Harmonic servo-gearbox FSG-II-32

strain wavecoaxialkeyed shaft

Introduction
The FSG-II series strain wave gear features an integrated cam wave generator with a cross-slider coupling mechanism. The cam shaft bore can be customized to match specific motor models. The input shaft engages directly with the wave generator inner bore via a keyed connection. Typical mechanical arrangement uses the circular spline fixed at the base and the flexspline as the output element.

Features

• Integrated cam wave generator with self-aligning capability to tolerate component machining variation while maintaining required coaxial alignment.
• High torque capacity in a compact harmonic-drive-type architecture.
• Excellent rotational and positioning accuracy with typical backlash ≤20 arc sec.
• Coaxial input and output; keyed input for direct motor coupling.
• Designed for robotic arm end-effectors and sealed rotary table applications.

Specification - Starting torque (Sheet 1) (unit: cNm)
Reduction ratio | 11 | 14 | 17 | 20 | 25 | 32 | 40
50 | — | 4.5 | 6.7 | 8.6 | 17 | 34 | 61
80 | — | 3.1 | 4.4 | 5.4 | 10 | 21 | 39
100 | — | 2.8 | 3.7 | 4.7 | 8.8 | 20 | 34
120 | — | — | 3.4 | 4.2 | 8 | 17 | 31
160 | — | — | — | — | 3.6 | 6.9 | 15

Specification - Instant permissible loads by model (Sheet 2)
Model | Design value (Mb di / Ft di / Fa di) | Instant permissible value (Mb max / Ft max / Fa max)
FSG-14 | Mb di 20 Nm ; Ft di 180 N ; Fa di 180 N | Mb max 40 Nm ; Ft max 320 N ; Fa max 320 N
FSG-17 | Mb di 30 Nm ; Ft di 230 N ; Fa di 230 N | Mb max 60 Nm ; Ft max 400 N ; Fa max 400 N
FSG-20 | Mb di 42 Nm ; Ft di 270 N ; Fa di 270 N | Mb max 80 Nm ; Ft max 480 N ; Fa max 480 N
FSG-25 | Mb di 80 Nm ; Ft di 440 N ; Fa di 440 N | Mb max 160 Nm ; Ft max 770 N ; Fa max 770 N
FSG-32 | Mb di 220 Nm ; Ft di 900 N ; Fa di 900 N | Mb max 440 Nm ; Ft max 1600 N ; Fa max 1600 N
FSG-40 | Mb di 320 Nm ; Ft di 1000 N ; Fa di 1000 N | Mb max 650 Nm ; Ft max 1750 N ; Fa max 1750 N

Specification - Performance and ratings (Sheet 3)
Columns: Model | Reduction ratio | Rated torque @2000 r/min input (Nm) | Rated torque @2000 r/min (kgfm) | Permissible peak torque at start/stop (Nm) | Permissible peak torque (kgfm) | Permissible max average load torque (Nm) | Permissible max average (kgfm) | Permissible maximum momentary torque (Nm) | Momentary (kgfm) | Permissible max input speed (Grease) r/min | Permissible average input speed (Grease) r/min | Backlash (Arc Sec) | Weight (kg) | Design life (Hour)
Examples (extracted):
Model 14: reduction 50→ rated 7 Nm (0.7 kgfm); peak 23 Nm; permissible max input speed 10000 r/min; weight 4.7 kg; design life 10000 h.
Model 17: reduction 80→ rated 29 Nm (2.9 kgfm); peak 56 Nm; permissible max input speed 15000 r/min; weight 11 kg; design life 15000 h.
Model 20: reduction 100→ rated 52 Nm (5.3 kgfm); peak 107 Nm; permissible max input speed 15000 r/min; weight 20 kg; design life 15000 h.
Model 25/32/40: rated and peak torques scale up to hundreds of Nm depending on reduction; permissible speeds 10000–15000 r/min depending on combination; typical backlash ≤20 Arc Sec; design life 10000–15000 h.

Technical specifications

• Series: FSG-II (strain wave / harmonic drive type)
• Wave generator: integrated cam structure, cross-slider coupling
• Input: keyed connection to wave generator inner bore (cam shaft bore customizable to fit motor models)
• Typical configuration: circular spline fixed at base; flexspline as output
• Applications: robotic arm end-effectors, sealed rotary tables
• Available models: FSG-14, FSG-17, FSG-20, FSG-25, FSG-32, FSG-40
• Key ratings: starting torque by reduction ratio (see Sheet 1), permissible peak and average loads per model (Sheet 2), rated torques at 2000 r/min, permissible speeds and design life (Sheet 3)