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 14 30 1U-F
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 4 Nm
Limit for Average Torque 6.8 Nm
Limit for Repeated Peak Torque 9 Nm
Limit for Momentary Peak Torque 17 Nm
Starting Torque 6.4 Ncm
Backdriving Torque 2.4 Nm
Ave. Input Speed 3,500 rpm
Standard Accuracy 2 arc min
Mass 0.4 kg
Torsional Stiffness
T1 2 Nm
K1 0.18 10^4 Nm / rad
T2 6.9 Nm
K2 0.23 10^4 Nm / rad
K3 0.33 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.03 m
Offset (R) 0.01 m
Basic Dynamic Rated Load (C) 61.2 10^2 N
Basic Static Rated Load (Co) 58.5 10^2 N
Allowable Moment Load (Mc) 13.2 Nm
Moment Stiffness (Km) 1.34 10^4 Nm / rad

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