VRSF Series

VRSFPlanetary Servo Reducers

ABLE

특징

VRSF Series

종래의감속기로는얻을수없는최고의정음화를실현

종래제품과비교해약 10%의소음저감실현.(당사조사)

■각회사대부분의서보모터에취부가능

하기주요메이커의서보모터에취부가가능합니다.

● PANSONIC

● YASKAWA ELECTRIC

●MITSUBISHI ELECTRIC

● OMRON

● TAMAGAWA SEIKI

● FANUC

● SHINKO ELECTRIC

● TOEI ELECTRIC

● SANYO DENKKI

● FUJI ELECTRIC

● NIKKI DENSO

●MIKKI PULLY

● HITACHI SANKI SYSTEM

● KEYENCE

● NIDEC CORP. ● SANMEI COMPANY

헬리컬기어는사진과같이치형이치차측에

비스듬히있습니다.(종래치차는평행)

이때문에종래의평치차에비해,

잇물림이좋아소음이경감되어조용합니다.

※전형번(A/B/C/D/E) 헬리컬기어채용

종래제품 신제품 대표형번(VRSF - S9B - 100

65dB(A)

PANASONICYASKAWAMITSUBISHIOMRONFUJI ELECTRICSANYO DENKKITAMAGAWA SEIKIMIKKI PULLYNIKKI DENSOKYENCEHITACHI SANKISANMEI COMPAY

MSM MSMA MSMD MUMA MBMK

SGM SGMAH SGMAS SJME

HC-KF HC-KFS HC-MF HC-MFS HA-ME HC-PQ HC-KQ HF-KP HF-MP

R88M-U R88M-W R7M-A

GYS

P30B Q1

TAL-i TBL-i Ⅱ

SA3

NA50 NA70 NA80

MV

ADMA

TS SS

※각회사모터시리즈사양에따라취부불가능한것이있습니다.(자세한것은문의바랍니다.)

60dB(A)

31High Precision Planetary Reducers_

VRA

Lseries

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Fseries

VRSF

series

기종•형식기호

VRSF Series

32_서보모터용 정밀감속기

ABLE 감속기부

에이블감속기호칭

■D플랜지부착형치수도

■출력측탭가공(옵션)

B frame : M5×10 C frame : M6×10(또는 M8×16) D frame : M8×16(또는 M6×12) E frame : M10×20

입력부형식 : S : 클램프체결방식 (모터샤프트에키가있거나없는경우모두사용가능. 단, D컷타입은제외)

취부방식과출력측방향 / F : 프렌지형 : 취부방향자유D : D플랜지부착형, 취부방향자유

감속기사양 / 기호없음 : 표준형P B : 고정도형L B : 정밀형

■백래쉬

모델No

서보모터

제조회사명

적용서보용량(W)

감속기형번

감속비 / 1단형 3, 5, S9

2단형 15, 20, 25, 35, 45, 81

VR 15 C 400 모터품번필히기입요망S F

감속기형번

B형

C형

D형

E형

0.25。(15분)

0.25。(15분)

0.25。(15분)

0.25。(15분)

0.166。(10분)

0.08。(5분)

0.08。(5분)

0.08。(5분)

0.05。(3분)

0.05。(3분)

0.05。(3분)

0.05。(3분)

VR-□(표준형)

VR-LB(정밀형)

VR-PB(고정밀형)

※상기도면과같은취부시에는D플랜지(별매)부착을지정해주십시오. D플랜지는나중에부착할수도있습니다.

형

BCD

FG8

1213

FR24

33.548

FE335

FB507290

FC75

110134

FA6595

115

FZ67

8.8

K : 커플링(스트레이트축, 키홈형)A : 어댑터형식

※1 : D컷은K타입만대응됩니다.※2 : 특주품입니다. 상세한내용은문의바랍니다.

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Lseries

VRA

Fseries

VRSF

series

ABLE

대응감속비

33High Precision Planetary Reducers_

입력회전속도3000rpm 시

모터용량(W)

1단 감속 2단 감속

50

100

200

400

750

1000

1500

2000

2500

3000

3500

4000

4500

5000

1/3 1/5 1/9 1/15 1/20 1/25 1/35 1/45 1/81

B B

CC

D

D DD

DDE

E

E

E

※모두헬리컬기어입니다.

입력회전속도2000rpm 시

모터용량(W)

1단 감속 2단 감속

50

100

200

400

750

1000

1500

2000

2500

3000

3500

1/3 1/5 1/9 1/15 1/20 1/25 1/35 1/45 1/81

※모두헬리컬기어입니다.

■윤활유에대해서

▶윤활 : 그리스▶교환 : 불필요

※하기는토크제한기종입니다.

B형 : 1/5 감속(100W)

C형 : 1/81 감속(50W)

D형 : 1/3 감속(1500W) • 1/45감속(200W)•1/81감속(100W)

E형 : 1/3 감속(3500W)•1/25감속(750W)

B B

CC

C

D

D D

D

E

E

VRSF Selection Table

VRA

Lseries

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Fseries

VRSF

series

성능표

VRSF Series

34_서보모터용 정밀감속기

입력회전속도3000rpm시

감속비

1/15

1/9

1/5

1/3

VR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□F

-3-3-3-3-3-3-3-3-3-3-3-3-3-3-5-5-5-5-5-5-5-5-5-5-5-5

-S9-S9-S9-S9-S9-S9-S9-S9-S9-S9-15-15-15-15-15-15-15-15-20-20-20-20-20-20-25-25-25-25-25-25-35-35-35-35-35-45-45-45-45-45-81-81-81

BBBBCDDDEEEEEEBBBCCDDEEEEEBBCCDEEEEEBBCCDEEEBBCCDEBBCCDEBCCDECCDEECDE

-50-100-200-400-750

-1000-1500-2000-2500-3000-3500-4000-4500-5000-50-100-200-400-750

-1000-1500-2000-2500-3000-3500-4000-50-100-200-400-750

-1000-1500-2000-2500-3000-50-100-200-400-750

-1000-1500-2000-500-100-200-400-750

-1000-50-100-200-400-750

-1000-50-100-200-400-750-50-100-200-400-750-50-100-200

1000100010001000100010001000100010001000100010001000100060060060060060060060060060060060060033333333333333333333333333333320020020020020020020020015015015015015015012012012012012012085858585856666666666373737

0.2550.7151.473.436.377.5512.317.219.023.728.333.137.742.9

0.5101.182.655.3910.713.421.523.831.839.647.255.3

0.9212.253.729.5118.220.034.348.660.873.01.673.726.2715.830.433.357.281.02.215.008.6921.140.644.52.746.2711.126.450.755.73.847.2415.537.071.03.869.3121.147.591.37.0214.036.1

0.7842.064.5110.319.322.837.151.557.271.285.299.01131281.473.728.0416.232.140.564.471.595.51191411662.746.8611.328.554.760.11031461822195.0011.418.847.591.21001722436.6315.026.163.31221348.3319.033.379.215216711.521.746.611121311.628.063.5

142.527420.842.0

108.3

39239239239278488288288213701370137013701370137049049049098098010801080167016701670167016705885881180118014701960196019601960196078478414701470176023502350235080480415701570191025008828821670167020602650882167016702060343016701670206035203520167020603530

1961961961963924414414416866866866866866862452452454904905395398338338338338332942945885887359809809809809803923927357358821180118011804024027857859551250441441833833103013204418338331030171583383310301760176083310301765

0.05750.05750.1350.1450.9132.432.432.435.555.50

5.5005.785.785.78

0.04000.04000.1180.3630.7131.851.853.503.503.483.483.75

0.03500.03500.2750.2750.6502.812.812.812.812.77

0.03500.03500.3000.3000.7002.802.802.80

0.03400.03400.2940.2940.6902.72

0.03250.03250.2880.2880.6802.71

0.03000.06500.2620.2690.4730.02850.02850.02560.2451.77

0.02700.03000.240

3.433.433.433.436.8618.318.318.344.144.144.144.144.144.11.571.572.846.5711.523.523.556.856.856.856.856.82.352.359.709.7018.273.573.573.573.573.54.024.0216.216.230.491.491.491.45.005.0021.121.140.678.44.026.2721.726.450.765.43.8413.915.537.071.09.509.5028.357.091.39.7017.843.3

10.310.310.310.320.654.954.954.91321321321321321324.704.708.5319.734.370.670.61711711711711717.257.2529.229.254.722122122122122112.212.248.648.691.227427427415.015.063.363.312223512.219.064.979.215219611.541.746.611121328.628.685.217127429.253.5

129.9

1/20

1/25

1/35

1/45

1/81

형식

기종 감속비 형 모터용량 (rpm)

출력축회전속도

(N•m)

정격출력토크

(N•m)

최대출력토크

(N)

허용래디얼하중

(N)

허용트러스트하중

×10-4kg•㎡

입력축환산내부관성모멘트

(N•m)

허용출력토크

(N•m)

순간최대허용출력토크

표준형, LB(저백래쉬형), PB(고정도형) 모두같은사양입니다.

3) 허용래디얼하중은출력축의축중앙부에서의값을나타냅니다.

4) 모두헬리컬기어입니다.

1) 입력축환산관성모멘트는감속기만의수치로, 모터의관성모멘트는포함되어있지않습니다.

2) 최고입력회전속도는5000rpm, 상용은 3000rpm 이하로사용해주십시오.

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Lseries

VRA

Fseries

VRSF

series

ABLE

35High Precision Planetary Reducers_

입력회전속도2000rpm시

감속비

1/15

1/9

1/5

1/3

1/20

1/25

1/35

1/45

1/81

형식

기종 감속비 형 모터용량 (rpm)

출력축회전속도

(N•m)

정격출력토크

(N•m)

최대출력토크

(N)

허용래디얼하중

(N)

허용트러스트하중

×10-4kg•㎡

입력축환산내부관성모멘트

(N•m)

허용출력토크

(N•m)

순간최대허용출력토크

표준형, LB(저백래쉬형), PB(고정도형) 모두같은사양입니다.

1) 입력축환산관성모멘트는감속기만의수치로, 모터의관성모멘트는포함되어있지않습니다.

2) 허용래디얼하중은출력축의축중앙부에서의값을나타냅니다.

3) 모두헬리컬기어입니다.

VR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□FVR□F

-3-3-3-3-3-3-3-3-3-3-3-5-5-5-5-5-5-5-5-5

-S9-S9-S9-S9-S9-S9-S9-S9-15-15-15-15-15-15-15-20-20-20-20-20-25-25-25-25-25-35-35-35-45-45-45-81-81

BBBCDDDEEEEBBCCDDEEEBCCDEEEEBCCDEEEBCCDEBCCDECCDCDDCD

-50-100-200-400-750-1000-1500-2000-2500-3000-3500-50

-100-200-400-750-1000-1500-2000-2500-50

-100-200-400-750-1000-1500-2000-50

-100-200-400-750-1000-1500-50

-100-200-400-750-50

-100-200-400-750-50

-100-200-50

-100-200-50

-100

66666666666666666666666666666666640040040040040040040040040022222222222222222222222213313313313313313313310010010010010080.080.080.080.080.0575757

44.444.444.424.624.6

0.4771.052.485.018.7312.318.323.730.837.744.10.7951.573.828.3515.521.527.839.551.41.572.356.6414.023.634.353.773.02.623.9111.123.339.457.291.33.505.7314.831.052.44.377.1618.538.865.44.4312.722.05.8014.028.39.7017.8

1.433.157.4515.026.237.154.971.292.51131322.394.7011.525.146.564.483.51191544.727.0419.941.970.91031612197.8711.733.269.811817227410.517.244.493.115713.121.555.411619613.336.166.017.442.185.229.253.5

450450450900

1010101010101570157015701570560560

1120112012301230190019001900670

1340134016802240224022402240882

167016702020265026502650910

1790179021802650882

167016702080265019001900234016702060206016702060

225225225450505505505785785785785280280560560615615950950950335670670840

1120112011201120441933933

1010132013201320455895895

10901320441833833

10301320950950

1170833

10301030833

1030

0.05750.13501450.9132.432.432.435.505.505.505.78

0.04000.1180.3630.7131.851.853.503.483.75

0.03500.2750.2750.6502.812.812.812.77

0.03500.3000.3000.7002.802.802.80

0.03400.2940.2940.6902.72

0.03250.2880.2880.6802.71

0.2620.2620.269

0.02850.2850.285

0.02700.0300

3.433.433.436.8618.318.318.344.144.144.144.11.571.576.5711.523.523.556.856.856.82.359.709.7018.273.573.573.573.54.0216.216.230.491.491.491.45.0021.121.140.678.46.2721.721.750.765.415.515.537.09.5028.328.39.7017.8

10.310.310.320.654.954.954.91321321321324.701.7019.734.370.670.61711711717.2529.229.254.722122122122112.248.648.691.227427427415.063.363.312223519.064.964.915219646.646.611128.685.285.229.253.5

VRA

Lseries

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Fseries

VRSF

series

트러스트하중과허용레디얼하중

VRSF Series

36_서보모터용 정밀감속기

모터용량

형식

헬리컬기어에의해서축방향으로트러스트하중이발생하지만, ABLE 감속기는트러스트하중을줄이도록설계되어있어서서보모터에영향을주지않습니다.

아래표의서보모타를제외하고는서보모타의허용트러스트하중을확인바랍니다.

Model 형번 용량

ABLE감속기의트러스트하중

PanasonicMSMA Series

YaskawaSGMAH Series

MitsubishiHC-MF Series

서보모타의순간허용트러스트하중(N)

50W

100W

200W

400W

750W

VRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSF

35

S915202535458135

S915202535458135

S915202535458135

S9152025354535

S915202535

BBBBBBBCCBBBBBBCCDBBCCCCCDEBCCCCCDECCDDDDE

505050505050505050100100100100100100100100100200200200200200200200200200400400400400400400400400750750750750750750750

71529151515222929152946292929164646224443212121324317444364434343263420406432323248

58

58

98

98

147

54

54

74

74

147

59

59

98

98

147

Px = [K / (K + X)×PP : 허용축하중(N)Q : 출력축길이K : 상수X : 하중점Y : 하중점Px : 축의허용레디얼하중(N)

FrameSize

BCDE

Constant(K)mm20304055

Qmm4670

79.5104

허용레디얼하중축하중이중심이아닌다른지점에적용될때는Overhung Load의계산은다음방정식이사용됩니다.

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Lseries

VRA

Fseries

VRSF

series

ABLE

치수일람표

37High Precision Planetary Reducers_

■슬림타입

형식

기종 감속비 형 모터용량

PANASONICMSMA

YASKAWASGMAHSGMSH

MITSUBISHIHC-KFSHC-RFS

LR

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

VRSF

B

B

B

B

B

B

C

C

C

C

C

C

C

C

D

D

D

D

D

D

D

D

E

E

E

E

E

E

E

E

E

E

E

E

E

E

E

E

50

50

100

100

200

400

50

100

100

200

200

400

400

750

100

200

400

750

750

1000

1500

2000

200

400

750

750

1000

1000

1500

1500

2000

2000

2500

3000

3500

4000

4500

5000

32

50

61

75

12

19

24

32

20

30

40

55

18

26

35

52

16

22

30

45

4×2.5

6×3.5

8×4

10×5

4

6

7

8

52

78

98

125

50

70

90

110

3

3

5

5

60

90

115

135

M5

M6

M8

M10

12

20

20

20

99.5

110

99.5

110

104.5

165

158.5

171

177

210

215

215

215

225

-

-

225

-

225 -

-

225

225

235

215

235

215

235

215

235

142

150

142

139.5

150

139.5

150

143.5

158

3·5·S9

15·20·25·35

3·5·S9

15·20·25

3·5

3

45·81

35

45

S9

15·20·25·35

5·S9

15·20·25

3·5

81

45

35

S9

15·20·25

3·5

3·5

3

81

45

35

45

S9

15·25

S9

15

5·S9

15

3·5·S9

3·5·S9

3·5

3·5

3

3

S Q QM QK W×U T D LB LE LA Z X

전장L 출력축 플렌지

(단위:mm)•동심축타입치수표(PANASONIC, YASKAWA, MITSUBISHI)

VRA

Lseries

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Fseries

VRSF

series

치수일람표

VRSF Series

38_서보모터용 정밀감속기

■플랫타입

형식

기종 감속비 형 모터용량

L LR

VRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSF

3·5·S915·20·25

3·533545S9

15·20·25·355·S9

15·20·253·5814535S9

15·20·253·581453545S915

BBBBCCCCCCCDDDDDDEEEEEE

100100200400100100200200400400750100200400750750

1500200400750750

15001500

32

50

61

75

12

19

24

32

20

30

40

55

18

26

35

52

16

22

30

45

4

6

7

8

52

78

98

125

50

70

90

110

3

3

5

5

60

90

115

135

M5

M6

M8

M10

12

20

20

20

4×2.5

6×3.5

8×4

10×5

104.5110

104.5

150142

139.5150

139.5150

143.5158

165

158.5171177

210

230235215235

S Q QM QK T D LB LE LA LZ XW×U

전장L 출력축 플렌지

(단위:mm)

형식

기종 감속비 형 모터용량

L LR

VRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSFVRSF

S Q QM QK T D LB LE LA LZ XW×U

전장L 출력축 플렌지

(단위:mm)•MITSUBISHI 사(HC-SFS2000, HF-SP 2000rpm)

•YASKAWA 사(SGMPS, SGMP, SGMPH 3000rpm)

3·5S9

15·20·253·5

33545S915

5·S915

3·5·S93

DDDDDEEEEEEEE

50050050010001500500500100010001500150020003500

61

75

24

32

40

55

35

52

30

45

7

8

98

125

90

110

5

5

115

135

M8

M10

20

20

8×4

10×5

177178.5191

177

230235215235215235

245

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Lseries

VRA

Fseries

VRSF

series

ABLE

결합

39High Precision Planetary Reducers_

1. 서보모터와결합순서아래와같이순서에따라서서보모터와감속기를결합하여야합니다.

[VRSF, VRAF type과Key가없는서보모터의결합]❶고무캡을분리하고입력샤프트를돌려그구멍으로Cap Screw가보이도록합니다.

❷주의해서서보모터샤프트를감속기입력샤프트안쪽에삽입합니다.

서보모터샤프트와감속기입력샤프트가나란히정렬되었는지확인합니다.

❸적절한힘으로(표1 참조)볼트를이용하여감속기와모터를결합합니다.

❹육각렌치를이용하여(표2 참조) Cap Screw를돌려고정합니다.

❺고무캡을다시결합합니다.

[VRKF type과Key가있는서보모터의결합]❶고무캡을분리하고입력샤프트를돌려그구멍으로Cap Screw가보이도록합니다.

❷Cap Screw를 풀어 놓은 상태에서 천천히 서보모터 샤프트를 감속기 입력 샤프트에

결합합니다.

서보모터샤프트와감속기입력샤프트가나란히정렬되었는지확인합니다.

❸적절한힘으로(표1 참조) 감속기와모터를결합합니다.

❹입력샤프트의Set Screw를조이면서(표3 참조) 키가잘고정되었는지확인합니다.

❺고무캡을다시결합합니다.

2. 감속기설치감속기와서보모터결합시아래의표에나타나있는볼트조임토오크에의해결합하시기바랍니다.

•감속기 출력축과 커플링이나 풀리 연결시 무리한 트러스트 하중이 발생할 수

있는충격이없도록하십시요.

•커플링이나 풀리 결합시 고무 망치를 사용하십시요. 그렇지 않으면 베어링과

내부부품이손상될수있습니다.

•출력축과커플링연결키에틈이없도록하십시요.

•Set Screw를이용하여키를고정하여유격이없도록하십시요.

•출력축결합시편심이생기지않도록주의해서결합하십시요.

주

의

3. 출력축과결합

모터결합볼트

M3M4M5M6M8

M10M12M16

N·m1.03.05.89.8

19.639.268.6168

kgf·cm103060

1002004007001650

볼트조임토오크

Cap Screw

M3M4M5M6M8

N·m1.53.57.11230

kgf·cm153571

122306

볼트조임토오크

◀표1

◀표2

Cap Screw

M4M5M6M8

N·m2.04.37.3

16.8

kgf·cm204373

168

볼트조임토오크 ◀표3

결합볼트

B형번

C형번

D형번

E형번

F형번

G형번

M5M6M8M10M12M16

N·m5.89.8

19.639.268.6168

kgf·cm60100200400700

1650

볼트조임토오크 ◀표4

VRA

Lseries

VRA

Sseries

VRH

Fseries

VRSF-Aseries

VRG

seriesN

EVseries

EVRG

seriesSTH

seriesER

Kseries

VRA

Fseries

VRSF

series