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
SHG 40 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 178 Nm
Limit for Average Torque 255 Nm
Limit for Repeated Peak Torque 523 Nm
Limit for Momentary Peak Torque 892 Nm
Starting Torque 50 Ncm
Backdriving Torque 30 Nm
Ave. Input Speed 3,000 rpm
Standard Accuracy 1 arc min
Mass 1.87 kg
Torsional Stiffness
T1 54 Nm
K1 10 10^4 Nm / rad
T2 196 Nm
K2 14 10^4 Nm / rad
K3 18 10^4 Nm / rad

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