Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


Series Size Ratio Type
CSD 50 100 2A-GR
  • Zero-backlash
  • Reduced thickness, ¼ size of CSF Series
  • Hollow through bore, extra-large through bore also available
  • Extremely high positioning accuracy
  • Excellent Repeatability
  • Compact and simple design

Gear Model Number
Gear Dimensions (see drawing)
Flange Dim A - Motor Adapter Flange Bore Dia. {{foundMotor.flangeDimA}} mm
Flange Dim B - Motor Adapter Flange Bore Depth {{foundMotor.flangeDimB}} mm
Motor Dim C - Motor Bolt Circle Dia. {{foundMotor.dimC}} mm
Flange Dim D - Bolt Size {{foundMotor.flangeDimD}}
Coupling Dim F - Motor Coupling Bore Dia. {{foundMotor.couplingDimF}} mm
Mass kg
Gear Performance Data
Rated Torque L10 329 Nm
Limit for Average Torque 466 Nm
Limit for Repeated Peak Torque 686 Nm
Limit for Momentary Peak Torque 1,440 Nm
Starting Torque 56 Ncm
Backdriving Torque 67 Nm
Ave. Input Speed 2,500 rpm
Standard Accuracy 1 arc min
Mass 1.9 kg
Torsional Stiffness
T1 108 Nm
K1 21 10^4 Nm / rad
T2 382 Nm
K2 29 10^4 Nm / rad
K3 37 10^4 Nm / rad

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Hours 8:00am - 5:00pm EST
Monday through Friday