combined with a new Wave Generator bearing form the basis for this
improvement.
Because of their extremely short axial length the CSD component sets are
ideally suited for applications demanding an especially flat design.
The HFUS component sets feature a Flexspline diaphragm, which opens
outwards, rather than inwards. This design allows the integration of a large
central hollow-shaft through the gear.
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HFUC Series
The new HFUC Series component sets are a result of the
continuous development of Harmonic Drive precision reduction gearing. In
comparison with standard gears, the new HFUC series features a shortened
Flexspline, which results in an important reduction of the axial length. The
high performance IH tooth profile provides significantly increased torque
capacity compared to gears incorporating the traditional involute gear tooth
profile.
Advantages:
- High torque capacity
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
- Easy installation and assembly
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CPL Series
The component sets CPL are based on the proven HFUC
components. In comparison to the HFUC parts, which already exhibit a very
good weight to torque ratio, the component sets CPL have been further
optimised by careful cross-section design and material removal to achieve a
further weight saving of up to 50%. In addition to this the moment of
inertia has been reduced by ca. 40%.
Component sets CPL also have a modified Wave Generator to allow for a larger
hollow shaft diameter when compared to the HFUC components. The Flexspline
inner diameter has also been increased by using smaller diameter screws in
combination with the proven EKagrip gasket.
They are designed for use where particularly high power to weight ratios are
required.
Advantages:
- Very Low Weight
- High Torque Capacity
- Compact Design
- High Single Stage Ratios
- High Torsional Stiffness
- Zero Backlash
- Long Life Expectancy
- High Efficiency
- Simple Installation
- Quick Assembly
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CSG Series
The CSG Series Component Sets feature a significant
increase in torque capacity and rated operating life in comparison to the
current HFUC Series Component Sets. The main dimensions are identical to
those of the HFUC Series Component Sets. These gears can be optimally used
in the field of handling and robotic applications.
Advantages
- Increased torque capacity and operating life
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- Zero backlash
- High torsional stiffness
- High efficiency
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CSD Series
The key feature of the new CSD series Harmonic Drive
Component Set is the reduction of axial length by nearly 50 % in comparison
to the current HFUC series. This enables the design of particularly compact
positioning drives and indexing tables. Designs with hollow shaft are
possible.
Advantages
- Very compact design, very short axial length
- Low weight
- Optional hollow shaft
- Excellent positioning accuracy and repeatability
- High single stage ratios
- Zero backlash
- High efficiency
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HFUS Series
Harmonic Drive has developed the new HFUS-2A component
sets on the basis of the proven HFUC-2A series. The perfomance data for both
series are identical. The main difference between the HFUS and HFUC
component sets lies in the form of the flexspline. In the case of HFUS the
flexspline opens outwards allowing a large hollow shaft to be passed through
the gear. HFUS component sets are also used in the HFUS-2UH hollow shaft
units, the HFUS-2UJ units with input shaft and the HFUS-2SO/-2SH "Simplicity
Units".
In addition to the standard version HFUS-2A component sets are also
available in a special version with a similar outer diameter of the
flexspline diaphragm. We recommend the use of the standard version, can be
delivered more quickly.
Advantages
- Optional hollow shaft with large inner diameter
- High torque capacity
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- High efficiency
- Zero backlash
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Units
The CPU-M Series Units are designed for direct
mounting on any servo motor. Additionally counter bored through-holes in the
outer ring of the output bearing allow even large motors to be mounted using
only one adaptor flange.
The CPU-H Series Units are designed with a large, central hollow
shaft. These units are completely sealed and are delivered ready for
immediate installation.
The CPU-S Units are driven via a solid shaft. These units are
completely sealed and are delivered ready for immediate installation.
The SHG-2UH Unit complements the CPU-H product programme for
applications with high loads. It is distinguished by its 80 mm hollow shaft
and the increased torque capacity by 40% compared with standard Harmonic
Drive gears.
HFUC-2UH Units have been designed for easy assembly to all common
servo motors. The improved performance characteristics of the IH-type
gearing make them well suited for highly dynamic applications.
As a result of the optimisation of the Flexspline and Circular Spline teeth
combined with a new Wave Generator bearing CSG-2UH Units provide a
significant increase in torque capacity and rated operating life.
HFUS-2UH Series Units are completely sealed gearboxes with a hollow
input shaft and an integrated high capacity cross roller output bearing.
The HFUS-2SO and -2SH series Units, the so-called Simplicity Units,
consist of a component set and a corresponding cross-roler output bearing.
They are very compact and particularly suitable for applications in robot
axes. This type of units can be either provided with a standard Wave
Generator (2SO) or with central hollow-shaft (2SH).
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CPU-M Series
The CPU-M Unit is designed for direct mounting on any
servo motor. In addition to improved gear accuracy and increased maximum
rotational speed it also features a large, stiff and precise output bearing
that functions simultaneously as housing. Other important characteristics
are the flexible assembly options and improved corrosion protection.
Advantages
- Gear Transmission accuracy improved by up to 50%
- Newly developed extremely precise, high capacity and high stiffness
output bearing
- Complete corrosion protection
- Viton shaft seals for the output bearing with additional protective lip
- Output compatibility with the various CPU and CHA Series
- Zero backlash, high torsional stiffness and excellent repeatability
- High torque capacity
- Compact design and light weight
- Long operating life
- High efficiency
- Quick assembly and simple installation
- Maintenance-free with lifetime grease lubrication
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CPU-H Series
The CPU-H Unit is distinguished above all by its large,
central hollow shaft. The hollow shaft can be used to pass cables, shafts,
welding wire, compressed air, vacuum, grease, oil or even Laser beams
through the centre of the gear. In addition this Unit exhibits improved gear
accuracy, higher maximum rotational speeds and a large, stiff and precise
output bearing that functions simultaneously as housing. Improved corrosion
protection allows use even in extreme environments.
Advantages
- Gear Transmission accuracy improved by up to 50%
- Newly developed extremely precise, high capacity and high stiffness
output bearing
- Complete corrosion protection
- Viton shaft seals for the output bearing with additional protective lip
- Output compatibility with the various CPU and CHA Series
- Zero backlash, high torsional stiffness and excellent repeatability
- High torque capacity
- Compact design and light weight
- Long operating life
- High efficiency
- Quick assembly and simple installation
- Maintenance-free with lifetime grease lubrication
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CPU-S Series
The CPU-S Unit features an input shaft, is supported by
bearings mounted inside the unit, which allows belt pulleys, spur gears or
bevel gears to be mounted directly on the input shaft without the need for
additional bearings. In addition this Unit exhibits improved gear accuracy,
higher maximum rotational speeds and a large, stiff and precise output
bearing that functions simultaneously as housing. Improved corrosion
protection allows use even in extreme environments.
Advantages
- Gear Transmission accuracy improved by up to 50%
- Newly developed extremely precise, high capacity and high stiffness
output bearing
- Complete corrosion protection
- Viton shaft seals for the output bearing with additional protective lip
- Output compatibility with the various CPU and CHA Series
- Zero backlash, high torsional stiffness and excellent repeatability
- High torque capacity
- Compact design and light weight
- Long operating life
- High efficiency
- Quick assembly and simple installation
- Maintenance-free with lifetime grease lubrication
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SHG-2UH Series
This unit complements the CPU-H product programme for
applications with high loads. It is distinguished above all by its 80mm
hollow shaft that can be used for conducting cables, shafts, welding wires,
compressed air, vacuum, lubricants, laser beams, etc. through the gear.
Through the use of performance-enhanced component sets, this model range
offers a 40% longer lifetime than standard Harmonic Drive gears and its
torque capacity output bearing allows a precise conduction of heavy loads.
Advantages
- Integrated central hollow shaft with large diameter
- Component set with improved life and torque capacity
- High capacity and high stiffness output bearing
- Zero backlash and high torsional stiffness
- Compact design and very short length
- Lightweight design
- Maintenance-free due to lifetime grease lubrication
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HFUC-2UH Series
The HFUC-2UH Series combines a component set with
shortened Flexspline with a high stiffness cross roller bearing. The
integration of this high capacity bearing to support output loads will in
many applications eliminate the need for the user to design an output
bearing assembly, thus reducing design and production costs as well as
construction size greatly. The HFUC Units feature high accuracy and compact
dimensions. The IH tooth profile provides a significant increase in torque
capacity and torsional stiffness in comparison to the conventional tooth
profile.
Advantages
- High capacity output bearing
- High torque capacity
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
- Simple installation and assembly
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CSG-2UH Series
The CSG-2UH Series combines a component set with a high
stiffness cross roller bearing. The CSG Component Sets feature a significant
increase in torque capacity and rated operating life. The key measurements
and mounting dimensions are identical to those of the HFUC Units. By using a
high capacity output bearing the need for additional support bearings can be
eliminated. This reduces design and production costs greatly. The CSG units
feature high accuracy and compact dimensions.
Advantages
- High torque capacity and operating life
- High capacity output bearing
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
- Simple installation and assembly
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HFUS-2UH Series
The HFUS-2UH Series Units are completely sealed gearboxes
with a hollow input shaft and an integrated high capacity cross roller
output bearing.
By using a high capacity output bearing the need for additional support
bearings can be eliminated. This reduces design and production costs
greatly. The HFUS units feature high accuracy and compact dimensions. The IH
tooth profile provides a significant increase in torque capacity and
torsional stiffness in comparison to the conventional tooth profile.
Advantages
- Integrated hollow shaft with large diameter
- High capacity output bearing
- High torque capacity
- Excellent positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- Zero backlash
- Simple installation and assembly
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HFUS-2SH Series
HFUS-2SH Units have a reduced parts count (Simplicity
Unit). They consist of a component set and a high capacity and high
stiffness output bearing. HFUS-2SH Units feature a hollow shaft. By using a
high capacity output bearing the need for additional support bearings can be
eliminated. This reduces design and production costs greatly. The HFUS units
feature high accuracy and compact dimensions. The IH tooth profile provides
a significant increase in torque capacity and torsional stiffness in
comparison to the conventional tooth profile.
Advantages
- Compact and light weight design
- Hollow shaft with large diameter
- High capacity and high stiffness output bearing
- High torque capacity
- Excellent positioning accuracy and repeatability
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
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HFUS-2SO Series
HFUS-2SO Units have a reduced parts count and are
particularly well-suited to highly integrated designs where the housing is
not required (Simplicity Unit). They consist of a component set and a high
capacity and high stiffness output bearing. HFUS-2SO Units feature high
accuracy, compactness and light weight design. By using a high capacity
output bearing the need for additional support bearings can be eliminated.
This reduces greatly design and production costs for the end-user. The IH
tooth profile provides a significant increase in torque capacity and
torsional stiffness in comparison to the conventional tooth profile.
Advantages
- Compact and light weight design
- High capacity and high stiffness output bearing
- High torque capacity
- Excellent positioning accuracy and repeatability
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
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Gearboxes
Harmonic Drive Gearboxes are based on the Harmonic
Drive component sets and include an integrated output bearing. All Harmonic
Drive Gearboxes benefit from the same advantages as the Harmonic Drive
component sets and units – zero backlash, excellent accuracy, compactness,
high efficiency and long life. The integrated output bearing also provides a
high tilting moment capacity as well as a high tilting stiffness. This
usually makes an additional load carrying bearing unnecessary and allows for
a cost-effective and compact design.
Harmonic Drive Gearboxes are delivered with lifetime grease lubrication and
are thus maintenance- free. The improved performance characteristics of the
latest generation Harmonic Drive gearing makes them well suited for highly
dynamic applications.
PMG Series Gearboxes are available in two different versions – with an input
shaft or for direct connection to a customer motor. All PMG Gearboxes are
supplied with an output shaft and integrated bearings.
CSF-Mini Gearboxes use the latest developments in Harmonic Drive gearing.
This results in greatly increased load capacities together with reduced size
and increased torsional stiffness. They are available in six versions for
increased flexibility. The possible versions can be selected from options
for the output, the input and the gearbox housing. The gearbox output is
available as a flange or a shaft; the gearbox input is available with either
a shaft or as a version for direct motor adaption and two housing formats
are available.
All Harmonic Drive Gearboxes are manufactured with the quality and precision
expected from Harmonic Drive products.
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PMG Series
In the HDUC Series PMG a HDUC Component Set is combined
with a housing and output shaft to provide an extremely short unit with
small dimensions. The Harmonic Drive gearbox is available in both close
coupled and input shaft versions. The gearboxes offer high accuracy and
compact dimensions.
Advantages
- High torque capacity
- High positioning accuracy and repeatability
- Compact design
- High single stage ratios
- High torsional stiffness
- Zero backlash
- High efficiency
- Robust construction
- Mounts easily to servomotors
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CSF-Mini Series
The new CSF-Mini Series Gearboxes set new standards in
their class concerning compactness, precision and performance.
In the CSF-Mini Series Gearboxes, HFUC component sets are used for the first
time in standardised gearboxes. In comparison to HDUC component sets
currently used in the mini series gearboxes, the HFUC component sets feature
a shorter design, higher accuracy, higher torque capacity and improved
torsional stiffness, whilst they are also able to accept higher maximum
input speeds. In conjunction with the newly introduced 30:1 ratio, the CSF
Gearboxes can be used with a comparatively high output speed.
A highly rigid four point flange bearing has been specifically developed for
use on the output. Therefore the output element is available optionally with
shaft or flange mounting. The input can be realised alternatively via a
shaft or by a directly coupled motor.
Advantages
- Very compact design
- Backlash free gear with high torque capacity, increased speed limits
and optimised torsional stiffness and accuracy
- Four point high rigidity output bearing, with optional output shaft
or flange
- Flexible assembly options at the input and output
- Very low weight, making them ideally suited for lightweight
applications
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Planetary Gears
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HPG Series
By using a flexible ring-gear the planetary gears achieve
a backlash of < 1 minute of arc without requiring an additional backlash
adjustment mechanism. Until now highly accurate gears and / or an additional
adjustment mechanism were necessary to minimize backlash. Tight gear
engagement for conventional planetary gears leads to torque ripple and a
worsening of noise and wear characteristics. To avoid this problem the new
HPG series features a flexible internally toothed ring-gear, thereby
exploiting many years of Harmonic Drive experience with thin-walled
components. The flexible ring-gear ensures that backlash is minimized and
that all planet gears share the load equally.
Advantages
- Backlash less than 1 minute of arc
- High moment stiffness
- High efficiency
- Repeatability better than 20 seconds of arc
- Easy motor assembly
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Servo Motors, Servo Actuators and Controllers
The CHA and FHA-C Series hollow-shaft actuator combines a maintenance-free motor and back-free Harmonic-Drive gear in a
very compact design. The unique feature of this series is the central
hollow-shaft, which enables cables, pipes, shafts, spindles or laser beams
to be passed through the actuator. The new CHA Series is the
increased-performance advancement of the FHA-C Series.
The CHM motor "made in Germany" is based on a customized frameless motor for
easy integration. Sensors for position, speed, acceleration and torque
feedback are available to provide an optimized implementation in your
machine design.
The new FHA-C mini mini Series is presently the most compact hollow shaft
actuator series available.
The CobraDrive is a fusion of the FHA-C mini and a servo controller. It
provides a decentralized actuator unit for efficient installation.
The FFA-A/-B Series compact actuators combine Harmonic Drive precision
gearing with AC servo motors in a compact design. A choice of resolver,
incremental encoder or absolute encoder makes this actuator compatible with
a wide variety of available servo controllers.
The LynxDrive series servo actuators combine Harmonic Drive precision
gearing with AC servo motors with concentrated winding in a very compact
design. FFA-C series actuators are available
with maximum output torques from 27 Nm up to 647 Nm and standard reduction
ratios ranging from 30:1 up to 160:1 providing maximum output speeds of up
to 217 rpm.
The FPA Series compact actuators combine Harmonic planetary gearing with AC
servo motors in a compact design. A choice of resolver, incremental encoder
or absolute encoder makes this actuator compatible with a wide variety of
available servo controllers.
Matching to the FHA-C, FFA and FPA series digital servo controllers are also
available. These SC-610 Series drivers can be used for current, speed or
position control. The controllers are prepared for 230V AC power supply and
for various feedback systems.
RSF-Mini Series Servo Actuators, combining precision CSF series gearboxes
with AC servo motors, offer unique features unsurpassed by conventionally
geared drives. Used in highly demanding industrial servo systems they are
providing precision motion control and high torque capacity in a very
compact package. Sine commuted AC servo motors provide smooth torque over a
wide speed range, without showing brush wear, as known from DC motors.
Encoders, mounted directly onto the motor shaft, provide position feedback
information. The backlash free Harmonic Drive gear is provided with grease
lubrication specially developed to ensure minimum maintenance requirements
and long service life.
The HA-680 servo controller has been specially developed for the RSF and FHA
series. These digital servo controllers are designed for 24VDC and can
control current, speed or position.
The PMA DC servo actuators are be based on proved DC technology and are
equipped with encoders guaranteeing sensitive speed and position control.
The TorkDrive torque motors offer an exceptional power density. They are
specifically designed for direct drive applications where dynamic
capabilities, accuracy and stiffness are paramount.
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CHA Series
The CHA Series digital AC hollow-shaft servo actuator,
combining precision Harmonic Drive gearing with highly dynamic AC servo
motors, offers unique features unsurpassed by conventionally geared drives.
Used in highly demanding industrial servo systems provides precision motion
control and high torque capacity in a very compact package.
A HIPERFACE® or Siemens compatible encoder with sinusoidal output signal
provides feedback information for the CHA Series Actuator with Sine/Cosine
Encoder. The actuator is compatible with a wide variety of currently
available digital servo controllers for Sine /Cosine motor feedback systems,
e.g. SINAMICS®, SIMODRIVE® and SIMOVERT-MASTERDRIVES® or NUM MDLU. Matching
SC-610 digital servo controllers, which can be used for current, speed or
position control, are also available from Harmonic Drive AG.
Advantages
- Backlash-free precision gear
- Hollow shaft from 18 mm to 45 mm
- Transmission accuracy < 60 arcsec
- Repeatability < ± 6 arcsec
- Sine-commutated AC hollow-shaft motor
- Motor winding for 320 VDC / 600 VDC
- Winding temperature monitoring via temperature sensor
- High capacity and high stiffness cross roller bearing
- Sine/cosine-encoder for use with SINAMICS®, SIMODRIVE and SIMOVERT
MASTERDRIVES MC
- HIPERFACE®- encoder for operation with Harmonic Drive® servo controller
SC-610 or a variety of further servo controllers (NUM, CT, Danaher Motion,
Elau, etc.)
- Good controllability even at low speed
Compared with the previous FHA-B the new FHA-C series has the following
additional features:
- higher maximum torque
- more compact design
- higher torsional stiffness
- compatible connection to CPU Series
- complete corrosion protection
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FHA-C
The FHA-C series digital AC hollow-shaft servo actuator,
combining precision Harmonic Drive gearing with highly dynamic AC servo
motors, offer unique features unsurpassed by conventionally geared drives.
Used in highly demanding industrial servo systems they provide precision
motion control and high torque capacity in a very compact package. A
HIPERFACE® or Siemens compatible encoder with sinusoidal output signals
provides feedback information for the FHA Series Actuator with Sine/Cosine
Encoder. The actuator is compatible with a wide variety of currently
available digital servo drives for Sin/Cos motor feedback systems, e.g.
SINAMICS®, SIMODRIVE®, SIMOVERT-MASTERDRIVES or NUM MDLU. Matching SC-610
digital servo control units, which can be used for current, speed or
position control are also available.
Advantages
- Backlash-free precision gear
- Hollow shaft from 18 mm to 45 mm
- Transmission accuracy < 60 arcsec
- Repeatability < ± 6 arcsec
- Sine-commutated AC hollow-shaft motor
- Motor winding for 320 VDC / 600 VDC
- Winding temperature monitoring via temperature sensor
- High capacity and high stiffness cross roller bearing
- Sine/cosine-encoder for use with SINAMICS®, SIMODRIVE® and SIMOVERT -MASTERDRIVES MC
- HIPERFACE®- encoder for operation with Harmonic Drive® servo
controller SC-610 or a variety of further servo controllers (NUM, CT,
Danaher Motion, Elau, etc.)
- Good controllability even at low speed
Compared with the previous FHA-B the new FHA-C series has the following
additional features:
- higher maximum torque
- more compact design
- higher torsional stiffness
- higher maximum speed
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CHM Series
Many years experience in the field of motion control as
well as adaptation continuously changing markets have increased the
specialist knowledge at Harmonic Drive gear we have expanded our core
competences to include the development, design and production of servo
motors. Our main focus lies in the development of motors for special ambient
conditions.
Advantages
- Large hollow shaft
- Compact design
- Low cogging torque
- Smooth operation
- High overload capacity
- Maintenance free
- Variable housing design
- Corrosion-protected design
- Clean-room cpmpatible
- High linearity of the torque constant
- Sinusoidal back EMF
- Adapter flange yccording to EN 50347
- Protection class IP54, optional IP65
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FHA-C mini series
FHA-C mini Series Servo Actuators, combining precision
Harmonic Drive gearing with AC servo motors, offer unique features
unsurpassed by conventionally geared drives. Used in highly demanding
industrial servo systems they provide precision motion control and high
torque capacity in a very compact package.
Sine-commutated AC servo motors provide smooth torque without the brush wear
or commutation limit associates with DC servo actuators. Encoder, mounted
directly onto the motor shaft, provide position feedback information. The
backlash-free Harmonic Drive gear is provided with grease lubrication
specially developed to ensure minimum maintenance requirements and long
service life.
The fully digital SC-610 et HA-680 Series Controllers are available for the
control of these Servo Actuators. A menu driven setup software running under
MS-Windows allows a comfortable parameter optimisation and system diagnosis.
Advantages
- Super flat configuration
- No backlash gear
- Hollow shaft 6,2mm – 13,5mm
- 4-point bearing or cross roller bearing
- Motorwinding for 18 VAC or 230 VAC
- TTL-Encoder with 2000 I/rev.
- Synchronous motor with concentrated winding
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CobraDrive Servo Rotary Module
Drive technology decentralisation contributes
significantly to savings during installation, commissioning and service. The
main challenges of the future are energy and cost efficiency, time savings
and quality improvements. Decentralised drive systems can provide more
effective planning and commissioning, improved performance and higher
production efficiency.
With the new CobraDrive, Harmonic Drive AG brings a new drive system to the
market that combines the advantages of Harmonic Drive technology with the
advantages of decentralised control. Precise Harmonic Drive Gears have been
perfectly combined with a highly dynamic AC servo motor. They are designed
for confined spaces and are extremely accurate and reliable. Perfect for use
in demanding industrial positioning applications.
Advantages
- Precise, backflash free servo actuator
- Large hollow shaft
- Compact and light weight design
- Precise and high capacity output bearing
- Integrated servo controller
- CAN-Bus or PROFIBUS-DP interface
- Connection for limit switches and reference switches via an external
input module
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FFA-A/-B Series
FFA-A/-B series servo actuators
combine Harmonic Drive precision gearing with AC servo
motors in a very compact design. FFA-A/-B series actuators
are available with maximum output torques from 10 to 1800 Nm
and standard reduction ratios ranging from 50:1 to 160:1
providing maximum output speeds of up to 130 rpm. Matching
SC-610 digital servo control units, which can be used for
current, speed or position control are also available.
Advantages
- Compact design
- Low inertia
- Choice of resolver/incremental encoder or absolute encoder
- Compatibility with a wide variety of currently available servo
drives, e.g. Simodrive/Simovert, Indradrive
- Repeatability < ± 5 arcsec
- Torque range up to 1800 Nm
- Speed range up to 80 rpm
- Available in 5 sizes with ratio 50:1 or 100:1
- Available with SC-610 controllers series
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LynxDrive Series
The LynxDrive series servo actuators combine Harmonic
Drive precision gearing with AC servo motors with concentrated winding in a
very compact design. LynxDrive series actuators are available with maximum
output torques from 27 Nm up to 647 Nm and standard reduction ratios ranging
from 30:1 up to 160:1 providing maximum output speeds of up to 217 rpm.
Matching SC-610 digital servo control units, which can be used for current,
speed or position control are also available.
Advantages:
- Size 20 / 32 / 40
- Ratio 30 / 50 / 80 / 100 / 120 /160
- Maximum Torque 27 Nm up to 647 Nm
- Maximum Speed up to 217 rpm
- Cross roller output bearing
- Mechanical compatibility to the previous FFA-A/B series
- Synchronous motor with concentrated winding
- Motor winding for 230VAC up to 400VAC
- Corrosion protection according to DIN 50021 / IEC 68-2-11
- Turnable connectors
- Protection class IP65
- Universal motor feedback interface for RESOLVER, HIPERFACE encoder,
incremental encoder or EnDat encoder
- Brake option
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FPA Series
FPA series servo actuators combine Harmonic planetary
gears with AC servo motors in a very compact design. FPA series actuators
are available with maximum output torques up to 300 Nm and standard
reduction ratios from 21:1 to 33:1 providing maximum output speeds of up to
1111 rpm. Matching SC-610 digital servo controllers, which can be used for
power, speed or position control are also available. These controllers are
prepared for 320V-DC-bus and use of the resolver or EnDat feedback.
Advantages
- Compact design
- High maximum output speed
- Low inertia
- Motor winding for 320/560 VDC (L-/H-variant)
- Resolver, incremental encoder or absolute encoder
- Compatibility with a wide variety of currently available servo
drives, e.g. Simodrive/Simovert, Indradrive
- Torque range up to 300 Nm
- Output speed up to 1111 rpm
- Available in 3 sizes with ratio 21 or 33
- Available in 1 size with ratio 9, 21, 37 or 45
- Available with SC-610 Series servo controllers
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SC-610 Series Servo Controllers
The new designed SC-610-series controllers are going to
follow the previous SC-500/510-series and offer enhanced functionality and
improved control performance. They are prepared for driving the following
servo actuators:
- CHA and FHA-C-series hollow shaft actuators with Hiperface encoder
- FHA-C mini-series actuators with TTL-encoder
- FFA/FPA-series actuators with resolver and multiturn absolute encoder
Advantages
- Flexible use by the customer since various operating modes can be
selected by software depending on the desired application
- The Hiperface communication allows absolute positioning within 4096 motor
shaft revolutions using multi turn encoders on the actuator
- The sine cosine feedback offers improved speed control performance
comparing to the previous TTL-encoder
- Extended inputs and outputs allow the selection of up to 256 pre-set
positions stored in the EEPROM of the controller (on optional basis)
- An advanced commissioning wizard incl. auto tune function offers an
easy set-up of the controller
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RSF Series
RSF Mini Series Servo Actuators, combining precision CSF
series gearboxes with AC servo motors, offer unique features unsurpassed by
conventionelly geared drives. Used in highly demanding industrial servo
systems they are providing precision motion control and high torque capacity
in a very compact package.
Sine commuted AC servo motors provide smooth torque over a wide speed range,
without showing brush wear, as known from DC motors. Encoders, mounted
directly onto the motor shaft, provide position feedback information. The
backlash free Harmonic Drive gear is provided with grease lubrication
specially developed to ensure minimum maintenance requirementts and long
service life.
Product Advantages:
- Extremely compact and light weight design
- Maintenance free brushless AC servo motor
- Backflash free Harmonic Drive gear
- High stiffness output bearing
- Optional fail save brake for the RSF-5A
- Synchronous with single pole winding
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HA-680 series
The HA-680 controller is specially for the RSF and
FHA-mini series developed. The digital servo controller is suitable for 24 v
applications and for use as a current, speed or position controller.
Product advantages:
- The HA 680-Series Controllers offer enhanced functionality and
improved control performance
- Various user selectable operating modes allow easy adaptation to the
desired application
- Variable feedback options allow the connection of various servo
motors
- Small, compact and light weight design
- Separate mains power supply and control power supply for advanced
safety requirements
- Integrated brake circuit and brake resistance
- Easy actuator setup by using the front-end software PSF-520
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PMA Series
The PMA-Series DC-Mini servo actuators consist of a
Harmonic Drive box in mini or super-mini size combined with a DC servo motor
and feedback device. All sizes are available with an incremental encoder.
The size 8,11 and 14 are also available with a holding brake, as option.
Major features of these actuators are:
Advantages
- Zerobacklash positioning in low power applications
- Easy adaptation to readily available servo controllers via
incremental Encoder feedback
- 12V/24V DL-Power supply
- Combination of DC-mini-motor and precision gear
- Torque range up to 20 Nm
- Speed range up to 180 rpm
- Repeatability about ± 1 arcmin
- Available in 4 sizes with ratio 50:1 - 110:1; with encoder
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TorkDrive
The new Harmonic Drive TorkDrive torque motors have been
developed for rotating applications requiring precise rotation with high
torque at relatively slow speeds.
The principle of operation of torque motors can be compared to synchronous
servo motors. The main difference is in the large number of pole pairs in
the stator and rotor which generates high torque at low rotational speeds.
The Harmonic Drive TorkDrive is delivered as a frameless, individual
component set as a stator and rotor that can be integrated directly into the
machine application.
The standard version of the TorkDrive is designed for the use with an
external water cooling device. Water cooling provides higher power output
for the same drive size as well as reducing the heat transfer to the
machine.
Advantages:
- High torque capacity
- Compact form
- Large hollow shaft
- High efficiency
- No backlash
- High stiffness
- Low maintenance
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YukonDrive
The powerful servo controllers YukonDrive offer the ideal
complement to the precise servo drives and servo motors of the Harmonic
Drive AG.
The YukonDrive is optimised for use in the lower and middle power range and
predestined for high dynamic movements.
Advantages:
- Highest power density in three compact designs
- 3 A up to 8 A nominal current at 13 x 230 VAC supply
- 2 A up to 6,5 A nominal current at 3 x 400 VAC up to 480 VAC supply
- Overload capability up to 300%
- State ot the art communication interfaces, i. e. EtherCAT, SERCOS III
- proven interfaces, i. e. SERCOS II, CANopen (DS301/DSP402)
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Special Actuators
As a new option the FHA-EC series AC-hollow-shaft
actuator offers a servo system with output-side singleturn absolute encoder
type ECN-113 from Dr. Johannes Heidenhain GmbH, connected to the output
flange via an extension of the hollow-shaft. This allows the absolute
position of the gear output to be measured.
As a new option the FHA-AS series AC-hollow-shaft actuator offers an
output-side acceleration sensor according to Ferraris principle. In
conjunction with a particular controller a precise clocking and a
re-improved transmission accuracy can be achieved to fulfil even extreme
requirements.
The HDVA series valve actuator with stainless steel housing consists of a
stepping motor combined with Harmonic Drive precision gear. The feedback
follows via motor-side encoder or output-side potentiometer.
The HDPL series linear actuator was specially developed for the coating
section of a paper machine. It can be used for applications demanding high
linear forces and exceptionally high accuracy.
The customized HDPL-C series special actuator fulfils positioning tasks with
particularly high accuracy. It consists of a AC servo motor, Harmonic Drive
gear, precision ball screw as well as absolute measuring system with SSI
interface.
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Series FHA-EC
The FHA series digital AC hollow-shaft servo actuators
with Sine/Cosine Encoder, combining precision Harmonic Drive gearing with
highly dynamic AC servo motors, offer unique features unsurpassed by
conventionally geared drives.
Used in highly demanding industrial servo systems they provide precision
motion control and high torque capacity in a very compact package. An
incremental encoder at the motor shaft with sinusoidal output signals
provides feedback information for the FHA Series Actuator with Sine/Cosine
Encoder. The actuator is compatible with a wide variety of currently
available digital servo drives for Sin/Cos motor feedback systems, e.g.
Simodrive 611D®/611U®/MASTERDRIVE MC®. The additional singleturn absolute
encoder type ECN-113 from Dr. Johannes Heidenhain GmbH is connected to the
output flange via an extension of the hollow-shaft and allows the absolute
position of the gear output to be measured.
Advantages
- Backlash-free precision gear
- Hollow-shaft from 18 mm to 45 mm
- Transmission accuracy < 60 arcsec
- Repeatability < ± 6 arcsec
- Sine-commutated AC hollow-shaft motor
- Motor winding for 600 VDC
- Winding temperature monitoring via KTY-84-130 temperature sensor
- High capacity and high stiffness cross roller bearing
- Sine-Cosine-Encoder for use with SIMODRIVE 611D/U and SIMOVERT - MASTERDRIVES
MC
- HIPERFACE®-encoder for operation with a variety of servo controllers (NUM,
CT, Kollmorgen-Seidel, Elau, etc.)
- Good controllability even at low speed
- No homing cycle required
- No limit switches required
- Safety advantages
- Absolute value via EnDat Interface
- Absolute positioning accuracy < 20 arcsec
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HDVA Series
The Precision Valve Actuators are designed as
electro-mechanical actuators for the adjustment of valves demanding high
regulation accuracy. The HDVA Series Valve Actuators feature a stainless
steel housing according to protection class IP 65.
They can be used in paper machines for the regulation of the paper pulp
consistency. The chemical industry is another important application area for
this actuator type.
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HDPL Series
The Harmonic Drive Linear Actuators HDPL Series have been
developed for applications demanding high linear forces and exceptionally
high accuracy. According to the version, the Linear Actuators can withstand
an axial load of up to 13 kN, in both tension and compression and can
achieve positioning accuracies in the micron range for a maximum stroke of
10 to 20 mm.
HDPL Series Linear Actuators are being used in paper coating machines for
the adjustment of the coater blade. Another significant application is in
the transverse and side register of printing machines or in machine tools
for tool wear adjustment.
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HDPL-C Series
Harmonic Drive HDPL-C Series Linear Actuators are ideally
suited to high load positioning applications with tough requirements
regarding accuracy. These actuators can exert tensile and compressive forces
of up to ± 10000 N with a repeatability of 1 µm. The actuators feature high
quality transmission components, which enable backlash-free positioning over
a stroke of 33 mm. The linear actuators are used in e.g. motorized fine
adjustment of the radial slide in multi-spindle turning machines.
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Winding Gears
Harmonic Drive winding gears are a customised planetary
gear with particularly high reliability. This special planetary gear is
driven via the planet carrier and comprises two sun gears and a double
planetary gear. This version does not require a ring gear. The complete
housing acts as the carrier (input element) and rotates with an operating
speed of up to 3000 rpm. This dynamically balanced system must exhibit low
backlash and operate reliably in 24 hour/day use. The winding gears are
applied in stator winding machines for electrical motors. Using the central
hollow shaft the wire for the stator is passed between the planet gears.
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Applications
When development of Harmonic Drive gear products began
more than 25 years ago, it was impossible to visualize the vast range of
diverse applications. The unique operating principle and properties of
Harmonic Drive gearing make it highly suited to a wide range of applications
in many different industrial sectors: In our Design Guidelines we collected
some proven designs for you.
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Industrial Robots
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Machine Tools
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Printing Machines
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Measuring and Testing Machines
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Woodworking Machines
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Medical Equipment
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Semiconductor
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Aircraft technology
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Aerospace
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Telecommunications
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Packaging Machines
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Papermaking Machines
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Glassworking Machines
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Textile Machines
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Metalforming Machines
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Plasticworking Machines
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Optical Equipment and Photonics
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