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HarmonicDrive® Speed Reducer for Precision Control FD Series Differential Gear (Component type/Unit type)

Features

  • Pancaked-type components make it is easy to install in equipment.
  • Backlash-free
  • A high reduction ratio allows for extremely precise position adjustments.

The FD series differential gear is an extremely compact differential unit that allows you to fine-tune the phase and timing during operation by applying the unique operating principle of the HarmonicDrive®.

FD Series Structure

Casing Component type Circular spline S it has two more teeth than the flexspline, like the cup-type circular spline. Wave generator Flexspline Circular spline D It has the same number of teeth as the flexspline. As it does not generate relative rotation with the flexspline, it rotates at the same speed as the flexspline. Casing

Unit type (FD-0) Component type (FD-2) Part name (1) Wave generator (1) Wave generator plug (1) Wave generator bearing (1) Retainer presser (2) Flexspline (3) Circular spline S (4) Circular spline D (5) Ball bearing (6) Internal C-type stop ring (7) Casing (8) Bolt with hexagonal hole (Note) How to tell circular spline D from circular spline S the peripheral chamfering of circular spline D is larger than that of circular spline S.

Rotation direction and reduction ratio

The rotational direcrion is the same as the FB series. This section describes how to use the unit as a differential unit. (R indicates the reducation ratio value in the ratings table.) (1) input Cicular Spline S Output Cicular Spline D Fixed Wave Generator Reduction radio (i) is i=R+1/R Hence, input rotation Ns output speed N01 N01=R+1/R*Ns (2) input Wave Generator Output Cicular Spline D Fixed Cicular Spline S Reduction radio (i) is i=-1/R Hence, input rotation Nw output speed N02 N02=-1/R*Nw When (1) and (2) are combined, the rotational speed of circular spline S is represented as shown on the right. N0=N01+N02=R+1/R*Ns-(+)1/R*Nw (Note) The sign (+) indicatos that the wave generator is turned in the opposite direction to the circular spline S. (1) input Cicular Spline D Output Cicular Spline S Fixed Wave Generator Reduction radio (i) is i=R/R+1 Hence, input rotation N0 output speed Ns1 Ns1=R/R+1*N0 (2) input Wave Generator Output Cicular Spline S Fixed Cicular Spline D Reduction radio (i) is i=1/R+1 Hence, input rotation Nw output speed Ns2 Ns2=1/R+1*Nw When (1) and (2) are combined, the rotational speed of circular spline D is represented as shown on the right. Ns=Ns1+Ns2=R/R+1*N0+(-)1/R+1*Nw (Note) The sign (-) indicatos that the wave generator is turned in the opposite direction to the circular spline D.

Commercial Applications

Model

FD(1)—20(2)—80(3)—0(4)—Specification(5)

  1. Model: FD series
  2. Model Nos: 20, 25, 32, 40, 50, 65, 80,100
  3. Reduction ratio: 78, 80, 88, 96, 100, 104, 110, 120, 128, 131, 132, 157, 158, 160, 194, 200, 208, 242, 258, 260, 320
  4. Model:
    • 0 = Unit type
    • 2 = Component type
  5. Specifications:
    • Component type
      • G = New type
    • Unit type
      • G = Oil lubricant type
      • G-GP = Grease lubricant type

Rated Table

Catalog Downloads (opens to a new window)

Rotation speed r/min 3500 2850 1750 1450 1150 960 870 750 600 500 CAD data

Cover image

Model No. Reduction ratio N·m N·m N·m N·m N·m N·m N·m N·m N·m N·m Component Unit
20 80 29 30 30 30 30 30 30 30 30 30 DXF file DXF file
100 30 31 36 36 36 36 36 36 36 36
128 31 34 42 43 43 43 43 43 43 43
160 32 35 42 45 48 49 49 49 49 49
25 80 46 50 57 57 57 57 57 57 57 57 DXF file DXF file
100 49 53 67 67 79 79 79 79 79 79
120 52 55 70 70 80 82 89 91 96 96
160 54 57 71 73 80 83 89 92 98 108
200 55 59 71 74 80 84 89 92 98 108
32 78 98 108 108 108 108 108 108 108 108 108 DXF file DXF file
100 108 118 137 147 157 157 157 157 157 157
131 108 118 137 157 167 176 176 196 206 206
157 108 118 137 157 167 176 176 196 206 216
200 108 118 137 157 167 176 176 196 206 216
260 108 118 137 157 167 176 176 196 206 216
40 80 196 196 196 196 196 196 196 196 196 196 DXF file DXF file
100 235 245 265 265 265 265 265 265 265 265
128 235 245 294 314 343 363 372 372 372 372
160 235 245 294 314 343 363 372 392 421 451
200 235 245 294 314 343 363 372 392 421 451
258 235 245 294 314 343 363 372 392 421 451
50 80 353 353 353 353 353 353 353 353 353 353 DXF file DXF file
100 441 470 549 559 559 559 559 559 559 559
120 441 470 549 588 637 666 666 666 666 666
160 441 470 549 588 637 676 696 754 794 843
200 441 470 549 588 637 676 696 754 794 843
242 441 470 549 588 637 676 696 754 794 843
65 78 764 764 764 764 764 764 764 764 DXF file DXF file
104 1030 1100 1180 1190 1190 1190 1190 1190
132 1030 1100 1180 1250 1290 1380 1460 1570
158 1030 1100 1180 1250 1290 1380 1460 1570
208 1030 1100 1180 1250 1290 1380 1460 1570
260 1030 1100 1180 1250 1290 1380 1460 1570
80 80 1370 1370 1370 1370 1370 1370 1370 1370 DXF file DXF file
96 1800 1800 1800 1800 1800 1800 1800 1800
128 2040 2180 2340 2490 2570 2710 2710 2710
160 2040 2180 2340 2490 2570 2740 2950 3130
194 2040 2180 2340 2490 2570 2740 2950 3130
258 2040 2180 2340 2490 2570 2740 2950 3130
320 2040 2180 2340 2490 2570 2740 2950 3130
100 80 2470 2470 2470 2470 2470 2740 2470 2470 DXF file DXF file
100 3720 3720 3720 3720 3720 3720 3720 3720
120 3720 3980 4280 4560 4710 4740 4740 4740
160 3720 3980 4280 4560 4710 5010 5390 5720
200 3720 3980 4280 4560 4710 5010 5390 5720
242 3720 3980 4280 4560 4710 5010 5390 5720
320 3720 3980 4280 4560 4710 5010 5390 5720

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