Features and Configurations
The double-ended support design and unique pin gear mechanism
provide the following advantages:
- Capable of high shock load 5 times the rated torque
- High torsional rigidity
- Small backlash [1 arc.min]
- High torque density (capable of high torque with downsized gear)
A set of internal main bearings (large angular ball bearings)
enables complete support of heavy external loads.
- Maintenance: Trouble free
- Compact design with a reduced number of parts
- Reduced man-hours (for design, assembly, and adjustment)
Principle of Operation
Rotation of the servo motor is transmitted through the
input gear to the spur gears, and the speed is reduced
according to the gear ratio between the input gear and
the spur gears.
Since the crankshafts are directly connected to the
spur gears, they have the same rotational speed as
the spur gears.
Two RV gears are mounted around the needle bearings
on the eccentric section of the crankshaft. (In
order to balance the equal amount of force, two RV
gears are mounted.)
When the crankshafts rotate, the two 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 gear 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. As a result, 1 RV gear tooth moves in the opposite
direction of the crankshaft rotation.
The rotation is then output to the shaft (output shaft)
via the crankshaft so that the crankshaft rotation
speed can be reduced in proportion to the number of
pins.
The total reduction ratio is the product of the first reduction ratio multiplied by the second reduction ratio.
Model Code
Rating Table
| Model |  |
 |
 |
 |
|---|---|---|---|---|
| Speed Ratio | 80 | 80 | 80 | 80 |
| 104 | 104 | 100 | 100 | |
| 120 | 120 | 120 | 128 | |
| 140 | 152 | 152 | 144 | |
| 160 | 170 | |||
N-m(kgf-m) |
167(17） | 412(42） | 784(80） | 1568(160） |
rpm |
15 | 15 | 15 | 15 |
Hr |
6000 | 6000 | 6000 | 6000 |
N-m(kgf-m) |
412(42） | 1029(105） | 1960(200） | 3920(400） |
N-m(kgf-m) |
833(85） | 2058(210） | 3920(400） | 7840(800） |
rpm |
45 | 42 | 42 | 27 |
rpm |
75 | 70 | 70 | 45 |
Backlash arc.min |
1.0 | 1.0 | 1.0 | 1.0 |
Lost Motion arc.min |
1.0 | 1.0 | 1.0 | 1.0 |
Torsional Rigidity (Spring Constant) N-m/arc.min (kgf-m/arc.min) |
49(5） | 108(11） | 196(20） | 392(40） |
Mass kg |
10 | 18.5 | 28 | 58 |
| Capacity of main bearing | ||||
N-m(kgf-m) |
882(90） | 1666(170） | 2156(220） | 3920(400） |
N-m(kgf-m) |
1764(180） | 3332(340） | 4312(440） | 7840(800） |
N(kgf) |
3920(400） | 5194(530） | 7840(800） | 14700(1500） |
mm |
63.1 | 83.1 | 81.5 | 93.8 |
mm |
113.3 | 143.7 | 166 | 210.9 |
Rated Torque
Rated Output Speed
Rated Life
Allowable Acceleration/ Deceleration Torque
Momentary Maximum Allowable Torque
Allowable Output Speed [Continuous]
Allowable Output Speed [Intermittent]
Allowable Moment
Momentary Maximum Allowable Moment
Maximum Thrust Load
Dimension α
Dimension L
- 1. The Rating Table shows the specification values of each individual reduction gear.
- 2. The allowable output speed may be limited by heat depending on the operating rate.
- 3. For the inertia moment of the reduction gears, refer to the Product Summary Sheet.
- 4. For dimensions α and L, refer to “Allowable Moment and Maximum Thrust Load.”
| Model |  |
 |
 |
 |
|---|---|---|---|---|
| Speed Ratio | 81 | 81 | 81 | 81 |
| 105 | 105 | 101 | 101 | |
| 121 | 121 | 121 | 129 | |
| 141 | 153 | 153 | 145 | |
| 161 | 171 | |||
N-m(kgf-m) |
167(17） | 412(42） | 784(80） | 1568(160） |
rpm |
15 | 15 | 15 | 15 |
Hr |
6000 | 6000 | 6000 | 6000 |
N-m(kgf-m) |
412(42） | 1029(105） | 1960(200） | 3920(400） |
N-m(kgf-m) |
833(85） | 2058(210） | 3920(400） | 7840(800） |
rpm |
45 | 42 | 42 | 27 |
rpm |
75 | 70 | 70 | 45 |
Backlash arc.min |
1.0 | 1.0 | 1.0 | 1.0 |
Lost Motion arc.min |
1.0 | 1.0 | 1.0 | 1.0 |
Torsional Rigidity (Spring Constant) N-m/arc.min (kgf-m/arc.min) |
49(5） | 108(11） | 196(20） | 392(40） |
Mass kg |
9.5 | 20 | 27 | 59 |
| Capacity of main bearing | ||||
N-m(kgf-m) |
882(90） | 1666(170） | 2156(220） | 3920(400） |
N-m(kgf-m) |
1764(180） | 3332(340） | 4312(440） | 7840(800） |
N(kgf) |
3920(400） | 5194(530） | 7840(800） | 14700(1500） |
mm |
122.2 | 148.1 | 158.4 | 201.8 |
mm |
113.3 | 143.7 | 166 | 210.9 |
- 1. The Rating Table shows the specification values of each individual reduction gear.
- 2. The allowable output speed may be limited by heat depending on the operating rate.
- 3. For the inertia moment of the reduction gears, refer to the Product Summary Sheet.
- 4. For dimensions α and L, refer to “Allowable Moment and Maximum Thrust Load.”
