The static transmission error is one of the main excitations in gear transmission. It can be seen from the figure that the response peak to peak PPV value of the reducer variable speed integrated gear increases with the increase of the static transmission error, which is consistent with the results of general gear vibration analysis. But the peak to peak PPV amplitude is one order of magnitude smaller than other parameters. This is mainly because the input speed ω 1 is low in the calculation process, and the error excitation is greatly affected by the speed. When the speed is increased, the error excitation will cause large vibration.