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 80 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 83 Nm
Limit for Average Torque 117 Nm
Limit for Repeated Peak Torque 213 Nm
Limit for Momentary Peak Torque 398 Nm
Starting Torque 22 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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Monday through Friday