Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


Our servo actuator, gearhead, and gearing component products are high performance and are easy to use. Application notes provide an in-depth understanding of key areas.
In addition to the technical data on products found on our product pages we think it is important to communicate the technical information we have produced to help you better understand the strain wave gearing technology, as well as how to size and select the best gear for your application.

Component Sets

The following information is directed toward technicians or personnel, who are involved in the assembly or installation of Harmonic Drive® gears.
Refer to recommended housing tolerances and component set drawing for proper installation specifications.

Lubrication

*It is extremely important to closely follow the lubrication requirements provided for your specific model. Most of our manuals can be downloaded here.

Use the recommended lubricants and proper quantity. Replace the lubricant at the recommended service interval.

There are four areas within the gear that require lubrication.

A) Wave Generator Bearing
B) Oldham Coupling (if one is included)
C) Gear Teeth
D) Inner diameter of Flexspline

Proper seals, gaskets, or sealants must be used to contain the small amount of oil that may separate from the grease.
The Component Set has been coated with a rust preventative oil for storage purposes, and must be thoroughly cleaned prior to use.
There are three types of component sets: Cup-Type, Pancake-Type and Silk Hat-Type.

The Cup-Type has a Flexspline that is shaped like a cup.

The Pancake-Type has a Flexspline that is a thin sleeve with gearteeth on the outside diameter. It is basically a cup without the bottom. The Pancake-Type has an additional item called a Dynamic Spline, which appears to be similar to the Circular Spline. The Dynamic Spline has larger chamfers than the Circular Spline. These two items are not interchangeable.

The Silk Hat Type features a brim-like mounting surface and large through hole.

Assembly

*It is extremely important to closely follow the assembly instructions provided for your specific model. Most of our manuals can be downloaded here.

The Wave Generator must be securely fastened to the input hub to prevent axial movement along the input shaft. The Wave Generator must be assembled concentrically with the Circular Spline to prevent an improper assembly. Refer to the section named "Dedoidal" in our catalog.


The surface to which the Circular Spline is clamped, must be clean, flat, and free of debris or burrs. Tighten screws using a torque wrench and use no other locking hardware except the suitable grade Loctite sealant or equivalent.

Model Number

The part numbering method is as follows (space permitting).

SS XX JJJJJJ Q
SS: Size
XX: Ratio
JJJJJJ: Serial Number
Q: Set Number

In order to obtain the published performance specifications, it is essential that the component set remains as a matched set. Each component within the component set must have the same part number, including the set number. The above number may be required for ordering replacement drives.

Gear Units

The following information is directed toward technicians or personnel, who are involved in the assembly or installation of Harmonic Drive® gears.
Refer to recommended housing tolerances and component set drawing for proper installation specifications.

  1. Refer to the motor mounting tolerances and gearhead drawing for proper installation specifications.
  2. Wave Generator must be securely fastened to the input hub to prevent axial movement along the input shaft.
  3. Wave Generator must be assembled concentrically with the Circular Spline to prevent an improper assembly. Refer to the "Dedoidal" section in our catalog for more information.
  4. Proper seals, gaskets, or sealants must be used to contain the small amount of oil that may separate from the grease.
  5. Only the specific Wave Generator supplied with each gearhead may be used with that gearhead. These are shipped as a matched set.
  6. The input/output shaft of this unit has been coated with a rust preventative wax for storage purposes, and must be thoroughly cleaned with ethyl or methyl alcohol prior to use. To avoid deterioration of the oil seal, do not use acetone, thinner, or gasoline.

We encourage you to email us at sales@harmonicdrive.net or call us at 800-921-3332 or 978-532-1800 if you have any questions or comments. We are open M-F from 8am - 5pm EST.


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