Harmonic Drive System

[kuv]

Can anyone please explaine to me how to calculate the required input rotation angle of the servo motor to which attached to a harmonic drive, if the harmonic drive output angle at certain angle is required. Thanks

 

[drawoh]

kuv,

The harmonic drive you have selected has a reduction ratio, specified in the catalogue. This should be somewhere between 60:1 and 160:1. I do not have a catalogue in front of me.

Assuming you are using it as a speed reducer, you multiply your desired output rotation by the reduction ratio to get the motor rotation.

JHG

 

[Barry1961]

For an example if your servo has a encoder with 5000 pulses per revolution it would be 13.888 pulses per degree(5000/360). If you have a 100:1 reduction on the servo you would need to command a move of 1388.8 pulses to move 1 degree. Or 500,000 pulses to move 360 degree/1 rev.

In the servo software setup parameters there should be a scaling factor for “user units” so when programming you can enter the destination in degrees instead of calculating it each time.

Barry1961

 

[kuv]

thanks for the information!