HDT T-Cup Component Gear Sets

Precise Robotic Accuracy

Large Center Through Hole
Proven Reliability

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Total Motion Control

Precision Gearing & Motion

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Control

DIMENSIONS (mm)

HDT

14

50

+0
-0.016

20

25

32

40

50

-0.019
70 +0

-0.022
85 +0

-0.022
110 +0

-0.025
135 +0

-0.025
170 +0

25.50.2

36.60.3

47.10.3

59.50.3

74.60.3

88.90.3

14

16

20

25

30

10.7

13.3

15.8

20.8

21.6

3.3

4.1

5.1

6.1

7.9

10.2

20 +0.0130

28 +0.0130

35 +0.0160

48 +0.0160

60 +0.0190

75 +0.0190

34

50

62

80

98

122

38

+0
-0.016

54

+0
-0.019

67

+0
-0.019

90

+0
-0.022

110

+0
-0.022

-0.025
135 +0

3.3

6.1

7.6

8.9

11.9

10.2

8.3

10.2

9.5

12.2

14.6

17.8

0.9

4.9

5.8

7.4

8.7

N2

M3

M4

M5

M6

M8

M10

N3

28

42

52

70

84

105

P2

M2.5

M3

M3

M3

M4

M4

P3

20

30

38

52

64

80

S2

3.5

3.5

4.5

5.5

6.6

S3

44

60

75

100

120

150

T1 (Jack Tap)

M3

M3

M4

M5

M6

M8

T2

3.5

3.5

4.5

5.5

6.6

T3

9.1

9.5

12

15.8

17

35.5

53.6

66.1

82.5

103.6

122.9

14 +0.0110

22 +0.0130

30 +0.0130

44 +0.0160

54 +0.0190

70 +0.0190

aa

0.02

0.022

0.022

0.025

0.033

0.033

bb

0.028

0.028

0.036

0.044

0.05

0.06

cc

0.011

0.031

0.033

0.035

0.045

0.047

dd

0.02

0.025

0.036

0.036

0.048

0.048

ee

0.152

0.254

0.254

0.254

0.381

0.381

All dimensions and tolerances

are shown with the gear set in its
assembled and mounted condition.
Maintain the recommended concentricity and perpendicularity
tolerances for optimum performance.
Refer to page 2 for the necessary
mounting requirements.
Dimensions are for reference only
and may be subject to revisions.
Contact factory for installation
drawing if required.
Visit us at harmonic-drive.com for
more technical information.

For more information contact Harmonic Drive LLC at 800-921-3332 Fax 978-532-9406 www.HarmonicDrive.net

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RATINGS TABLE
HDT Standard
Size Ratio*

14

20

25

32

40

50

50
72
80
100
50
60
80
100
160
50
60
80
100
160
200
50
60
80
100
160
200
50
60
80
100
160
200
50
60
80
100
160
200

R AT E D OUT P UT T OR QU E

Maximum
Repetitive
Output
Torque

Maximum
Momentary
Output
Torque

Static
Torque
Limit

3500 RPM
lb in
Nm

1750 RPM
lb in
Nm

1000 RPM
lb in
Nm

lb in

Nm

lb in

Nm

lb in

Nm

81
81
81
81
278
281
281
297
297
476
492
492
492
492
492
952
989
989
989
989
989
1587
1646
1646
2071
2071
2071
3016
3087
3087
3857
3857
3857

102
102
102
102
350
355
355
375
375
600
620
620
620
620
620
1200
1245
1245
1245
1245
1245
2000
2075
2075
2610
2610
2610
3800
3890
3890
4860
4860
4860

119
119
123
123
422
428
428
452
452
723
747
747
747
747
747
1446
1500
1500
1500
1500
1500
2410
2500
2500
3145
3145
3145
4579
4687
4687
5857
5857
5857

119
119
140
180
470
470
470
690
1120
830
830
830
1240
1700
1580
1830
1830
1830
2640
4700
4000
2760
2760
2760
4070
7200
6600
5110
5110
5110
6500
13100
15500

13.4
13.4
15.8
20.3
53
53
53
78
127
94
94
94
140
192
178
207
207
207
298
531
452
312
312
312
460
813
746
577
577
577
734
1480
1751

140
200
200
200
1120
1120
1260
1260
1120
1580
1580
2050
2050
1900
1580
4000
4000
5000
5000
4700
4000
6600
6600
9000
9000
7200
6600
15500
15500
19000
19000
17000
15500

15.8
22.6
22.6
22.6
127
127
142
142
127
179
179
232
232
215
178
452
452
565
565
531
452
746
746
1017
1017
813
746
1751
1751
2147
2147
1921
1751

202
202
238
306
1280
1280
1240
1620
2480
2570
2570
2310
3050
4650
5320
4920
4920
4520
5800
9190
10610
7330
7330
6980
9450
14640
17010
13910
13910
13060
16860
26830
31190

22.8
22.8
26.9
34.6
145
145
140
183
280
290
290
261
345
525
601
556
556
556
655
1038
1199
828
828
789
1068
1654
1922
1571
1571
1475
1904
3031
3524

9.2
9.2
9.2
9.2
31.4
31.8
31.8
33.6
33.6
54
56
56
56
56
56
108
111
111
111
111
111
179
186
186
234
234
234
341
349
349
436
436
436

11.5
11.5
11.5
11.5
40.0
40.1
40.1
42.4
42.4
68.0
70.0
70.0
70.0
70.0
70.0
136
140
140
140
140
140
226
234
234
295
295
295
430
440
440
549
549
549

13.9
13.9
13.9
13.9
47.7
48.4
48.4
51
51
82
84
84
84
84
84
164
169
169
169
169
169
272
282
282
355
355
355
577
529
529
661
661
661

No-Load
starting
torque
oz in.
(Ncm)

1.0
(0.7)

2.5
(1.8)

5.0
(3.5)

11.0
(7.8)

20.0
(14.1)

40.0
(28.3)

* Unlisted ratios above 50:1 may be available. Consult our Engineering Department for availability

RATINGS AND OPERATING LIFE

PREDICTED LIFE

The operating life expectancy of HDT Gear Sets is based on

the rating of the ball bearings used for the input wave generator
when run continuously at rated torque.

L10= 1750 [listed rating @ 1750 RPM]3 x 3000 hours

N
T

If gear sets are properly mounted and lubricated, gear tooth life
will be well in excess of bearing life, provided maximum torque
and speed limits are not exceeded. Flexspline life is infinite provided concentricity requirements are maintained. Ratings listed
are for an L10 life of 3,000 hours. Median life, however, is 5 times
this number.

MAXIMUM OUTPUT TORQUE

Torque ratings for speeds other than those shown can be calculated
by the following equations:
1/

Rating @ N RPM=[1750]
N

x [listed rating @ 1750 RPM]

Where T = mean torque

and&NServiced
= mean By:
speed
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ELECTROMATE

This is the maximum allowable torque that should be developed

with dynamic torque at the input.

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STATIC TORQUE LIMIT
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This is the maximum allowablewww.electromate.com
torque that should be applied to
output when the input is locked.
A typical example is the torque
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applied to the output during a work or machining operation when
the Harmonic Drive is stationary.

MAXIMUM MOMENTARY OUTPUT TORQUE

Occasional momentary overload torques caused by collisions or
emergency stops etc. should not exceed this value.

FEATURES
Zero backlash

High ratio

Precise positional accuracy

High torque

Large center through hole

5 arc second repeatability

APPLICATION
EXAMPLE

Flexspline
Circular Spline
Output Suppot
Bearing

Pilot

Pilot
Wave Generator
Support Bearing

Output

Wave Generator
Support Bearing

Wave Generator
Bearing
Input

ASSEMBLY GUIDE LINES

WAVE GENERATOR BEARING

To achieve proper performance from HDT gear sets, certain

mounting and alignment requirements are necessary. Excessive
deflection or improper alignment will affect the smoothness
of motion and may cause premature failure.

The wave generator is not designed to support a shaft. Bearing

support must be provided to maintain the require position relative
to the circular spline datums. Axial restraint must be provided in
both directions.

CIRCULAR SPLINE

LUBRICATION

The circular spline must be located either on its outside diameter

or on one of the two pilot diameters provided. Vibration can
occur if the housing interface is allowed to distort the circular
spline from roundness. Two jack screw holes are provided to
facilitate removal.

Harmonic Drive gearing functions equally well in any mounting

position provided it is adequately lubricated. Areas requiring
lubrication are the circular spline and flexspline teeth, the wave
generator bearing and the bore of the flexspline in the area of
the wave generator contact.

FLEXSPLINE
Under all load conditions, the flexspline must be rigidly supported in a position concentric and perpendicular to the circular
spline datums as shown on the installation drawing. Overhung
loads from an external source require a suitable two bearing
support or a single four point contact or cross roller bearing.

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Maximum input speed for eachwww.electromate.com
size is as follows:
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MAX INPUT SPEED (rpm)
HDT Size

oil

grease

14
20
25
32
40
50

12000
11000
9000
7000
5600
4500

6000
5600
4500
3500
2800
2250

EFFICIENCY

500 RPM Input*

Efficiency(%)

Efficiency(%)

The efficiency of HDT Gear Sets varies with speed, ratio, lubrication, and temperature. The following graphs show the
approximate measured values of efficiency against percentage of rated torque. These values can be adjusted by a
temperature factor; however, extremes of temperature or excessively low loading should be referred to our Engineering
Department.

100
90
80

1000 RPM Input*

100
90
80

70

70

60

60

50

50

40

40

30

30

20

20

10

10

10

20

30

40

50

60

70

80

90 100

Percent of Rated Output Torque

Efficiency(%)

Efficiency(%)

2000 RPM Input*

90
80

50

50

40

40

30

30

20

20

10

10
50

60

70

80

90 100

Percent of Rated Output Torque

10

Temperature Factor
Temperature Factor

60

70

80

90

100

20

30

40

50

60

70

80

90 100

Percent of Rated Output Torque

1.25

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Grease
Oil

1.0

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.75

.50

Legend:
.25

30

50

80
60

40

40

90
70

30

30

3500 RPM Input*

60

20

20

100

70

10

10

Percent of Rated Output Torque

100

40

50

Temperature F

60

70

80

90

100

110

*ATF

50:1
100:1
160:1
200:1

Harmonic Drive LLC

Boston
247 Lynnfield Street
Peabody, MA 01960
New York
89 Cabot Court
Hauppauge, NY 11788

800-921-3332
F: 978-532-9406
www.HarmonicDrive.net
Worldwide Locations:

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ELECTROMATE

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sales@electromate.com

Harmonic Drive Systems, Inc.

Minamiohi 6-25-3, Shinagawa-ku
Tokyo 140, Japan
Harmonic Drive AG
Hoenbergstr, 14
Limburg/Lahn, D-65555 Germany
HDT T-Cup rev_03-06