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 58 160 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 969 Nm
Limit for Average Torque 1,573 Nm
Limit for Repeated Peak Torque 2,392 Nm
Limit for Momentary Peak Torque 4,459 Nm
Starting Torque 68 Ncm
Backdriving Torque 130 Nm
Ave. Input Speed 2,200 rpm
Standard Accuracy 1 arc min
Mass 5.17 kg
Torsional Stiffness
T1 168 Nm
K1 40 10^4 Nm / rad
T2 598 Nm
K2 61 10^4 Nm / rad
K3 71 10^4 Nm / rad

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