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 58 50 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 353 Nm
Limit for Average Torque 520 Nm
Limit for Repeated Peak Torque 1,020 Nm
Limit for Momentary Peak Torque 1,960 Nm
Starting Torque 140 Ncm
Backdriving Torque 84 Nm
Ave. Input Speed 2,200 rpm
Standard Accuracy 1 arc min
Mass 5.17 kg
Torsional Stiffness
T1 168 Nm
K1 31 10^4 Nm / rad
T2 598 Nm
K2 44 10^4 Nm / rad
K3 54 10^4 Nm / rad


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