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
SHG 32 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 99 Nm
Limit for Average Torque 140 Nm
Limit for Repeated Peak Torque 281 Nm
Limit for Momentary Peak Torque 497 Nm
Starting Torque 28 Ncm
Backdriving Torque 17 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 0.97 kg
Torsional Stiffness
T1 29 Nm
K1 5.4 10^4 Nm / rad
T2 108 Nm
K2 7.8 10^4 Nm / rad
K3 9.8 10^4 Nm / rad

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