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
SHF 50 100 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 470 Nm
Limit for Average Torque 666 Nm
Limit for Repeated Peak Torque 980 Nm
Limit for Momentary Peak Torque 2,060 Nm
Starting Torque 56 Ncm
Backdriving Torque 67 Nm
Ave. Input Speed 2,500 rpm
Standard Accuracy 1 arc min
Mass 3.53 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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