ハーモニック・ドライブ・システムズ Product Lineup

This catalog features the wave gear devices handled by Harmonic Drive Systems, Inc. Our products boast excellent features such as "high rotational accuracy and high positioning accuracy" and "high torque capacity." We offer a wide range of products, including the "CSG series," which pursues high load capacity and high reliability, as well as the "CSF series" and "CSG-GH series." [Contents (partial)] ■ Harmonic Drive Features ■ Product System Diagram ■ Harmonic Drive Reducers ■ Harmonic Gearhead Reducers ■ MECHATRONICS Actuators ■ Applications *For more details, please refer to the PDF document or feel free to contact us.

• gear

The RSF supermini series, which incorporates a compact, lightweight, high-torque harmonic drive (R) for precision control, achieves a very high output torque relative to its external dimensions compared to a method that directly drives a high-capacity motor alone, realizing high torque. By combining it with a dedicated AC servo motor, it has achieved unprecedented miniaturization and weight reduction. The excellent positioning accuracy, characterized by the low backlash and superior positioning precision of the harmonic drive (R) for precision control, enables the realization of high-precision mechanisms. Stable control is achieved due to the high reduction ratio of the harmonic drive (R) for precision control, providing stable control against fluctuations in large load inertia moments. The developed servo motor has expanded the maximum rotational speed to 10,000 r/min for the motor alone, making it possible to broaden the operating range of the actuator.

• Power Transmission Equipment
• Gearbox
• Generators and transmission motors

◆Slim shape / This has been achieved by integrating a slim, precision-controlled harmonic drive (R) with our uniquely developed ultra-flat AC servo motor. The length from the mounting flange surface to the actuator end is less than half that of our conventional AC servo actuators, and the overall length is approximately 30% shorter. This slimness dramatically downsizes the driven machinery. ◆Hollow structure / By passing wiring, piping, and laser light through the through-hole in the center of the actuator, energy supply and signal exchange can be conducted to the moving parts of the machinery and devices, simplifying the structure of the machinery. ◆High output torque / Incorporating the slim, precision-controlled harmonic drive (R) results in a significantly higher output torque compared to direct drive motors of the same size. The maximum torque has been further improved compared to conventional products. ◆High positioning accuracy / With a detector resolution of 1,600,000 pulses/revolution (0.000225°/pulse), the unidirectional positioning accuracy is ultra-high precision at less than 40 seconds (FHA-17C-100/160) or 30 seconds (FHA-25C/32C/40C-100/160). ◆High torsional rigidity / The high-rigidity harmonic drive CSD series is adopted.

• Actuator
• Generators and transmission motors

■HarmonicPlanetary(R) HPGP/HPG Series This is a planetary gear reduction device that applies thin-walled elastic gear technology to the internal gear of a planetary gear reducer. This utilizes the elastic deformation of the internal gear to achieve low backlash without an adjustment mechanism. - Backlash of less than 3 minutes (special products less than 1 minute) - Low reduction ratio: 1/3 to 1/50 - High efficiency of over 90% (models 11 and 14 are 85%) - High load capacity due to integrated cross roller bearing structure - High torque capacity ■Harmonic Drive(R) CSG/CSF-GH Series The Harmonic Drive(R) is a wave gear device with an innovative operating principle that applies the elastic mechanics of metals. It consists of only three basic components and is a precision control reduction device that achieves high rotational accuracy and high positioning accuracy. - Non-backlash - High reduction ratio: 1/50 to 1/160 - High positioning accuracy (repeat positioning ±4 to ±10 arc seconds) - High load capacity due to integrated cross roller bearing structure - High torque capacity

• Power Transmission Equipment

The ultra-compact "CSF supermini series" of harmonic drives (R) has been born, featuring a small, lightweight, and high-precision design. We have adopted our uniquely developed "small 4-point contact ball bearing" as the main bearing and offer two types: a user-friendly unit type and a gearhead type for small servo motors. (The gearhead type includes both flange output and shaft output. <Model number 3 is shaft output type only>) ● Gearhead Type (Flange Output / Shaft Output) This gearhead is designed with the concept of combining with high-performance small servo motors. It boasts the best output characteristics in its size category. ● Dual Shaft Unit Type This is a closed-type dual shaft unit with both input and output shafts. Even those unfamiliar with handling harmonic drives (R) can easily operate it, achieving high-precision positioning.

• Power Transmission Equipment
• Gearbox

There are only three basic components, so the structure is simple and lightweight. Additionally, due to its innovative operating principle, it achieves high-precision positioning and rotation accuracy with no backlash. The shapes are also diverse, including hollow shaft types and ultra-flat types.

• Power Transmission Equipment
• Gearbox

◆Slim shape / Achieved by integrating a slim, precision-controlled harmonic drive (R) gearbox with our uniquely developed ultra-flat AC servo motor. The length from the mounting flange surface to the actuator end is less than one-third of our conventional AC servo actuators. This thinness dramatically downsizes the machinery being driven. ◆Hollow structure / Wiring, piping, and laser beams can pass through the through-hole in the center of the actuator, allowing for the supply of energy and signal exchange to the moving parts of the machinery and simplifying the structure of the machine. ◆High output torque / Incorporating a slim, precision-controlled harmonic drive (R) gearbox results in a significantly higher output torque compared to direct drive with motors of the same size. ◆High positioning accuracy / With a detector resolution of 800,000 pulses per revolution (0.00045° per pulse) and a one-direction positioning accuracy of less than 90 seconds (FHA-14C-100), it offers high precision. ◆High torsional rigidity / Adopts the high-rigidity harmonic drive CSF mini series.

• Actuator
• Generators and transmission motors