Features and Configurations
The double-end support design and unique pin gear
mechanism provide the following advantages:
- Capable of 7 times the rated torque
- High rigidity as well as small backlash [6 arc.min]
- Capable of high output speed with low reduction ratio (1/11 to 1/31)
- High torque density
A set of internal main bearings (large angular ball bearings)
enables complete support of heavy external loads.
- Pre greased
- Easy motor mounting
Principle of Operation
Rotation of the servomotor is transmitted through
the input gear to the spur gears, and the speed is
reduced accordingly with the gear ratio between the
input gear and the spur gears. This is the first
reduction section.
Since they are directly connected, the crankshafts
have the same rotational speed as the spur gears.
Two RV gears are mounted around the needle
bearings on the eccentric region of the crankshaft.
(In order to balance the equal amount of force, two
RV gears are mounted).
When the crankshafts rotate, the RV gears mounted
on the eccentric sections also revolve eccentrically
around the input axis (crank movement).
Pins are arrayed in a constant pitch in the grooves
inside the case. The number of pins is just one
larger than the number of RV teeth.
As the crankshafts revolve one complete rotation,
the RV gears revolve eccentrically one pitch of a pin
(crank movement), with all the RV teeth in contact
with all of the pins.
The rotation is then transmitted to the shaft (output
shaft) via the crankshaft. At this time, the shaft
rotation speed can be reduced in proportion to the
number of pins against the crankshaft.
The total reduction ratio is the product of the first reduction ratio multiplied by the second reduction ratio.
Model Code
When ordering or making an inquiry, use the following model code.
Selection of model code
- Only 21 and 31 can be used as the ratio code of the GH100.
- Only the flange type output shaft is available for the GH100.
- Select the model code according to the attached Quick Selection Table of Model Code.
- When you use a servomotor not listed in the Quick Selection Table of Model Code,
select the parts compatible with the servomotor from among the input spline sets
and motor flanges (standard/semi-processed product) that we provide (refer to pages 15 to 23). - For the customized specifications, contact us.
Rating Table
| Model Code |  |
 |
||||
|---|---|---|---|---|---|---|
| Ratio Code | 11 | 21 | 31 | 11 | 21 | 31 |
| Ratio | 461/41 | 21 | 153/5 | 11 | 21 | 31 |
N-m(kgf-m) |
69(7） | 167(17） | ||||
r.p.m. |
50 | 50 | ||||
Backlash arc.min |
6 | 6 | ||||
Inertia Moment I（I=GD2/4) Kg-m2 |
0.440×10-4 | 0.233×10-4 | 0.173×10-4 | 1.751×10-4 | 0.960×10-4 | 0.806×10-4 |
Mass Kg |
8 | 15.5 | ||||
| Allowable Torque | ||||||
Acceleration/ Deceleration Torque N-m(Kgf-m) |
206(21） | 500(51） | ||||
Momentary Maximum Torque N-m(Kgf-m) |
480(49） | 1166(119） | ||||
| Allowable Output Speed Note 2 | ||||||
Continuous Operation r.p.m. |
150 | 150 | ||||
Intermittent Operation r.p.m. |
270 | 270 | ||||
Rated Torque
Rated Output Speed
| Model Code |  |
 |
 |
|||||
|---|---|---|---|---|---|---|---|---|
| Ratio Code | 11 | 21 | 31 | 11 | 21 | 31 | 21 | 31 |
| Ratio | 11 | 21 | 31 | 419/39 | 21 | 723/23 | 20.375 | 31.4 |
N-m(kgf-m) |
235(24） | 392(40） | 980(100） | |||||
r.p.m. |
50 | 50 | 50 | |||||
Backlash arc.min |
6 | 6 | 10 | |||||
Inertia Moment I（I=GD2/4) Kg-m2 |
1.410×10-4 | 0.618×10-4 | 0.444×10-4 | 0.711×10-3 | 0.451×10-3 | 0.219×10-3 | 1.68×10-3 | 1.31×10-3 |
Mass Kg |
15.5 | 35.5 | 90 | |||||
| Allowable Torque | ||||||||
Acceleration/ Deceleration Torque N-m(Kgf-m) |
706(72） | 1176(120） | 2942(300） | |||||
Momentary Maximum Torque N-m(Kgf-m) |
1646(168） | 2744(280） | 6865(700） | |||||
| Allowable Output Speed Note 2 | ||||||||
Continuous Operation r.p.m. |
150 | 150 | 65 | |||||
Intermittent Operation r.p.m. |
250 | 250 | 135 | |||||
- ※ The rating table shows the specification values of each reduction gear.
- 1. For the inertia moment value, both the reduction gear and the input gear are taken into consideration.
This, however, does not include the inertia moment of the input spline. - 2. The allowable output speed may be limited by heat depending on the operation rate.
If you use this product with the operation rate per cycle exceeding 50% or allowable output speed during continuous operation, contact us.
