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
CSG 50 100 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 611 Nm
Limit for Average Torque 866 Nm
Limit for Repeated Peak Torque 1,274 Nm
Limit for Momentary Peak Torque 2,678 Nm
Starting Torque 64 Ncm
Backdriving Torque 75 Nm
Ave. Input Speed 2,500 rpm
Standard Accuracy 1 arc min
Mass 8.9 kg
Torsional Stiffness
T1 108 Nm
K1 25 10^4 Nm / rad
T2 382 Nm
K2 40 10^4 Nm / rad
K3 44 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.11 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 348 10^2 N
Basic Static Rated Load (Co) 602 10^2 N
Allowable Moment Load (Mc) 759 Nm
Moment Stiffness (Km) 171 10^4 Nm / rad

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