Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive.

Series Size Ratio Type Option
CSF 20 30 2A-GR LW

• Compact design
• Light weight
• High torque capacity
• High torsional stiffness
• Zero backlash
• High positioning accuracy
• Housed configuration is available

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 15 Nm
Limit for Average Torque 20 Nm
Limit for Repeated Peak Torque 27 Nm
Limit for Momentary Peak Torque 50 Nm
Starting Torque 11 Ncm
Backdriving Torque 5.5 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1.5 arc min
Mass 0.14 kg
Torsional Stiffness
T1 7 Nm
K1 0.34 10^4 Nm / rad
T2 12 Nm
K2 0.44 10^4 Nm / rad
K3 0.67 10^4 Nm / rad


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Call: 978-532-1800

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