Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive.


Series Size Version Ratio Type
HPG 50 A 15 U1
  • High Efficiency
  • Low Backlash
  • High load capacity output bearing
**Drawing does not include modified features for mounting the selected motor.

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 230 Nm
Rated Torque L50 400 Nm
Limit for Average Torque 450 Nm
Limit for Repeated Peak Torque 1,250 Nm
Limit for Momentary Peak Torque 2,180 Nm
Starting Torque 100 Ncm
Backdriving Torque 15 Nm
Max. Input Speed 4,500 rpm
Ave. Input Speed 2,000 rpm
Standard Accuracy 3 arc min
Gear Backlash < 3 arc min
Input Inertia 6.7 kg-cm^2
Mass 16 kg
Torsional Stiffness
K1 47 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.12 m
Basic Dynamic Rated Load (C) 416 10^2 N
Basic Static Rated Load (Co) 760 10^2 N
Allowable Moment Load (Mc) 1,076 Nm
Moment Stiffness (Km) 100 10^4 Nm / rad
Permissible Radial Load 6,050 N
Permissible Axial Load 9,030 N

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