Harmonic Drive LLC | 247 Lynnfield St. Peabody, MA 01960 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.


Series Size Ratio Type
CSF 20 80 2UH
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 34 Nm
Limit for Average Torque 47 Nm
Limit for Repeated Peak Torque 74 Nm
Limit for Momentary Peak Torque 127 Nm
Starting Torque 4.9 Ncm
Backdriving Torque 4.8 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 0.98 kg
Torsional Stiffness
T1 7 Nm
K1 1.6 10^4 Nm / rad
T2 25 Nm
K2 2.5 10^4 Nm / rad
K3 2.9 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.05 m
Basic Dynamic Rated Load (C) 57.8 10^2 N
Basic Static Rated Load (Co) 90 10^2 N
Allowable Moment Load (Mc) 91 Nm
Moment Stiffness (Km) 12.8 10^4 Nm / rad

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