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
SHF 40 80 2A-GR
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 206 Nm
Limit for Average Torque 284 Nm
Limit for Repeated Peak Torque 519 Nm
Limit for Momentary Peak Torque 980 Nm
Starting Torque 33 Ncm
Backdriving Torque 32 Nm
Ave. Input Speed 3,000 rpm
Standard Accuracy 1 arc min
Mass 1.87 kg
Torsional Stiffness
T1 54 Nm
K1 13 10^4 Nm / rad
T2 196 Nm
K2 20 10^4 Nm / rad
K3 23 10^4 Nm / rad

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