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 32 100 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 96 Nm
Limit for Average Torque 151 Nm
Limit for Repeated Peak Torque 233 Nm
Limit for Momentary Peak Torque 420 Nm
Starting Torque 18 Ncm
Backdriving Torque 21 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 2.4 kg
Torsional Stiffness
T1 29 Nm
K1 6.1 10^4 Nm / rad
T2 108 Nm
K2 7.8 10^4 Nm / rad
K3 11 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.08 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 150 10^2 N
Basic Static Rated Load (Co) 250 10^2 N
Allowable Moment Load (Mc) 313 Nm
Moment Stiffness (Km) 53.9 10^4 Nm / rad


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