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 80 100 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 1,700 Nm
Limit for Average Torque 2,360 Nm
Limit for Repeated Peak Torque 4,220 Nm
Limit for Momentary Peak Torque 7,910 Nm
Starting Torque 180 Ncm
Backdriving Torque 220 Nm
Ave. Input Speed 1,500 rpm
Standard Accuracy 1 arc min
Mass 12.4 kg
Torsional Stiffness
T1 430 Nm
K1 100 10^4 Nm / rad
T2 1,570 Nm
K2 162 10^4 Nm / rad
K3 185 10^4 Nm / rad


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Call: 978-532-1800

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