该页无缩略图
48
■ GHC32-GA
枫信
49
GHD Series-Dwarf Cup Type
GHD Series-Dwarf Cup Type: The flex spline is an
ultra-thin hollow flanging structure, ultra-thin design,
saves more space. Equipped with high-precision and
high-rigidity cross roller bearings.
Features
●ultra-thin type- hollow structure
●compacted and simple design
●high-rigidity cross roller bearings
●High torque capacity
●Input and output coaxially
●Extremely high positioning accuracy
●Extremely repeatability
■ Technical Parameter
14
30 2.7 9.4 3.5 12.8 5000 3000 ≤ 6.5 ≤ 15
0.35
8000
50 3.6 11.8 4.7 22.5 8000 3500 ≤ 6.5 ≤ 15 10000
80 5.1 15 6.2 29 8000 3500 ≤ 5.5 ≤ 10 12000
100 5.3 18.6 7.5 34 8000 3800 ≤ 5 ≤ 10 12000
17
30 9.4 18.8 12.7 36 5000 3000 ≤ 22 ≤ 15
0.45
8000
50 10.8 22.5 17.6 47 7000 3500 ≤ 20 ≤ 15 10000
80 14 35 21 54 7000 3500 ≤ 18 ≤ 10 12000
100 15.7 36.3 26.5 69.5 7000 3800 ≤ 18 ≤ 10 12000
20
30 12.8 30.5 19 54 5000 2500 ≤ 40 ≤ 15
0.55
8000
50 16.7 38 24 68 6000 3000 ≤ 36 ≤ 15 10000
80 23 49 28 78 6000 3000 ≤ 28 ≤ 10 12000
100 27 56 34 93 6000 3500 ≤ 21 ≤ 10 12000
25
50 26.5 68 38 123 5500 3000 ≤ 42 ≤ 15
0.96
10000
80 42 91 62 157 5500 3000 ≤ 37 ≤ 10 12000
100 46 108 73 180 5500 3000 ≤ 36 ≤ 10 12000
32
50 52 148 73 263 4500 3000 ≤ 63 ≤ 15
2.03
10000
80 79 202 126 350 4500 3000 ≤ 55 ≤ 10 12000
100 94 228 148 412 4500 3000 ≤ 53 ≤ 10 12000
Items
Rated Torque
(Input 2000
rpm)
Start/stop
Allow peak
Torque
Starting
Backlash Backlash Weight Designed Designed
Torque Lifespan Lifespan
Permissible
Max Value of
Average Load
Torque
Instantaneous
Permissible
Maximum
Permissible
Maximum Input
Rotating Speed
Permissible
Average Input
Rotating Speed
Model Ratio N.m N.m N.m N.m r/min r/min N.cm Arc sec KG H
50
■ GHD14-I
枫信
51
■ GHD17-I
52
■ GHD20-I
枫信
53
■ GHD25-I
54
■ GHD32-I
枫信
55
GHT Series
Cup type -Ultra-flat
GHT Series Cup type ( Ultra-flat )
It is designed as an ultra-flat structure, lightweight and
compact, and it can be used for robot joints and as a
speed reducer
Features
●Ultra-flat
●Lightweight and compact,
●High static torque
●Input and output coaxially
●Extremely high positioning accuracy
●Excellent Repeatability
GHT Series Cup type ( Ultra-flat )
It is designed as an ultra-flat structure, lightweight and
compact, and it can be used for robot joints and as a
speed reducer
Features
●Ultra-flat
●Lightweight and compact,
●High static torque
●Input and output coaxially
●Extremely high positioning accuracy
●Excellent Repeatability
■ Technical Parameter
14
30 2.7 9.4 3.5 12.8 5000 3000 ≤ 6.5 ≤ 15
0.52
8000
50 3.6 11.8 4.7 22.5 8000 3500 ≤ 4.2 ≤ 15 10000
80 5.1 15 6.2 29 8000 3500 ≤ 4.0 ≤ 10 12000
100 5.3 18.6 7.5 34 8000 3800 ≤ 3.0 ≤ 10 12000
17
30 9.4 18.8 12.7 36 5000 3000 ≤ 22 ≤ 15
0.7
8000
50 10.8 22.5 17.6 47 7000 3500 ≤ 7 ≤ 15 10000
80 14 39 21 54 7000 3500 ≤ 5.1 ≤ 10 12000
100 15.7 36.3 26.5 69.5 7000 3800 ≤ 4 ≤ 10 12000
20
30 12.8 30.5 19 54 5000 2500 ≤ 40 ≤ 15
0.95
8000
50 16.7 38 24 68 6000 3000 ≤ 9.3 ≤ 15 10000
80 23 49 28 78 6000 3000 ≤ 7 ≤ 10 12000
100 27 56 34 93 6000 3500 ≤ 5.4 ≤ 10 12000
25
50 26.5 68 38 123 5500 3000 ≤ 16 ≤ 15
1.7
10000
80 42 91 62 157 5500 3000 ≤ 12.6 ≤ 10 12000
100 46 108 73 180 5500 3000 ≤ 10 ≤ 10 12000
32
50 52 148 73 263 4500 3000 ≤ 33 ≤ 15
3.3
10000
80 79 202 126 350 4500 3000 ≤ 26 ≤ 10 12000
100 94 228 148 412 4500 3000 ≤ 20 ≤ 10 12000
Items
Rated Torque
(Input 2000
rpm)
Start/stop
Allow peak
Torque
Starting
Backlash Backlash Weight Designed Designed
Torque Lifespan Lifespan
Permissible
Max Value of
Average Load
Torque
Instantaneous
Permissible
Maximum
Torque
Permissible
Maximum Input
Rotating Speed
Permissible
Average Input
Rotating Speed
Model Ratio N.m N.m N.m N.m r/min r/min N.cm Arc sec KG H
56
■ GHT14-I
枫信
57
■ GHT17-I
58
■ GHT20-I
枫信
59
■ GHT25-I
60
■ GHT32-I
枫信
61
■ Assembling Precision
During the assembly, if there are abnormalities such as deformation of the mounting surface and reluctant assembly,
the product performance will be degraded or even damaged. As shown in the figure below, the following table is the
recommended accuracy of the assembled shell.
Size 14 17 20 25 32
a 0.011 0.015 0.017 0.024 0.026
b
0.017 0.020 0.020 0.024 0.024
（0.008） （0.010） （0.010） （0.012） （0.012）
c 0.030 0.034 0.044 0.047 0.047
（0.016） （0.018） （0.019） （0.022） （0.022）
the data in(）is the value of the integrated wave generator
■ Installation Method and Step
①Put the speed reducer fixed on the flange
②Connect the input fixed flange with circular spline
③Install the flange for motor mounting on the mounting surface of the motor
④Mount the wave generator to the input shaft of motor
⑤Connect the flange for motor mounting with input fixed flange
⑥Set the speed of the motor around 100r/min. start the motor. Fasten the screw in cross way, increase evenly 4 to 5 times
to match the locking force of the screw . To prevent failure or loosening during work, all screws must be grade 12.9 and
coated with Loctite 242 thread-locking fluid
■ Method 1
（Circular spline fixed, flex spin output, the speed ratio is standard ratio）
GHS Series Installation Instruction
62
■ Method 2
（Flex spline fixed , circular spline output , the speed ratio is the standard ratio +1）
①Fix the speed reducer on the input fixed flange
②Mounting the input fixed flange on the mounting surface of the motor
③Mounting the wave generator on the input shaft of motor
④Connect the output flange with circular spline
⑤Set the speed of the motor around 100r/min. start the motor. Fasten the screw in cross way, increase evenly 4 to 5 times to
match the locking force of the screw. To prevent failure or loosening during work, all screws must be grade 12.9 and coated
with Loctite 242 thread-locking fluid
Remark
1. When simple combination ex-factory, the outer ring of the cross roller bearing and flex spine are temporarily fixed .
2. Please fill the gap between the wave generator and mounting flange of motor with grease when the wave generator
facing up or down
3. It may cause poor lubrication when the wave generator is in the status of facing upside and use the speed reducer with
constant load and low-speed rotation (input speed: low 1000r/min)in a single direction
■ Installation Precaution
The speed reducer may vibrate and cause abnormal noise when assemble in the wrong way, please comply with the below precautions
■ Precaution of Wave generator
1. Avoid overload pressed on the position of wave generator bearing when assembling. The wave generator can be inserted
smoothly by rotating.
2. Please pay attention to control the influence of center offset and skew within the recommended value, when using integrated
wave generator
■ Precaution of circular spline and flex spline
1. Make sure the surface of installation is flat, not slanting
2. Make sure there are no upheaval, rough edges and foreign matters in the hole of the screw
3. Make sure there are chamfering processing and avoiding processing on the position of case installation, to avoid interfere with
circular spline
4. Make sure the circular spline can be rotated when it assembling to shell, check if there is any position interfere or stuck
5. Make sure the position of screw holes are exact and check if there is a connection between bolt with circular spline /flex spline due
to the skew processing of bolt, which makes the rotation of bolt heavy
6. Do not tighten the bolts to the specified torque all at once. Please temporarily tighten it with a force of approximately 1/2 of the
specified torque, and then tighten it to the specified torque. In addition, tighten the bolts in diagonal order usually.
7. Check whether there is extreme unilateral engaged when the flexspline is combined with the circular spline. When a one-sided
offset occurs, it may be due to a center offset or skewing of the two components
8. Pins to the circular may low rotation accuracy, so please avoid is if possible
9. Please do not tap the front end of the gear at the opening or press it with excessive force when assembling the flex spline
10. Check whether there is extreme unilateral engaged when the circular spline is combined with the circular spline. When a one-sided
offset occurs, it may be due to a center offset or skewing of the two component
枫信
63
■ Precautions for Grease
1.The flexible bearing needs to be evenly coated with grease, and the cavity formed by the connection between the motor
and the mounting flange needs to be filled with 80% grease.
2.The inner wall of the flexspline needs to be evenly coated with grease, and the cavity formed by the connection between
the flexspline and the flange needs to be filled with 80% grease.
3.There is no grase applied to the other parts except the root of the tooth of the simple combination reducer, please apply
the remaining parts according to the specific situation
4.The performance of grease will change by temperature, the higher the temperature, the faster the deterioration. In order
to ensure the grease always in good condition, the heat balance temperature of the high temperature section of the
reducer should be lower than 70°C, and the temperature rise should be lower than 40°C.
5.The wear of each moving part of the reducer is mainly affected by the performance of the grease. The grease should be
replaced every 3000 hours of operation for the harmonic drive if possible.
■ Other Considerations
1. To avoid damage during use, the harmonic drive must be installed under a clean environment, and no foreign matter can
enter the reducer during the installation
2. Please make sure the surface of the gear and flexible bearing of the reducer always fully lubricated. It is not
recommended to make the face of the tooth always facing upwards, which will affect the lubrication effects
3. Install the flex spline and circular spline on the device firstly, then assemble the wave generator
4. When install the machine, the long axis of the wave generator is aligned with the long axis of the flexspline of the
reducer. Then fix the reducer with the corresponding screw, and tighten the it slightly.
5. Please confirm that engagment between the flex spline and circular splinea are 180° symmetrical, after assembling of the
wave generator
6. Once finish installation, please run it at a low speed (100rpm) first, if there is abnormal vibration and noise, please stop it
immediately, and check whether the installation is correct or not , or contact us .To avoid damage from incorrect
installation
7. The requirements for the installation plane for reducer are: flatness 0.01mm, perpendicularity to the axis 0.01mm, and
concentricity of the threaded hole or through hole to the axis 0.1 mm.
8. To prevent grease leakage and maintain the durability of the reducer, corresponding sealing mechanisms must be used
for different positions, such as: oil seals for rotating motion, O-rings for mating surfaces of various parts, and screw glue
for screw holes.
9.Please strictly follow the pocket hole of the reducer in the drawings to confirm the design of the flange and wave
generator. If the exceeded pocket hole, it will cause interference between the flexspline and the flange or the wave
generator, affect the service life of the reducer.
10.The installation design of the reducer should be according to the installation depth requirements of the wave generator.
The different installation depth of the reducer will affect the starting torque and accuracy of the reducer.
11.There is no anti-rust treatment on the surface of the reducer. If rust prevention required, apply the rust inhibitor to the
surface.
64
■ Assembling Precision
During the assembly, if there are abnormalities such as deformation of the mounting surface and reluctant assembly,
the product performance will be degraded or even damaged. As shown in the figure below, the following table is the
recommended accuracy of the assembled shell.
Size 14 17 20 25 32
a 0.011 0.015 0.017 0.024 0.026
b
0.017 0.020 0.020 0.024 0.024
（0.008） （0.010） （0.010） （0.012） （0.012）
c 0.030 0.034 0.044 0.047 0.047
（0.016） （0.018） （0.019） （0.022） （0.022）
the data in(）is the value of the integrated wave generator
■ Installation Method and Step
The installation method of motor installation must be applied when assembling the motor to speed reducer
Installation Method and Step as below
（Circular spline fixed, flex spin output, the speed ratio is standard ratio）)
①Install the flange for motor mounting on the mounting surface of the motor
②Mount the wave generator to the output shaft of motor
③Assemble the mainframe of the speed reducer
④Set the speed of the motor around 100r/min. start the motor. Fasten the screw in cross way, increase evenly 4 to 5 times to
match the locking force of the screw . To prevent failure or loosening during work, all screws must be grade 12.9 and coated
with Loctite 242 thread-locking fluid
■ Method 1
GHC Series Installation Instruction
65
■ Method 2
① Install the flange to the mainframe of the speed reducer
② Install the wave generator to the output shaft of the motor
③ Install the flange for motor mounting on the mounting surface of the motor
④ Set the speed of the motor around 100r/min. start the motor. Fasten the screw in cross way, increase evenly 4 to 5 times
to match the locking force of the screw . To prevent failure or loosening during work, all screws must be grade 12.9 and
coated with Loctite 242 thread-locking fluid
Remark: Please fill the gap between the wave generator and mounting flange of motor with grease when the wave
generator facing up or down
■ Installation Precaution
The speed reducer may vibrate and cause abnormal noise when assemble in the wrong way, please comply with the below
precautions
■ Precaution of Wave generator
1. Avoid overload pressed on the position of wave generator bearing when assembling. The wave generator can be inserted
smoothly by rotating.
2. Please pay attention to control the influence of center offset and skew within the recommended value, when using
integrated wave generator。
■ Precaution of circular spline and flex spline
1. Make sure the surface of installation is flat, not slanting
2. Make sure there are no upheaval, rough edges and foreign matters in the hole of the screw
3. Make sure there are chamfering processing and avoiding processing on the position of case installation, to avoid
interfere with circular spline
■ Precautions for Grease
1. The flexible bearing needs to be evenly coated with grease, and the cavity formed by the connection between the
motor and the mounting flange needs to be filled with 80% grease.
2. The inner wall of the flexspline needs to be evenly coated with grease, and the cavity formed by the connection
between the flexspline and the flange needs to be filled with 80% grease.
3. The performance of grease will change by temperature, the higher the temperature, the faster the deterioration. In
order to ensure the grease always in good condition, the heat balance temperature of the high temperature section of
the reducer should be lower than 70°C, and the temperature rise should be lower than 40°C.
4. The wear of each moving part of the reducer is mainly affected by the performance of the grease. The grease should be
replaced every 3000 hours of operation for the harmonic drive if possible.
66
■ Other Considerations
1. To avoid damage during use, the harmonic drive must be installed under a clean environment, and no foreign matter
can enter the reducer during the installation
2. Please make sure the surface of the gear and flexible bearing of the reducer always fully lubricated. It is not
recommended to make the face of the tooth always facing upwards, which will affect the lubrication effects
3. Install the flex spline and circular spline on the device firstly, then assemble the wave generator
4. When install the machine, the long axis of the wave generator is aligned with the long axis of the flexspline of the
reducer. Then fix the reducer with the corresponding screw, and tighten the it slightly.
5. Please confirm that engagment between the flex spline and circular splinea are 180° symmetrical, after assembling of
the wave generator
6. Once finish installation, please run it at a low speed (100rpm) first, if there is abnormal vibration and noise, please stop it
immediately, and check whether the installation is correct or not , or contact us .To avoid damage from incorrect
installation
7. The requirements for the installation plane for reducer are: flatness 0.01mm, perpendicularity to the axis 0.01mm, and
concentricity of the threaded hole or through hole to the axis 0.1 mm.
8. To prevent grease leakage and maintain the durability of the reducer, corresponding sealing mechanisms must be used
for different positions, such as: oil seals for rotating motion, O-rings for mating surfaces of various parts, and screw glue
for screw holes.
9. Please strictly follow the pocket hole of the reducer in the drawings to confirm the design of the flange and wave
generator. If the exceeded pocket hole, it will cause interference between the flexspline and the flange or the wave
generator, affect the service life of the reducer.
10. The installation design of the reducer should be according to the installation depth requirements of the wave
generator. The different installation depth of the reducer will affect the starting torque and accuracy of the reducer.
11. There is no anti-rust treatment on the surface of the reducer. If rust prevention required, apply the rust inhibitor to
the surface.
枫信
67
■ Assembling Precision
During the assembly, if there are abnormalities such as deformation of the mounting surface and reluctant assembly, the
product performance will be degraded or even damaged. As shown in the figure below, the following table is the
recommended accuracy of the assembled shell. The picture below takes the simple combination hollow type speed
reducer as an example
Size 14 17 20 25 32
a 0.011 0.015 0.017 0.024 0.026
b
0.017 0.020 0.020 0.024 0.024
（0.008） （0.010） （0.010） （0.012） （0.012）
c 0.030 0.034 0.044 0.047 0.047
（0.016） （0.018） （0.019） （0.022） （0.022）
d 0.015 0.018 0.019 0.022 0.022
e 0.016 0.021 0.027 0.035 0.042
The data in(）is the value of the integrated wave generator
■ Installation Method and Step
The installation Method and steps are the same with GHS
■ Installation Precaution
The speed reducer may vibrate and cause abnormal noise when assemble in the wrong way, please comply with the below
precaution
■ Precaution of Wave generator
1. Avoid overload pressed on the position of wave generator bearing when assembling. The wave generator can be inserted
smoothly by rotating.
2. Please pay attention to control the influence of center offset and skew within the recommended value, when using
integrated wave generator
■ Precaution of circular spline and flex spline
1. Make sure the surface of installation is flat, not slanting
2. Make sure there are no upheaval, rough edges and foreign matters in the hole of the screw
3. Make sure there are chamfering processing and avoiding processing on the position of case installation, to avoid
interfere with circular spline
4. Make sure the circular spline can be rotated when it assembling to shell, check if there is any position interfere or stuck
5. Make sure the position of screw holes are exact and check if there is a connection between bolt with circular spline /flex
spline due to the skew processing of bolt, which makes the rotation of bolt heavy
6. Do not tighten the bolts to the specified torque all at once. Please temporarily tighten it with a force of approximately 1/2
of the specified torque, and then tighten it to the specified torque. In addition, tighten the bolts in diagonal order usually.
7. Check whether there is extreme unilateral engaged when the flexspline is combined with the circular spline. When a onesided offset occurs, it may be due to a center offset or skewing of the two components
8. Pins to the circular may low rotation accuracy, so please avoid is if possible
9. Please do not tap the front end of the gear at the opening or press it with excessive force when assembling the flex spline
10. Check whether there is extreme unilateral engaged when the circular spline is combined with the circular spline. When a
one-sided offset occurs, it may be due to a center offset or skewing of the two compon
GHD Series Installation Instruction
68
■ Precautions for Grease
1.The flexible bearing needs to be evenly coated with grease, and the cavity formed by the connection between the motor
and the mounting flange needs to be filled with 80% grease.
2.The inner wall of the flexspline needs to be evenly coated with grease, and the cavity formed by the connection between
the flexspline and the flange needs to be filled with 80% grease.
3.There is no grase applied to the other parts except the root of the tooth of the simple combination reducer, please apply
the remaining parts according to the specific situation
4.The performance of grease will change by temperature, the higher the temperature, the faster the deterioration. In order
to ensure the grease always in good condition, the heat balance temperature of the high temperature section of the
reducer should be lower than 70°C, and the temperature rise should be lower than 40°C.
5.The wear of each moving part of the reducer is mainly affected by the performance of the grease. The grease should be
replaced every 3000 hours of operation for the harmonic drive if possible.
■ Other Considerations
1. To avoid damage during use, the harmonic drive must be installed under a clean environment, and no foreign matter can
enter the reducer during the installation
2. Please make sure the surface of the gear and flexible bearing of the reducer always fully lubricated. It is not
recommended to make the face of the tooth always facing upwards, which will affect the lubrication effects
3. Install the flex spline and circular spline on the device firstly, then assemble the wave generator
4. When install the machine, the long axis of the wave generator is aligned with the long axis of the flexspline of the
reducer. Then fix the reducer with the corresponding screw, and tighten the it slightly.
5. Please confirm that engagment between the flex spline and circular splinea are 180° symmetrical, after assembling of the
wave generator
6. Once finish installation, please run it at a low speed (100rpm) first, if there is abnormal vibration and noise, please stop it
immediately, and check whether the installation is correct or not , or contact us .To avoid damage from incorrect
installation
7. The requirements for the installation plane for reducer are: flatness 0.01mm, perpendicularity to the axis 0.01mm, and
concentricity of the threaded hole or through hole to the axis 0.1 mm.
8. To prevent grease leakage and maintain the durability of the reducer, corresponding sealing mechanisms must be used
for different positions, such as: oil seals for rotating motion, O-rings for mating surfaces of various parts, and screw glue
for screw holes.
9.Please strictly follow the pocket hole of the reducer in the drawings to confirm the design of the flange and wave
generator. If the exceeded pocket hole, it will cause interference between the flexspline and the flange or the wave
generator, affect the service life of the reducer.
10.The installation design of the reducer should be according to the installation depth requirements of the wave generator.
The different installation depth of the reducer will affect the starting torque and accuracy of the reducer.
11.There is no anti-rust treatment on the surface of the reducer. If rust prevention required, apply the rust inhibitor to the
surface.
枫信
69
■ Assembling Precision
During the assembly, if there are abnormalities such as deformation of the mounting surface and reluctant assembly,
the product performance will be degraded or even damaged. As shown in the figure below, the following table is the
recommended accuracy of the assembled shell.
Size 14 17 20 25 32
a 0.011 0.015 0.017 0.024 0.026
b 0.008 0.010 0.012 0.012 0.012
c 0.016 0.018 0.019 0.022 0.022
■ Installation Method and Step
The installation method and steps are the same with GHT
■ Installation Precaution
The speed reducer may vibrate and cause abnormal noise when assemble in the wrong way, please comply with the below
precautions
■ Precaution of wave generator
1.Avoid overload pressed on the position of wave generator bearing when assembling. The wave generator can be inserted
smoothly by rotating.
2.Please pay attention to control the influence of center offset and skew within the recommended value, when using
integrated wave generator
■ Precaution of circular spline and flex spline
1.Make sure the surface of installation is flat, not slanting
2.Make sure there are no upheaval, rough edges and foreign matters in the hole of the screw
3.Make sure there are chamfering processing and avoiding processing on the position of case installation, to avoid
interfere with circular spline
■ Precautions for Grease
1. The flexible bearing needs to be evenly coated with grease, and the cavity formed by the connection between the
motor and the mounting flange needs to be filled with 80% grease.
2. The inner wall of the flexspline needs to be evenly coated with grease, and the cavity formed by the connection
between the flexspline and the flange needs to be filled with 80% grease.
3. The performance of grease will change by temperature, the higher the temperature, the faster the deterioration. In
order to ensure the grease always in good condition, the heat balance temperature of the high temperature section of
the reducer should be lower than 70°C, and the temperature rise should be lower than 40°C.
4. The wear of each moving part of the reducer is mainly affected by the performance of the grease. The grease should be
replaced every 3000 hours of operation for the harmonic drive if possible.
GHT Series Installation Instruction
Recommended Tolerances H7
Mounting surface of shell
Mounting surface of wave generator
Recommended Tolerances H6
70
■ Other Considerations
1. To avoid damage during use, the harmonic drive must be installed under a clean environment, and no foreign matter can
enter the reducer during the installation
2. Please make sure the surface of the gear and flexible bearing of the reducer always fully lubricated. It is not
recommended to make the face of the tooth always facing upwards, which will affect the lubrication effects
3. Install the flex spline and circular spline on the device firstly, then assemble the wave generator
4. When install the machine, the long axis of the wave generator is aligned with the long axis of the flexspline of the
reducer. Then fix the reducer with the corresponding screw, and tighten the it slightly.
5. Please confirm that engagment between the flex spline and circular splinea are 180° symmetrical, after assembling of the
wave generator
6. Once finish installation, please run it at a low speed (100rpm) first, if there is abnormal vibration and noise, please stop it
immediately, and check whether the installation is correct or not , or contact us .To avoid damage from incorrect
installation
7. The requirements for the installation plane for reducer are: flatness 0.01mm, perpendicularity to the axis 0.01mm, and
concentricity of the threaded hole or through hole to the axis 0.1 mm.
8. To prevent grease leakage and maintain the durability of the reducer, corresponding sealing mechanisms must be used
for different positions, such as: oil seals for rotating motion, O-rings for mating surfaces of various parts, and screw glue
for screw holes.
9.Please strictly follow the pocket hole of the reducer in the drawings to confirm the design of the flange and wave
generator. If the exceeded pocket hole, it will cause interference between the flexspline and the flange or the wave
generator, affect the service life of the reducer.
10.The installation design of the reducer should be according to the installation depth requirements of the wave generator.
The different installation depth of the reducer will affect the starting torque and accuracy of the reducer.
11.There is no anti-rust treatment on the surface of the reducer. If rust prevention required, apply the rust inhibitor to the
surface.
枫信
71
1The input shaft has a shoulder, which can be
connected and fixed with the wave generator
directly. As shown below. As shown below
2. The input shaft has a shoulder, but it is long. The socket
can be added to the shaft (the parallelism of the two sides
of the socket must be within 0.01 mm) and then
connected with the wave generator. As shown below
3. No shoulder on input shaft, a connected gasket
needed to fix on the wave generator then connect with
the input shaft. As shown below.
4．For shaft input, insert the wave generator first, and
connect the input shaft by tightening screws, which is
suitable for small models. As shown below
■ Screw Locking Method
Screw
Performance
Grade
12.9 Grade
Nominal
Diameter of
Thread mm
3 4 5 6 8 10 12
Tightening
Torque N.m 2 4 9 15 35 70 125
■ Screw Locking Method
Connection &fixing method of Wave Generator
Key Gasket
Screw
Wave generator
Input shaft
Key Screw
Screw
Wave generator
Input shaft
Connect gasket
Gasket
Screw
Wave generator
Input shaft
Key
Socket
Gasket
Screw
Wave generator
Input shaft
Set screw
72
Use of Grease
■ Precautions for the Use of Grease
(1)The internal hidden part of the combination type reducer (cup-shaped and hollow shape) has been applied with grease
before ex-factory. But grease also needed to applied when assembling the wave generator
(2)The input and output of the harmonic reducer must be designed with a strict sealing structure. It is recommended to use
a skeleton-type self-tightening oil seal grease seal for the dynamic sealing part. It is recommended to use an O-ring or
sealant to seal the static seal, and it must be ensured that the sealing surface is not skewed or damaged.
(3)Use the recommended semi-fluid grease for harmonic reducers, and avoid mixing with other greases.
(4)The use of grease must comply with the requirements of the manual. Please note that the amount of grease injected and
applied is different for different models.
(5)During the use of the harmonic reducer, if the wave generator is always facing upwards, it may cause poor lubrication. At
this time, increase the amount of grease injected or contact us
(6)The performance of grease will change by temperature, the higher the temperature, the faster the deterioration. In order
to ensure the grease always in good condition, the heat balance temperature of the high temperature section of the
reducer should be lower than 70°C, and the temperature rise should be lower than 40°C.
(7)The wear of each moving part of the reducer is mainly affected by the performance of the grease. The grease should be
replaced every 3000 hours of operation for the harmonic drive if possible.
■ GHC、GHS Series Grease Application Volume
SIZE
Application Position
A B
C
Horizontal D
Use
Vertical Use
Up Down
14 0.3 0.3 6 8 9 0.3
17 0.5 0.5 10 12 14 0.5
20 0.8 0.8 16 18 21 0.8
25 1.5 1.5 30 35 40 1.5
32 3 3 60 70 80 3
■ GHC-I Series Grease Application Position
73
■ GHS-K Series Grease Application Position
Size
Application Position
C1
14 5.5
17 9.6
20 10.3
25 16
32 26
■ GHC-K Series Grease Application Position
■ GHC-A Series Grease Application Position ■ GHS-A Series Grease Application Position
Shell
Sealed in
50% of space fill in
74
■ GHD、GHT Series Grease Application Position
C
14 3 4 5
17 5 6 7
20 8 9 11
25 16 19 21
32 36 42 48
■ GHT Series Grease Application Position ■ GHD Series Grease Application Position
SIZE
Application Position
Horizontal
Use
Vertical Use
Up Down
SIZE
Application Position
Horizontal
Use
Vertical Use
Up Down
SIZE
Application Position
Horizontal
Use
Vertical Use
Up Down
Sealed in
Shell
50% of space fill in
枫信
75
■ Replace Time of Grease
The wear of each moving part of the harmonic reducer is largely affected by the performance of the grease. The
performance of grease will change according to temperature. The higher the temperature, the faster it will deteriorate
Therefore, it should be better to replace the grease as soon as possible. As shown in the figure below, when the average
load torque is lower than the rated torque, the grease replacement time is determined by the relationship between the
grease temperature and the total number of revolutions of the wave generator. When the average load torque exceeds
the rated torque, the grease change time is calculated by the following formula.
■ Formula (the average load torque exceeds the rated torque）
LGT
Replace time
(exceeds the rated
torque）
Speed -
LGTn Speed Reference Picture
at right
Tr rated torque N.m kgfm
Refer to the
parameter table
of each series
Tav
average load torque
at output side
- According to
work condition
■ Additional Notes :
①Please avoid mixing with other greases. In addition, please place the harmonic reducer in a separate housing when
assembling it to the device.
②It may cause poor lubrication when the wave generator faces upward and rotates at a low speed(input speed: less than
1000r/min)with a fixed load in one direction. Please contact us when using the harmonic driver in this situation
③About the grease leakage of the combined type
Although the combination type has taken measures to prevent grease leakage when designing the structure, please
strengthen the sealing structure according to the operating environment
Rotation speed of the wave generator equivalent to the replacement time（Times）
Grease temperature（℃）
波發生器的使用壽命表示破損率為 10%
Grease replace time：
LGTn（the average load torque lower than the rated torque）
Service life of wave generator
Replace time Grease lifespan
(Lower than the
rated torque）
76
■ Precaution of design (Please read the specification when start design)
● Please comply with the following requirements when using harmonic driver
Environment temperature: 0 ～ 40℃
Avoid being splashed the water, oil etc.
No corroding, explosive gas, mental powder etc
● Please design and assemble the various components correctly to ensure that they can meet the recommended installation
accuracy in the catalog.
Failure to achieve the specified accuracy may result in vibration and shortened service life.
● Please follow the correct assembly method and steps according to the product catalog. Please follow our
recommendations for the screwing method (using bolts, etc.). If not assembled correctly, it may cause vibration, shortened
service life, decreased accuracy, damage, and other failures
● Use the required grease. If not use the grease recommended by the company may shorten the service life of the product.
In addition, please change the grease according to the specified conditions. The combination product is pre-applied with
grease. Do not mix with other greases.
■ Precautions for use ( When running, please read the instruction manual)
● Do not use a hammer or other force to strike components and combination units. In addition, please make sure that
there will be no cracks, deflated marks, etc. due to drops, etc. Otherwise, the product may be damaged. The performance
can't be ensured due to damage. It may cause malfunctions also
● The components of this product are processed as a set. When used in combination with other kits, it can not ensure it
will perform as intended.
● Applied torque doesn't exceed the maximum allowable instant torque. Otherwise, the tightening bolts may loosen,
shake, break, etc., resulting in malfunction
● It is not allowed to disassemble and reassemble. Otherwise, the original performance will not be restored.
■ About Scrapping
When scrapping, please treat it as industrial waste
■ Use of Grease
● Precaution
It may cause inflammation if splashed into the eyes. Please wear protective glasses
It may cause inflammation if skin contact. Please wear protective gloves etc ., to avoid skin contact
Do not swallow (may cause diarrhea, vomiting, etc.).
Wear a protective glove to avoid fingers hurt when opening the container
Keep out of reach of children.
● Storage Method
After use, please seal it well to prevent dust and moisture from mixing in. Please keep it in a shady place and avoid direct
sunlight. For long-term storage of products, it is recommended to check the performance and rust prevention. For surface
treatment, please refer to the delivery drawing in detail.
● Emergency Treatment:
In case of eye contact, wash immediately with water for 15 minutes and receive medical attention.
In case of skin contact, wash well with water and soap.
In case of swallowing, please do not vomit and receive medical attention immediately.
● Treatment of waste oil and waste containers
Comply with the law stipulated treatment method. If not clear, please contact with us
Do not apply pressure to an empty container. it may cause a burst
Do not weld, heat, open or cut the container or an explosion may occur and the inside residue may catch fire and burn.
Precaution of the Use of Harmonic Drive
77
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