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
CSF 14 30 2A-R

• 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 4 Nm
Limit for Average Torque 6.8 Nm
Limit for Repeated Peak Torque 9 Nm
Limit for Momentary Peak Torque 17 Nm
Starting Torque 4.3 Ncm
Backdriving Torque 2 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 2 arc min
Mass 0.09 kg
Torsional Stiffness
T1 2 Nm
K1 0.19 10^4 Nm / rad
T2 6.9 Nm
K2 0.24 10^4 Nm / rad
K3 0.34 10^4 Nm / rad


Contact Us

Submit a Question


Call: 978-532-1800

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