Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.

Series Size Ratio Type
CSD 32 50 2UF
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 53 Nm
Limit for Average Torque 75 Nm
Limit for Repeated Peak Torque 151 Nm
Limit for Momentary Peak Torque 268 Nm
Starting Torque 28 Ncm
Backdriving Torque 17 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 3.3 kg
Torsional Stiffness
T1 29 Nm
K1 4.7 10^4 Nm / rad
T2 108 Nm
K2 6.1 10^4 Nm / rad
K3 8.4 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.11 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 382 10^2 N
Basic Static Rated Load (Co) 654 10^2 N
Allowable Moment Load (Mc) 580 Nm
Moment Stiffness (Km) 100 10^4 Nm / rad


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