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 Option
CSF 32 160 2UH LW
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 137 Nm
Limit for Average Torque 216 Nm
Limit for Repeated Peak Torque 372 Nm
Limit for Momentary Peak Torque 686 Nm
Starting Torque 14 Ncm
Backdriving Torque 26 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 2.2 kg
Torsional Stiffness
T1 29 Nm
K1 6.7 10^4 Nm / rad
T2 108 Nm
K2 11 10^4 Nm / rad
K3 12 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) 257 Nm
Moment Stiffness (Km) 44.2 10^4 Nm / rad

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