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 Option
CSG 20 120 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 52 Nm
Limit for Average Torque 64 Nm
Limit for Repeated Peak Torque 113 Nm
Limit for Momentary Peak Torque 191 Nm
Starting Torque 4.2 Ncm
Backdriving Torque 6.1 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 1 arc min
Mass 0.64 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) 74.6 Nm
Moment Stiffness (Km) 10.5 10^4 Nm / rad

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