CSG&CSF series Harmonic Drive Gearbox

Features

CSG/CSF-2UH series harmonic drive units are available in ten sizes with gear ratios of 50, 80, 100, 120 and 160:1 offering repeatable peak torques from 23 to 3419 Nm.

The output bearing with high tilting rigidity enables the direct introduction of high payloads without further support and thus permits simple and space saving designs.

Standard servo motors can be attached in a compact manner. The harmonic drive gearboxes cover a wide torque range and feature long service life, confirmed by many years of successful service. Unit and motor together form a compact and lightweight system capable of quickly withstanding high loads. Due to the Units positioning accuracy, stable machine characteristics with short cycle times are guaranteed.

CSG&CSF combination harmonic gearboxes are mainly structured by component sets.The cross roller bearing inside the harmonic drive is with high precision and high rigidity,it is used for holding(main bearing) external loading.

CSG&CSF series combination harmonic drive gearbox can meet the request of high function, high speed, high load capacity, high density,subtle and accelerate the demand of the technical innovation, realize the rich product lineup, make the customer can according to their own situation to choose the best model.

Difference between CSG series and CSF series is that CSF series harmonic gearbox is with standard torque,while CSG series harmonic gearbox is with more higher torque and longer service time.

Features Of CSF&CSG Harmonic Drive Gearbox

*Compact design

*High torque capacity

*Zero backlash

*Excellent positioning accuracy and rotation accuracy

*Input and output are coaxial

*CSG harmonic reducer is used for high torque case,its torque is 30% higher than CSF reducer’s,also the life time is 43% longer(10000hours).

Structure of CSF&CSG Combination type

New Variable Options

CSG series harmonic drive gearbox: for high torque application

(1)Torque capacity is 30% higher than that of CSF series.

(2)Service life is 43% longer than which of CSF series. (10,000 hours)

(3)Reduction ratio 30:for high speed application

CSF-8,11series harmonic drive gearbox: miniaturization

(1)Such small CSF type harmonic gearboxes can achieve the advantages of IH gear shape in small size models

(2)Torque capacity of CSF harmonic drive is 30% larger than which of CS series harmonic gearbox

(3)The rigidity of CSF harmonic gearbox has been improved up 100% compared to traditional products.

(4)Service life has been improved a lot.

Application of CSG & CSF Series Harmonic Gearbox

FHTW CSG & CSF Series Harmonic drive gearbox is mainly used in industrial robot and different kinds of Machinery and equipment, such as robot twist bending,robot torsion drive and mechanical arm drive,metal working machines,communication equipment,crating and packaging machine,paper-making machines,optical machines,printing machine, medical equipment,bending machine,etc.

Model selection

CSG model indication

Name	Model	Ratio					Type	Special type
CSG	14	50	80	100	*	*	2A=Component type 2UH=Combination type	SP=Shape,performance and other special typeBlank=Standard type
	17	50	80	100	120	*
	20	50	80	100	120	160
	25	50	80	100	120	160
	32	50	80	100	120	160
	40	50	80	100	120	160
	45	50	80	100	120	160
	50	*	80	100	120	160
	58	*	80	100	120	160
	65	*	80	100	120	160

Example:SHG(name) - 25(model) - 100(ratio) - 2UH(type) - (Special type)

CSF model indication

Name	Model	Ratio						Type	Special type
CSF	14	30	50	80	100	120	*	2A=Component type 2UH=Combination type	SP=Shape,performance and other special typeBlank=Standard type
	17	30	50	80	100	120	*
	20	30	50	80	100	120	160
	25	30	50	80	100	120	160
	32	30	50	80	100	120	160
	40	*	50	80	100	120	160
	45	*	50	80	100	120	160
	50	*	50	80	100	120	160
	58	*	50	80	100	120	160
	65	*	50	80	100	120	160

Example:CSF(name) - 25(model) - 100(ratio) - 2UH(type) - (Special type)

Parameter

CSG parameters

Model	Ratio	Rated torque of input speed 2000r/min		Max. torque of starting to stop		Max. torque of average load		Instant Max.torque		Max.input speed r/min		Average input speed r/min		Moment of inertia
Model	Ratio	Nm	kgfm	Nm	kgfm	Nm	kgfm	Nm	kgfm	Oil lubrication	Grease lubrication	Oil lubrication	Grease lubrication	I X10-4kgm²	J X10-5kgfms²
14	50	7.0	0.7	23	2.3	9	0.9	46	4.7	14000	8500	6500	3500	0.033	0.034
	80	10	1.0	30	3.1	14	1.4	61	6.2
	100	10	1.0	36	3.7	14	1.4	70	7.2
17	50	21	2.1	44	4.5	34	3.4	91	9	10000	7300	6500	3500	0.079	0.081
	80	29	2.9	56	5.7	35	3.6	113	12
	100	31	3.2	70	7.2	51	5.2	143	15
	120	31	3.2	70	7.2	51	5.2	112	11
20	50	33	3.3	73	7.4	44	4.5	127	13	10000	6500	6500	3500	0.193	0.197
	80	44	4.5	96	9.8	61	6.2	165	17
	100	52	5.3	107	10.9	64	6.5	191	20
	120	52	5.3	113	11.5	64	6.5	191	20
	160	52	5.3	120	12.2	64	6.5	191	20
25	50	51	5.2	127	13	72	7.3	242	25	7500	5600	5600	3500	0.413	0.421
	80	82	8.4	178	18	113	12	332	34
	100	87	8.9	204	21	140	14	369	38
	120	87	8.9	217	22	140	14	395	40
	160	87	8.9	229	23	140	14	408	42
32	50	99	10	281	29	140	14	497	51	7000	4800	4600	3500	1.69	1.72
	80	153	16	395	40	217	22	738	75
	100	178	18	433	44	281	29	841	86
	120	178	18	459	47	281	29	892	91
	160	178	18	484	49	281	29	892	91
40	50	178	18	523	53	255	26	892	91	5600	4000	3600	3000	4.5	4.59
	80	268	27	675	69	369	38	1270	130
	100	345	35	738	75	484	49	1400	143
	120	382	39	802	82	586	60	1530	156
	160	382	39	841	86	586	60	1530	156
45	50	229	23	650	66	345	35	1235	126	5000	3800	3300	3000	8.68	8.86
	80	407	41	918	94	507	52	1651	168
	100	459	47	982	100	650	66	2041	208
	120	523	53	1070	109	806	82	2288	233
	160	523	53	1147	117	819	84	2483	253
50	80	484	49	1223	125	675	69	2418	247	4500	3500	3000	2500	12.5	12.8
	100	611	62	1274	130	866	88	2678	273
	120	688	70	1404	143	1057	108	2678	273
	160	688	70	1534	156	1096	112	3185	325
58	80	714	73	1924	196	1001	102	3185	325	4000	3000	2700	2200	27.3	27.9
	100	905	92	2067	211	1378	141	4134	422
	120	969	99	2236	228	1547	158	4329	441
	160	969	99	2392	244	1573	160	4459	455
65	80	969	99	2743	280	1352	138	4836	493	3500	2800	2400	1900	46.8	47.1
	100	1236	126	2990	305	1976	202	6175	630
	120	1236	126	3263	333	2041	208	6175	630
	160	1236	126	3419	349	2041	208	6175	630

Note:Moment of inertia I=1/4GD²

CSF parameters

Model	Ratio	Rated torque of input speed 2000r/min		Max. torque of starting to stop		Max. torque of average load		Instant Max.torque		Max.input speed r/min		Average input speed r/min		Moment of inertia
Model	Ratio	Nm	kgfm	Nm	kgfm	Nm	kgfm	Nm	kgfm	Oil lubrication	Grease lubrication	Oil lubrication	Grease lubrication	I X10-4kgm²	J X10-5kgfms²
14	30	4.0	0.41	9.0	0.92	6.8	0.69	17	1.7	14000	8500	6500	3500	0.033	0.034
	50	5.4	0.55	18	1.8	6.9	0.7	35	3.6
	80	7.8	0.8	23	2.4	11	1.1	47	4.8
	100	7.8	0.8	28	2.9	11	1.1	54	5.5
17	30	8.8	0.9	16	1.6	12	1.2	30	3.1	10000	7300	6500	3500	0.079	0.081
	50	16	1.6	34	3.5	26	2.6	70	7.1
	80	22	2.2	43	4.4	27	2.7	87	8.9
	100	24	2.4	54	5.5	39	4.0	108	11
	120	24	2.4	54	5.5	39	4.0	86	8.8
20	30	15	1.5	27	2.8	20	2.0	50	5.1	10000	6500	6500	3500	0.193	0.197
	50	25	2.5	56	5.7	34	3.5	98	10
	80	34	3.5	74	7.5	47	4.8	127	13
	100	40	4.1	82	8.4	49	5.0	147	15
	120	40	4.1	87	8.9	49	5.0	147	15
	160	40	4.1	92	9.4	49	5.0	147	15
25	30	27	2.8	50	5.1	38	3.9	95	9.7	7500	5600	5600	3500	0.413	0.421
	50	39	4.0	98	10	55	5.6	186	19
	80	63	6.4	137	14	87	8.9	255	26
	100	67	6.8	157	16	108	11	284	29
	120	67	6.8	167	17	108	11	304	31
	160	67	6.8	176	18	108	11	314	32
32	30	54	5.5	100	10	75	7.7	200	20	7000	4800	4600	3500	1.69	1.72
	50	76	7.8	216	22	108	11	382	39
	80	118	12	304	31	167	17	568	58
	100	137	14	333	34	216	22	647	66
	120	137	14	353	36	216	22	686	70
	160	137	14	372	38	216	22	686	70
40	50	137	14	402	41	196	20	686	70	5600	4000	3600	3000	4.5	4.59
	80	206	21	519	53	284	29	980	100
	100	265	27	568	58	372	38	1080	110
	120	294	30	617	63	451	46	1180	120
	160	294	30	647	66	451	46	1180	120
45	50	176	18	500	51	265	27	950	97	5000	3800	3300	3000	8.68	8.86
	80	313	32	706	72	390	40	1270	130
	100	353	36	755	77	500	51	1570	160
	120	402	41	823	84	620	63	1760	180
	160	402	41	882	90	630	64	1910	195
50	50	122	12	715	73	175	18	1430	146	4500	3500	3000	2500	12.5	12.8
	80	372	38	941	96	519	53	1860	190
	100	470	48	980	100	666	68	2060	210
	120	529	54	1080	110	813	83	2060	210
	160	529	54	1180	120	843	86	2450	250
58	50	176	18	1020	104	260	27	1960	200	4000	3000	2700	2200	27.3	27.9
	80	549	56	1480	151	770	79	2450	250
	100	696	71	1590	162	1060	108	3180	325
	120	745	76	1720	176	1190	121	3330	340
	160	745	76	1840	188	1210	123	3430	350
65	50	245	25	1420	145	360	37	2830	289	3500	2800	2400	1900	46.8	47.8
	80	745	76	2110	215	1040	106	3720	380
	100	951	97	2300	235	1520	155	4750	485
	120	951	97	2510	256	1570	160	4750	485
	160	951	97	2630	268	1570	160	4750	485