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
CSG 17 120 2A-R
  • Peak Torque: 23Nm to 3419Nm

  • Zero Backlash

  • High Accuracy

  • High load capacity output bearing

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 31 Nm
Limit for Average Torque 51 Nm
Limit for Repeated Peak Torque 70 Nm
Limit for Momentary Peak Torque 112 Nm
Starting Torque 3 Ncm
Backdriving Torque 3.4 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1.5 arc min
Mass 0.15 kg
Torsional Stiffness
T1 3.9 Nm
K1 1 10^4 Nm / rad
T2 12 Nm
K2 1.4 10^4 Nm / rad
K3 1.6 10^4 Nm / rad


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Call: 978-532-1800

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