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 50 160 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 529 Nm
Limit for Average Torque 843 Nm
Limit for Repeated Peak Torque 1,180 Nm
Limit for Momentary Peak Torque 2,450 Nm
Starting Torque 39 Ncm
Backdriving Torque 77 Nm
Ave. Input Speed 2,500 rpm
Standard Accuracy 1 arc min
Mass 3.2 kg
Torsional Stiffness
T1 108 Nm
K1 25 10^4 Nm / rad
T2 382 Nm
K2 40 10^4 Nm / rad
K3 44 10^4 Nm / rad

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Call: 978-532-1800

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