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 50 50 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 172 Nm
Limit for Average Torque 247 Nm
Limit for Repeated Peak Torque 500 Nm
Limit for Momentary Peak Torque 1,000 Nm
Starting Torque 94 Ncm
Backdriving Torque 57 Nm
Ave. Input Speed 2,500 rpm
Standard Accuracy 1 arc min
Mass 6.9 kg
Torsional Stiffness
T1 108 Nm
K1 17 10^4 Nm / rad
T2 382 Nm
K2 21 10^4 Nm / rad
K3 30 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.11 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 348 10^2 N
Basic Static Rated Load (Co) 602 10^2 N
Allowable Moment Load (Mc) 759 Nm
Moment Stiffness (Km) 171 10^4 Nm / rad

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Call: 978-532-1800

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Monday through Friday