Correctable Backlash

SERVO-REDUCERS
Series 2S-R
Standard range
SUMMARY
p 2
Correctable Backlash SERVO-REDUCERS - 2S-R Series
OVERVIEW
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High precision reducers having
very low backlash are requested
in many up-to-date industrial applications
(machine-tools, positionning systems,
servo-drives, robotics, ...).
As the electric motors and drives are more
and more available with low inertia, low
weight and high peak torque, allowing ext-
reme acceleration and deceleration, the
associated reducers must have at least the
same performance level.
Heavy duty with short stop-and-go working
cycles must be taken in count for the cho-
sen technology.
Based on its 2S-R series, REDEX ANDAN-
TEX is then offering the perfect solution
with a design which even includes the high
benefit of a correctible backlash.
Overview ....................................................................... 2
Design & Principle of operation. ............................... 3
Designation .................................................................. 4
Basic features ............................................................. 5
Direction of rotation / Ratio ....................................... 6
Design characteristics .............................................. 7
Dimensions ................................................................. 10
Method of selection .................................................. 12
Operating instructions ............................................. 13
Application sheet ....................................................... 15
Correctable Backlash SERVO-REDUCERS - 2S-R Series
DESIGN & PRINCIPLE of OPERATION
p 3
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REDUCTION RATIOS
i =
=
With
UZS : planet periphery
UHR : crown wheel periphery
ZS : number of planet teeth
ZH : number of teeth in crown wheel
A very specific type of reducer
Being cycloidal in function, it nevertheless can
be considered as a form of planetary gearbox.
BENEFITS
Very low angular backlash
< 1.2 arcmin. between input and
output shafts
High torsional stiffness
During acceleration and decelera-
tion
Very low rotational inertia
High input speed on shaft 1
Maximize the motor uses
Large load capacity
Needed for very fast transients
Torque up to 5500 N.m
Reduction ration up to 100:1
In a single train of gears
Repeatability
Due to low backlash, low inertia
and high torsional stiffness
Low in weight and volume
Optimized design
High efficiency
Even with high reduction ratio
Heavy duty oriented design
UZS
(UZS - UHR)
ZS
(ZS - ZH)
Annulus Sun
Planet
Planet
carrier
Considering a planet train including
- a sun gear
- a planet gear
- a planet carrier
- a ring carrier
The sun gear, fixed to the input
shaft, causes the planet to rotate
within the stationnary ring gear and
transmit rotary movement to the pla-
net carrier which is integral with the
output shaft.
With the 2S-R reducer, the sun gear
is replaced by a small eccentric
which drives a large planet gear
(crown gear). This has 2 to 6 fewer
teeth than the ring gear.
Rotation of the eccentric causes
rotation of the crown gear relative to
the ring gear, for one revolution of
the eccentric, one tooth of the crown
gear moves relative to the ring gear
by a value corresponding to the difference in the number of teeth between crown and
ring gears.
This rotation of the crown gear is transferred to the output shaft by means of the of
the driving pins.
Crown
wheel
Planet
eccentric
Tooth contact is at the point where the eccentric is closest to the pitch circle diame-
ter of the ring gear, point m. If the eccentric rotates from K to L, the crown gear must
roll within the ring gear and the point of tooth contact moves from m to n through
the same angle as the eccentric. The original
point o on the crown gear moves to point n.
During this motion the obsolute rotation of the
crown gear is less than the rotation of the input
eccentric. Also, the directions of rotation
are opposite.
Because of rolling pitch circles, the arc length
m to n on the ring gear corresponds to the
large arc length m to o on the crown gear.
By considering this, it can be shown geometri-
cally that the ratio between the rotation of the
input eccentric and the rotation of the output
crown gear is given by the opposite equations.
n
o
L
K
m
Four basic elements :
1 : Input shaft with double eccentric (high
speed)
2 : Output shaft with driving pins (low speed)
3 : Housing with double crown wheel & inter-
nal gear teeth
4 : Toothed planet wheels mounted on the
input shaft double eccentric
3
3
2
4
1
p 4
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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DESIGNATION
p 5
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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BASIC FEATURES
RADIAL LOAD F1 ON SHAFT 1
RADIAL LOAD F2 ON SHAFT 2
REDUCTION RATIOS K (SINGLE TRAIN)
MAXIMUM INPUT SPEED N1 ON SHAFT 1
p 6
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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DIRECTION OF ROTATION / RATIO
p 7
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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DESIGN CHARACTERISTICS
STIFFNESS
STIFFNESS & ELASTICITY
STIFFNESS HYSTERESIS CURVE
RIGIDITY, LOST MOTION ANGULAR BACKLASH
In an ideal reducer, the torsional stiffness is the
ratio between the applied output torque and the
angular deflection at the output as a result of this
torque, the input being fixed .
In reality, the torsional stiffness of the reducer is not
constant :
- Its value increases slightly as the absolute value of
the applied torque increases.
- It also depends on whether the absolute value of
the applied torque is increasing or decreasing (hys-
teresis).
The actual stiffness curve shows these effects.
Three important values which depends on the stiffness
p 8
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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TORQUES
MAXIMUM INSTANTANEOUS TORQUE
REDUCER NO-LOAD TORQUE
T
max instantaneous =
T2
transmissible
x 2.5
p 9
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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EFFICIENCY
MAXIMUM INSTANTANEOUS TORQUE
E
F
F
I
C
I
E
N
C
Y
p 10
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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DIMENSIONS Type AA - BA - CA
p 11
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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DIMENSIONS Type AE - BE
p 12
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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METHOD OF SELECTION
SERVICE FACTOR KA
LIFE FACTOR K1
p 13
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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OPERATING INSTRUCTIONS
MOTORS MOUNTING
ADJUSTMENTS
MAINTENANCE
p 14
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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TIGHTENING TORQUES FOR CROWN WHEEL SCREWS A
TIGHTENING TORQUES FOR INPUT COMPRESSION COUPLING SCREWS
PRODUCT WEIGHT - ALL VERSIONS (kg)
p 15
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Correctable Backlash SERVO-REDUCERS - 2S-R Series
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SERVO-REDUCERS 2S-R APPLICATION SHEET
Contact : ______________________ Tel. :
Company : _____________________ Fax :
Address : _________________________________________
Zip Code ________ City ___________ Country ___________
Via Fratelli di Dio 2/A
20063 Cernusco sul Naviglio (MI)
Italia
Ph : +39 02 92 17 091
Fx : +39 02 92 100 455
Web : www.andantex.it
E-mail : andmec@andantex.it
ZI - BP 79
45210 Ferrires
France
Ph : +33 2 38 94 42 00
Fx : +33 2 38 94 42 99
Web : www.redex.fr
E-mail : info@redex.fr
Rowley Drive
Coventry CV3 4LS
United Kingdom
Ph : +44 24 7630 7722
Fx : +44 24 7630 4499
Web : www.andantex-kinematic.com
E-mail : sales@andantex-kinematic.com
1705 Valley Road
Wanamassa, NJ 07712
USA
Ph : +1 732 493 2812
Fx : +1 732 493 2949
Web : www.andantex.com
E-mail : info@andantex.com
France USA
Italia United-Kingdom


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