7. • The HPG, HPGP, and HPGR planetary gearheads are a
series of high performance servo reducers characterized by:
• Low Backlash (3 arc minutes maximum / 1 arc minute optional)
• High positional accuracy and repeatability
• Smooth running transmission
• The design employs a high precision cross roller bearing with
inner race that is integral with the output planet carrier
• Compact with high tilting moment stiffness
• Excellent run-out / parallelism characteristics)
HPG / HPGP / HPGR Series Servo Planetary
Gearheads
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
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8. • Available in 6 frame sizes (11, 14, 20, 32, 50 & 65)
• Reduction ratios of 3:1 up to 50:1
• Grease lubricated for life
• Special compensating ring gear design
• Ensures smooth rotation with minimal torque ripple
• Results in excellent backlash stability over the life of the
gearhead
• Guarantees consistent performance characteristics
HPG / HPGP / HPGR Series Servo Planetary
Gearheads
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
9. HPG / HPGP / HPGR Servo Planetary
Gearheads
HPG / HPGP / HPGR Harmonic Planetary® Gear Construction
Backlash Compensating Ring
Gear
Planet Carrier, which
is also the inner race
of the cross roller
bearing
High Precision, Rigid
Cross Roller Bearing
(CRB)
Planet gear
Sun gear
Motor Mounting
flange
Quick Connect™
Coupling
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
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10. • The CSF-GH and CSG-GH servo gearheads employ the elasto-
mechanical HarmonicDrive® gearing principle and are characterized
by:
• Zero backlash
• High accuracy and repeatability
• High reduction ratios in a small package size (50:1
through 160:1)
• Highly accurate and repeatable
• Light weight in a small package (high power density)
CSF-GH & CSG-GH Servo Gearheads
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
11. • Available in 5 frame sizes (14, 20, 32, 45, & 65)
• Reduction ratios of 50:1 through 160:1
• Grease lubricated for life
• The design employs a high precision cross roller bearing with
inner race that is integral with the output flexspline
• Compact with high tilting moment stiffness
• Excellent run-out / parallelism characteristics)
CSF-GH & CSG-GH Servo Gearheads
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
12. Harmonic Drive®
CSF/CSG-GH
Series
Construction
High-precision, high-
stiffness cross roller
bearing
Circular spline
Quick Connect™
coupling for easy
mounting
Motor Mounting Flange
Flexspline
Wave generator
CSF-GH & CSG-GH Servo Gearheads
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
18. HPG-RA
HPG
Right Angle
Gearhead
HPG Series Right Angle Servo Gearhead
Spiral bevel gear
pass employed on
the input side to
achieve right angle
transmission;
output pass
includes the HPG
planetary gear
train
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
19. Lost Motion - Production Measurement Method
CW & CCW transmission error
Lost motion measurement equipment
Difference = Continuous LM
To measure difference of transmission error between CW
and CCW with small load torque (4% of rated torque)
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By:
20. Relationship between BL and LM
HPN-11A-30 Continuous LM
2-A
2-B 2-
C
Hysteresis curve
Transmissionerror[arc-min]
Output shaft angle [deg]
2-A 2-B 2-C
Torque: T(Nm) Torque: T(Nm)Torque: T(Nm)
Angle(arc-min)
Angle(arc-min)
Angle(arc-min)
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com
Sold & Serviced By: