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GB/T 45865-2025: General technical specification for precision electric driven harmonic gear modules
---This is an excerpt. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.), auto-downloaded/delivered in 9 seconds, can be purchased online: https://www.ChineseStandard.net/PDF.aspx/GBT45865-2025
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 21.200
CCS J 17
General technical specification for precision electric driven
harmonic gear modules
Issued on: AUGUST 01, 2025
Implemented on: FEBRUARY 01, 2026
Issued by. State Administration for Market Regulation;
Standardization Administration of the People’s Republic of China.
Table of Contents
Foreword... 5
1 Scope... 7
2 Normative references... 7
3 Terms and definitions... 8
4 Structural classification and model... 13
4.1 Structural classification... 13
4.2 Model... 15
5 Environmental and testing conditions... 18
5.1 Environmental conditions... 18
5.2 Testing conditions... 18
6 Requirements... 18
6.1 Appearance... 18
6.2 Lead out type and marking... 19
6.3 Efficiency... 19
6.4 Absolute positioning accuracy... 19
6.5 Repetitive positioning accuracy... 19
6.6 Torsional stiffness... 19
6.7 No-load... 19
6.8 Load... 19
6.9 Overload... 20
6.10 Surface temperature... 20
6.11 Low temperature... 20
6.12 High temperature... 20
6.13 Damp heat... 20
6.14 Vibration... 21
6.15 Impact... 21
6.16 Noise... 21
6.17 Safety... 21
6.18 Electromagnetic compatibility - Immunity... 22
General technical specification for precision electric driven
harmonic gear modules
1 Scope
This document specifies the structural classification and model, environmental and
testing conditions, requirements, test methods, inspection rules, marking, packaging,
transportation and storage of precision electric drive harmonic gear modules.
This document applies to the design, selection, and acceptance of precision
transmission systems in fields such as robotics, machine tools, and medical devices.
2 Normative references
The following documents, in whole or in part, are normatively referenced in this
document and are indispensable for its application. For dated references, only the
edition cited applies. For undated references, the latest edition of the referenced
document (including any amendments) applies.
GB/T 2423.1-2008, Environmental testing for electric and electronic products -
Part 2.Test methods - Tests A. Cold
GB/T 2423.2-2008, Environmental testing for electric and electronic products -
Part 2.Test methods - Tests B. Dry heat
GB/T 2423.3, Environmental testing - Part 2.Testing method - Test Cab. Damp
heat, steady state
GB/T 2423.4-2008, Environmental testing for electric and electronic products -
Part 2.Test method - Test Db. Damp heat, cyclic (12h+12h cycle)
GB/T 2423.5-2019, Environmental testing - Part 2.Test methods - Test Ea and
guidance. Shock
GB/T 2423.10-2019, Environmental testing - Part 2.Test methods - Test Fc.
Vibration (sinusoidal)
GB/T 2423.17-2024, Environmental testing - Part 2.Test methods - Test Ka. Salt
mist
GB/T 2828.11, Sampling procedures for inspection by attributes - Part 11.
Procedures for assessment of declared quality levels for small population
GB/T 6404.1, Acceptance code for gear units - Part1.Test code for airborne sound
GB/T 7346, Basic outline constructional type for control motors and feedback
components
GB/T 13992, Metallic bonded resistance strain gauges
GB/T 16439-2024, General specification for AC servo system
GB/T 17626.2-2018, Electromagnetic compatibility - Testing and measurement
techniques - Electrostatic discharge immunity test
GB/T 17626.3-2023, Electromagnetic compatibility - Testing and measurement
techniques - Part 3.Radiated, radio-frequency, electromagnetic field immunity test
GB/T 17626.4-2018, Electromagnetic compatibility - Testing and measurement
techniques - Electrical fast transient/burst-immunity test
GB/T 17626.5-2019, Electromagnetic compatibility - Testing and measurement
techniques - Surge immunity test
GB 17799.4-2022, Electromagnetic compatibility (EMC) - Generic standards - Part
4.Emission for industrial environments
GB/T 30121, Industrial platinum resistance thermometers and platinum
temperature sensors
GB/T 30549-2014, General specification for permanent magnet AC servo motor
GB/T 30819, Harmonic drive gear reducers for robot
GB/T 39633-2020, General specification for integrated servo motors system for
cooperative robot
JB/T 8162, Packaging for control motor - Specification
3 Terms and definitions
For the purposes of this document, the following terms and definitions, as well as those
given in GB/T 30819 and GB/T 30549-2014, apply.
3.1
precision electric drive harmonic gear module
An integrated drive unit with position feedback, consisting of an electric motor, a driver,
harmonic gears, sensors, and other auxiliary components.
3.12
efficiency
The ratio of the module's output power to its electrical input power, expressed as a
percentage.
4 Structural classification and model
4.1 Structural classification
The modules are divided into hollow type that allows cables to pass through and solid
type that does not allow cables to pass through. The basic structural form is shown in
Figure 4.
The module shape and installation dimensions are shown in Appendix A. The module
performance parameters are shown in Appendix B.
5 Environmental and testing conditions
5.1 Environmental conditions
Unless otherwise specified, the environmental conditions for the module shall meet the
following requirements.
a) Operating environment. Temperature, -20 ℃ ~ 50 ℃; relative humidity, 20%
~ 90% (non-condensing);
b) Storage environment. Temperature -40 ℃ ~ 70 ℃; relative humidity, 20% ~
90% (non-condensing).
5.2 Testing conditions
5.2.1 Test power supply
The test voltage and frequency refer to the rated voltage and frequency specified in the
product's specific technical specifications. Unless otherwise specified, the voltage
amplitude deviation of the module test power supply shall be ±1%, and the ripple shall
not exceed 500 mV.
5.2.2 Electrical measuring instruments
The accuracy of electrical measuring instruments shall be no less than Class 1, and the
accuracy of high-impedance instruments shall be no less than Class 0.5.
5.2.3 Other conditions
Other test conditions for the module must also meet the following requirements.
a) During the accuracy test, the casing of the module under test shall be
effectively grounded, and the grounding resistance shall be less than 10 Ω;
b) Other methods that can ensure test accuracy can be used for the test;
c) When conducting relevant electrical performance tests, the module shall be
installed on a dedicated bracket.
6 Requirements
6.1 Appearance
The surface shall be free of rust, dents, scratches, and peeling coating. Fasteners shall
be securely connected, and the colors of terminals and interfaces shall be accurate and
the markings clear and correct.
6.2 Lead out type and marking
For modules using lead wires, terminals, or electrical connectors, the lead wires and
markings shall comply with the provisions of GB/T 7346.
The strength of the lead wires shall comply with the requirements of 6.2.3.1.2 in GB/T
39633-2020, and the marking and strength of the terminals shall comply with the
requirements of 6.2.3.1.3 in GB/T 39633-2020.
6.3 Efficiency
Shall be no less than 50%.
6.4 Absolute positioning accuracy
The absolute positioning accuracy of the output terminal shall not exceed 0.05°.
6.5 Repetitive positioning accuracy
The repetitive positioning accuracy of the output terminal shall not exceed 0.05°.
6.6 Torsional stiffness
Shall comply with the provisions of Table 7.
6.7 No-load
After the test, the module shall not exhibit any abnormalities such as stopping, unusual
noises, or harmful deformation.
6.8 Load
After the test, the module shall be able to operate normally without abnormal vibration
or noise.
6.9 Overload
After the test, the module shall not exhibit any abnormalities such as stopping, unusual
noises, or harmful deformation.
6.10 Surface temperature
The surface temperature of the module housing shall not exceed 75 ℃.
6.11 Low temperature
6.11.1 Low-temperature storage
After standing at (-40±5) ℃ for 4 hours, the module shall work normally when returned
to normal temperature.
6.11.2 Low temperature operation
The module shall operate normally after a low-temperature test at -20 ℃ for 2 hours.
6.12 High temperature
6.12.1 High-temperature storage
The module shall operate normally after undergoing a 4-hour high-temperature storage
test at 70 ℃.
6.12.2 High temperature operation
The module shall operate normally after undergoing a 2-hour high-temperature
operation test at 55 °C.
6.13 Damp heat
6.13.1 Damp heat, steady state
After conducting a test at 40 ℃ and 85% relative humidity for 4 days, the insulation
resistance measured immediately shall not be less than 1 MΩ. The appearance shall be
free from obvious deterioration, rust, or other phenomena that would affect normal
operation. Plastic parts and coatings shall be free from deformation and cracks, and
function properly.
6.13.2 Damp heat, cyclic
Shall be able to withstand the cyclic damp heat test specified in Table 8.After the test,
there shall be no obvious cracks or rust on the outer surface of the module, and the
plastic and coating shall be free from deformation and cracks, and the module shall
function normally.
......
Source: Above contents are excerpted from the full-copy PDF -- translated/reviewed by: www.ChineseStandard.net / Wayne Zheng et al.
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