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
CSF 100 100 2A-GR

• Compact design
• 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 2,940 Nm
Limit for Average Torque 4,630 Nm
Limit for Repeated Peak Torque 7,350 Nm
Limit for Momentary Peak Torque 14,100 Nm
Starting Torque 340 Ncm
Backdriving Torque 400 Nm
Ave. Input Speed 1,200 rpm
Standard Accuracy 1 arc min
Mass 23.5 kg
Torsional Stiffness
T1 843 Nm
K1 200 10^4 Nm / rad
T2 3,040 Nm
K2 310 10^4 Nm / rad
K3 370 10^4 Nm / rad

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Call: 978-532-1800

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