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 58 120 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 745 Nm
Limit for Average Torque 1,190 Nm
Limit for Repeated Peak Torque 1,720 Nm
Limit for Momentary Peak Torque 3,330 Nm
Starting Torque 80 Ncm
Backdriving Torque 110 Nm
Ave. Input Speed 2,200 rpm
Standard Accuracy 1 arc min
Mass 14.6 kg
Torsional Stiffness
T1 168 Nm
K1 40 10^4 Nm / rad
T2 598 Nm
K2 61 10^4 Nm / rad
K3 71 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.14 m
Offset (R) 0.02 m
Basic Dynamic Rated Load (C) 518 10^2 N
Basic Static Rated Load (Co) 904 10^2 N
Allowable Moment Load (Mc) 1,180 Nm
Moment Stiffness (Km) 283 10^4 Nm / rad

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