Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
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PDF Drawings

3D CAD Files

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Series Size Ratio Type
CSD 17 100 2UH
  • Zero Backlash
  • Lightweight
  • Ultra-flat
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 16 Nm
Limit for Average Torque 27 Nm
Limit for Repeated Peak Torque 37 Nm
Limit for Momentary Peak Torque 71 Nm
Starting Torque 3.3 Ncm
Backdriving Torque 4.1 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1.5 arc min
Mass 0.46 kg
Torsional Stiffness
T1 3.9 Nm
K1 0.84 10^4 Nm / rad
T2 12 Nm
K2 0.94 10^4 Nm / rad
K3 1.3 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.04 m
Basic Dynamic Rated Load (C) 52.9 10^2 N
Basic Static Rated Load (Co) 75.5 10^2 N
Allowable Moment Load (Mc) 64 Nm
Moment Stiffness (Km) 7.75 10^4 Nm / rad


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