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 90 120 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 2,570 Nm
Limit for Average Torque 4,300 Nm
Limit for Repeated Peak Torque 6,160 Nm
Limit for Momentary Peak Torque 9,800 Nm
Starting Torque 230 Ncm
Backdriving Torque 330 Nm
Ave. Input Speed 1,300 rpm
Standard Accuracy 1 arc min
Mass 17.6 kg
Torsional Stiffness
T1 618 Nm
K1 145 10^4 Nm / rad
T2 2,260 Nm
K2 230 10^4 Nm / rad
K3 263 10^4 Nm / rad


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Call: 978-532-1800

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