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
CSF 40 50 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 137 Nm
Limit for Average Torque 196 Nm
Limit for Repeated Peak Torque 402 Nm
Limit for Momentary Peak Torque 686 Nm
Starting Torque 55 Ncm
Backdriving Torque 33 Nm
Ave. Input Speed 3,000 rpm
Standard Accuracy 1 arc min
Mass 5 kg
Torsional Stiffness
T1 54 Nm
K1 10 10^4 Nm / rad
T2 196 Nm
K2 14 10^4 Nm / rad
K3 18 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.09 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 213 10^2 N
Basic Static Rated Load (Co) 365 10^2 N
Allowable Moment Load (Mc) 450 Nm
Moment Stiffness (Km) 91 10^4 Nm / rad

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