1. Transmission efficiency

Harmonic output reducer output power and input power ratio, or useful power and total power ratio.

The efficiency is different depending on the input speed, speed ratio and usage (including load, lubrication). Typically, the XB1 series is about 75% -90%, XB3 series, XBF series is about 50% -60%, XB2 about 30%.

2. Backlash (motion loss)

In the case of no load, change the amount of hysteresis of the output shaft when the input shaft is turned.

Allowed values: XB1 series is 6 arcmin, 3 arcmin, 1 arcmin; XB3, XBF series for 6 arcmin, 3 arcmin; XB2 series for 6 arcmin.

3. Transmission error

When the input shaft is rotated unidirectionally, the difference between the actual angle of the output shaft and the theoretical angle.

Allowed values: XB1 series is 6 arcmin, 3 arcmin, 1 arcmin; XB3, XBF series for 6 arcmin, 3 arcmin; XB2 series for 6 arcmin.

4. (PV2) and the moment of inertia (I) of the component on the input shaft,

5. Average life expectancy

    The life of the harmonic drive is mainly dependent on the life of the wave generator. Under the rated load, the input shaft speed is 1500 rpm, the flexible bearing life is not less than 5000 hours, the average working life is more than 10000 hours.

6. Overload capacity

Allows you to overload twice in the start and stop moments, allowing an instantaneous overload of no more than 1.5 times.

7. Torsional stiffness

 The input shaft is fixed and the incremental torque ratio of the load torque to the corresponding twist angle on the output shaft.

Unit: kgf · cm / rad

Note: The table refers to the reducer test data, three pieces of the torsional stiffness than the machine about more than doubled.