Precision Actuators Gearheads Gearing Components

TM
Excellent Technology for Evolving Industries
Harmonic Drive actuators utilize high-precision, zero-backlash Harmonic Drive
precision gears and play critical roles in robotics, semiconductor manufacturing
equipment, factory automation equipment, medical diagnostics and surgical robot-
ics. Additionally, our products are frequently used in mission-critical spaceflight
applications which capture the human spirit.

With over 50 years of experience, our expert engineering and production teams
continually develop enabling technologies for the evolving motion control market.
We are proud of our outstanding engineering capabilities and successful history of
providing customer specific solutions to meet their application requirements.

Harmonic Drive LLC continues to develop enabling technologies for the evolving
motion control market, which drives the pace of global innovation.

C. Walt Musser
Patented Strain Wave Gearing
in 1955

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Harmonic Drive High-Precision Strain Wave Gearing
Features
Zero backlash Compactness High torque capacity
High positioning accuracy Light weight High efficiency
High repeatability High reduction ratio Quiet operation

Structure
Utilizing a unique operating principle, the gear consists of only 3 basic parts (Wave Generator, Flexspline, and Circu-
lar Spline). It provides excellent features not found in other speed reducers.

Wave Generator
Structure of Harmonic Drive component product
The Wave Generator is a thin raced ball bearing fitted onto an
elliptical hub. This serves as a high efficiency torque converter
Wave Generator and is generally mounted onto the input or motor shaft.

Flexspline

The Flexspline is a non-rigid, thin cylindrical cup with external teeth on

Flexspline
the open end of the cup. The Flexspline fits over the Wave Generator and
takes on its elliptical shape. The Flexspline is generally used as the output
of the gear.

Circular Spline

Circular Spline The Circular Spline is a rigid ring with internal teeth. It engages the
teeth of the Flexspline across the major axis of the Wave Generator
ellipse. The Circular Spline has two more teeth than the Flexspline
and is generally mounted onto a housing.

Operating Principle
0 90 360
Circular Spline

Wave Generator

Flexspline

One Turn of Wave Generator

The Flexspline is slightly smaller in diameter As the Wave Generator rotates the teeth Each complete clockwise rotation of the
than the Circular Spline and usually has of the Flexspline engage with the Circular Wave Generator results in the Flexspline
two fewer teeth than the Circular Spline. Spline at the major axis. For every 180 moving counter-clockwise by two teeth from
The elliptical shape of the Wave Generator degree clockwise movement of the Wave its original position relative to the Circular
causes the teeth of the Flexspline to engage Generator the Flexspline rotates counter- Spline.
the Circular Spline at two opposite regions clockwise by one tooth in relation to the
across the major axis of the ellipse. Circular Spline.

Tooth engagement
The strain wave gear has a unique tooth engagement which results in a Zero-backlash gear mesh that
Circular Spline
provides high positional accuracy and high torque with a compact form factor.
The Harmonic Drive strain wave gear utilizes a unique gear tooth profile for optimized tooth
engagement. Unlike an involute tooth profile, which is used in conventional gears, this optimized tooth
profile (S tooth) enables about 30% of the total number of teeth to be engaged at the same time. This
technological innovation results in high torque, high torsional stiffness, long life and smooth rotation.
The S tooth profile eliminates stress concentration by widening the tooth root and providing a large
tooth root radius. This figure shows the progression of the Flexspline tooth engagement as it meshes
with the teeth of the fixed Circular Spline.

Flexspline

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 Specification (range)
Rotary Actuators
Peak Torque (Nm) Maximum Speed (rpm)

Actuators AC Servomotors Miniature Flat Hollow Shaft FHA-Cmini 1.8~28 60~200

Flat Hollow Shaft FHA-C 39~820 22~96
Flat Hollow Shaft FHA-C PR 39~820 22~96
Flat Hollow Shaft SHA 73~3419 17.4~117.6
Hollow Shaft SHA-CG 23~3419 25~120
Ultra Compact Cylinder RSF Supermini 0.13~1.4 100~333
Compact Cylinder RSF mini 1.8~28 60~200
Compact Cylinder RSF 34~330 45~90
Compact Cylinder RKF 56~330 45~90
DC Servomotors Compact Cylinder RH 0.39~20 50~180
Direct Drive Motor Ultra Precision Direct Drive Motor KDU 7.0~15.0 160~180
Hollow Shaft Motor Ultra Precision Hollow Shaft MA 1.8~45 3000~6000

Linear Actuators Maximum Driving Maximum Speed

Force (N) (mm/s) Stroke (mm)

AC Servomotor High-Force Positioning LBC 6000~12000 10~20 50

DC Servomotors Low-Force Positioning LA 49 0.9 10~30
Medium-Force Positioning LAH-46 392 3.7 10~30
Stepping Motors High-Force Positioning LAH-80 3000 3000 0.9~10

Other Actuators Moment of Inertia Torque Constant

(g.cm2) (Nm/A(rms))
Optical
Galvano Scanners
High Accuracy, High Response LSA 1.9~8.5 0.0082~0.05

Sensors Super-Compact Encoders, Micro Encoders Micro Encoder

Servo Pulse Analog Mono-shaft Interface to Interface to

Drivers Position
Command
Speed
Command
Control
(Command)
Absolute
Encoder
Incremental
Encoder
DC Digital Servo Drive Multiple Operating Modes DCJ Series
Multiple Operating Modes DDP Series
Multiple Operating Modes DEP Series
AC Digital Servo Drive Multiple Communication Modes RTL Series
Multiple Operating Modes REL Series
For AC Servomotors Position and Speed Control HA-680 Series
Field Boss HA-800 Series
Field Boss HA-680CL Series
Field Boss HA-680ML Series
For Direct Drive Motor Position Control Only HA-770 Series
The combinations with actuator and driver may not comply with foreign safety standards. Please contact our sales office.

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FHA-C mini (Page 8) FHA-C (Page 9) FHA-C PR (Page 10) SHA-CG (Page 12) SHA (Page 14)

RSF Supermini (Page 16) RSF Mini (Page 17) RSF (Page 18) RKF (Page 19)

RH Mini Series
KDU (Page 21) MA Motor (Page 22)
(Page 20)

LBC (Page 23) LA (Page 24) LAH-46 (Page 25) LAH-80 (Page 25)

Custom actuators also available. Contact us to find

LSA (Page 26) out more about our engineering design services.

Micro Encoder (Page 27)

DDP
(Pages 28-29)

DCJ DEP RTL/REL HA-800 HA-680 HA-680ML HA-680CL

(Pages 28-29) (Pages 28-29) (Pages 28-29) (Page 30) (Page 31) (Page 31) (Page 31)

Field Boss Options

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 Harmonic Drive Precision Product
Speed Peak Torque (Nm) Reduction Ratio

Reducers Component Cup Standard CSF 1.8~9200 30:1~160:1

High-Torque CSG 23~3400 50:1~160:1
Component Gear Sets
Consisting of three basic components: Ultra-Flat CSD 12~820 50:1~160:1
flexspline, circular spline and wave
generator; component gear sets offer Pancake Standard FB 7.8~330 50:1~160:1
ultimate design flexibility and can be tightly
integrated in equipment sub-structures. High-Torque FR 9.8~4000 50:1~320:1
Silk Hat Standard SHF 9.0~1800 30:1~160:1
High-Torque SHG 23~3400 50:1~160:1

Gear Unit Cup Standard CSF-2UH 9.0~2600 30:1~160:1

Standard, Lightweight CSF-2UH-LW 9.0~2600 30:1~160:1
High-Torque CSG-2UH 23~3400 50:1~160:1
Gear Unit High-Torque, Lightweight CSG-2UH-LW 23~3400 50:1~160:1
Housed component gearing combined High-Torque, Full Unit CSG-2UK 127~3400 50:1~160:1
with precision cross roller output bearing
& flange. Very compact, robust and easy Ultra-Flat CSD-2UH 12~823 50:1~160:1
to use gearhead solution.
Ultra-Flat CSD-2UF 12~453 50:1~160:1
Compact Mini CSF-2XH 0.5~28 30:1~160:1
Compact Mini, Double Shaft CSF-1U 0.13~28 30:1~160:1
Mini, Ultra-Flat CSF-2UP 1.8~28 30:1~100:1
Silk Hat Hollow Shaft SHF-2UH 8.3~1800 30:1~160:1
Hollow Shaft, Lightweight SHF-2UH-LW 9.0~1800 30:1~160:1
High-Torque, Hollow Shaft SHG-2UH 23~3400 50:1~160:1
High-Torque, Hollow Shaft,
Lightweight SHG-2UH-LW 23~3400 50:1~160:1
Input Shaft SHF-2UJ 9.0~1800 30:1~160:1
High-Torque, Input Shaft SHG-2UJ 23~3400 50:1~160:1
Ultra-Flat, Hollow Shaft,
Lightweight SHD-2UH-LW 12~450 50:1~160:1

Simplicity
Gear Unit
Silk Hat Ultra-flat, Hollow shaft SHD-2SH 12~450 50:1~160:1
Hollow Shaft SHF-2SH 9.0~1800 30:1~160:1
Simplicity Gear Unit
High-torque, Hollow shaft SHG-2SH 23~3400 50:1~160:1
Non-housed component gearing combined
with a precision cross roller output bearing. Input coupling SHF-2SO 9.0~1800 30:1~160:1
Similar to Gear Units (above), without
the housing and output flange, for tighter High-torque, Input coupling SHG-2SO 23~3400 50:1~160:1
integration into the customers housing or
machine structure.

Phase Coupling
Adjustment Unit Indexer Manual Phase Adjuster HDI 100~500 100:1
Pancake Differential FD 23~3400 80:1~320:1
1:1 Differential FBB 28~655 80:1~160:1

Quick Peak Torque (Nm) Reduction Ratio Motor Capacity (W)

Connect Gearhead Cup Standard CSF-GH 18~2600 50:1~160:1 30~5000

High-torque CSG-GH 23~3400 50:1~160:1 30~5000
Planetary Gearing 5~3200
Standard HPG 3:1~50:1 10~15000
Gearhead High-torque HPGP 12~3940 4:1~45:1 10~15000
Helical HPG-R 5~400 3:1~10:1 10~15000
Standard Right Angle HPG -RA 150~2200 5:1~50:1 500~8000
Value HPN 9~752 3:1~31:1 30~7500
Hollow shaft HPF 100~220 11:1 500~2000

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CSF (Page 34) CSG (Page 35) CSD (Page 36) FB (Page 37) FR (Page 37) SHF (Page 38)
SHG (Page 39)

CSF-2UH CSG-2UH CSF -2UH-LW (Pg 41) CSG-2UK CSD-2UH CSD-2UF

(Page 40) (Page 42) CSG -2UH-LW (Pg 43) (Page 44) (Page 46) (Page 47)

CSF mini CSF-2UP SHF-2UH (Pg 50) SHF-2UJ (Page 50) SHF -2UH-LW (Pg 51) SHD-2UH-LW
(Page 48) (Page 49) SHG-2UH (Pg 52) SHG-2UJ (Page 52) SHG -2UH-LW (Pg 53) (Page 54)

SHD-2SH (Page 55) SHF-2SH (Page 56), SHG-2SH (Page 57) SHF-2SO (Page 56), SHG-2SO (Page 57)

FD Series Component Type (Page 58) FD Series Unit Type (Page 59) FBB (Page 60) HDI Phase Adjuster (Page 61)

CSF-GH (Page 62) HPG (Page 64) HPGP (Page 66) HPG RA (Page 67) HPN (Page 68) HPF (Page 69)
CSG-GH (Page 63) HPG-R (Page 65)

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FHA-C mini Series Hollow Shaft Brushless Actuators
FHA-C Mini Series

These servo actuators utilize Harmonic Drive precision gears combined with a
performance matched brushless servomotor and incremental encoder. The cube
shaped form factor is very compact and features a through hole in the center of the
shaft. This hollow shaft may be used to pass cables, tubing or a laser beam through
the axis of rotation.
The FHA-mini series is designed to operate with a wide range of third-party drivers,
as well as Harmonic Drive LLCs DDP Series, DCJ Series, and DEP Series.
Large center through hole
Compact design
Body width from 50 mm to 75 mm
Body length from 48.5 mm to 66 mm

FHA-C mini Series Ratings

Model
FHA-8C FHA-11C FHA-14C
Item
Rotary Servo Actuator

Gear Ratio 30 50 100 30 50 100 30 50 100

Maximum Nm 1.8 3.3 4.8 4.5 8.3 11 9 18 28

Torque*2 in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159.3 247.8

Maximum
rpm 200 120 60 200 120 60 200 120 60
Positioning Speed

Nm/A
3.9 6.7 14 3.8 6.6 13 4.2 7.2 15
Torque Constant (rms)
100V, 200V in-lb/A
34.5 59.3 123.9 33.6 58.4 115.1 37.2 63.7 132.8
(rms)

Nm/A
0.8 1.3 2.7 0.8 1.3 2.6 0.8 1.4 2.9
Torque Constant (rms)
24V in-lb/A
7.1 11.5 23.9 7.1 11.5 23.0 7.1 12.4 25.7
(rms)

Maximum AC100V, 200V 0.61 0.64 0.48 1.5 1.6 1.1 2.9 3.2 2.4
A(rms)
Current*2 DC 24V 3.0 3.3 2.4 7.8 8.2 5.6 14.8 16.4 12.3

Moment (GD2/4) kgm2 0.0026 0.0074 0.029 0.0060 0.017 0.067 0.018 0.050 0.20
of Inertia (J) kgfcms 2
0.027 0.075 0.30 0.061 0.17 0.68 0.18 0.51 2.0

One-Way Positioning
arc/sec 150 120 120 120 90 90 120 90 90
Accuracy

Allowable Nm 15 40 75
Moment Load in-lb 133 354 664

Nm/rad 2x104 4x104 8x104

Moment Stiffness
in-lb/rad 18x104 35x104 71x104

Quad Encoder
Pulses/
Resolution 240,000 400,000 800,000 240,000 400,000 800,000 240,000 400,000 800,000
Revolution
(At x 4)*3

Power Supply V DC 24, AC 100, AC 200

Weight kg 0.40 0.62 1.2

Protection Totally closed, self-cooling (Equivalent to IP44)

Operating temperature: 0 to 40C Storage temperature: -20 to +60C. Operating and storage humidity: 20 to 80% RH (No condensation permitted).
Vibration resistance : 25m/s2 (frequency: 10 to 400Hz) Shock resistance: 300m/s2. Indoor installation: No dust, no metal powder, no corrosive gas, no
Environmental Conditions
inflammable gas, no oil mist, no other foreign matter and no direct sunshine. Altitude 1000m or less. Insulation resistance: 100M or higher (DC 500V).
Dielectric strength: AC 1500V/1min. Insulation class: Class B

DCJ-055-18/DDP-090-18/
Recommended DC24V DCJ-055-09/DDP-090-09/DEP-090-09 DDP-090-36/DEP-090-36
DEP-090-18
Driver
AC100/200 RTL-230-18/REL-230-18
1 The figures in the table are those at the output shaft.
2 The figures are typical values.
3 The quad encoder resolution is obtained by the formula (motor encoder resolution)
x4 x (reduction ratio). Unit: mm

Model A B C D
FHA-8C 50 48.5 33.5 6.2
FHA-11C 60 56 41 8
FHA-14C 75 66 52.5 13.5

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 FHA-C Series
Hollow Shaft Brushless Actuators
FHA-C Series

These servo actuators utilize Harmonic Drive precision gears combined with a performance
matched brushless servo motor and incremental encoder. The FHA has a low profile form
factor and features a hollow shaft through the center of the output. This hollow shaft feature
may be used to pass cables, tubing or a laser beam through the axis of rotation.
The FHA series is designed to operate with a wide range of third-party drivers, as well as
Harmonic Drive LLCs DDP Series, DEP Series, and RTL Series.
High torque
Large center through hole
Compact cylindrical design

FHA-C Series Ratings

Model
FHA-17C FHA-25C FHA-32C FHA-40C
Item

Rotary Servo Actuator

Gear Ratio 50 100 160 50 100 160 50 100 160 50 100 160

Maximum Nm 39 57 64 150 230 260 281 398 453 500 690 820
Torque*2 in-lb 345 504 566 1328 2036 2301 2487 3522 4009 4425 6107 7257

Maximum
rpm 96 48 27 90 45 28 80 40 25 70 35 22
Rotational Speed

Nm/A
21 42 67 22 45 72 27 54 86 31 64 102
(rms)
Torque Constant
in-lb/A
186 372 593 195 398 637 239 478 761 274 566 903
(rms)

Maximum
A (rms) 2.1 1.6 1.1 7.3 5.6 4.0 11.4 8.0 5.9 17.3 11.8 9.0
Current*2

Moment (GD2/4) kgm2 0.17 0.67 1.7 0.81 3.2 8.3 1.8 7.1 18.1 4.9 19.5 50
of Inertia (J) kgfcms2 1.7 6.9 17 8.3 33 85 18 72 185 50 200 510

One-Way Positioning
arc/sec 60 40 40 40 30 30 40 30 30 40 30 30
Accuracy

Allowable Nm 188 370 530 690

Moment Load in-lb 1664 3275 4691 6107

Nm/rad 220x103 490x103 790x103 1400x103

Moment Stiffness
in-lb/rad 1947x10 3
4337x10 3
6992x10 3
12390x103

Quad Encoder
Pulses/
Resolution 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000
Revolution
(At x 4)*3

Power Supply V DC 24V, AC 100, AC 200 AC 100, AC 200 AC 100, AC 200 AC 200

Weight kg 2.5 4.0 6.5 12

Protection Totally closed, self-cooling (Equivalent to IP44)

Operating temperature: 0 to 40C/Storage temperature: -20 to 60C Operating and storage humidity: 20 to 80% RH (no condensation permitted). Insula-
Environmental Conditions tion resistance: 100M (DC 500V) Dielectric strength: AC 1500V/1min. Vibration resistance: 24.5m/s2 (frequency: 10 to 400Hz) Shock resistance: 294m/
s2. Indoor installation: No dust, no metal powder, no corrosive gas, no oil mist, no other foreign matter and no direct sunshine Altitude 1000m or less.

DC 24V DDP-090-36/DEP-090-36

RTL-230-36 RTL-230-18 RTL-230-36 RTL-230-18

Recommended AC 100 RTL-230-18/REL-230-18
REL-230-36 REL-23018 REL-230-36 REL-23018
Driver
RTL-230-36 RTL-230-18
AC 200 RTL-230-18/REL-230-18
REL-230-36 REL-23018
1 The figures in the table are those at the output shaft.
2 The figures are typical values.
3 The quad encoder resolution is obtained by the formula (motor encoder resolution) x4 x (reduction ratio).
Please refer to the manual for details. Unit: mm

Size
FHA-17C FHA-25C FHA-32C FHA-40C
Symbol

A 128 155 175 230

B 70 85 105 130
C 18 32 35 45
D 21 25 22 30
E 78 90.5 111.5 127

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 Hollow Shaft Brushless Actuators
FHA-C PR Series
FHA-C PR Series

Item

FHA-C-PR features improved one way and bi-directional positioning repeatability and is ideal
for high-precision rotary positioning. These servo actuators utilize Harmonic Drive precision
gears combined with a performance matched brushless servo motor and incremental
encoder. The FHA has a low profile form factor and features a hollow shaft through the center
of the output. This hollow shaft feature may be used to pass cables, tubing or a laser beam
through the axis of rotation.
The FHA series is designed to operate with a wide range of third-party drivers, as well as
Harmonic Drive LLCs DDP Series, DEP Series, and RTL Series.
High torque
Large center through hole
Compact cylindrical design
Rotary Servo Actuator

L2
L1

Dimensions (Unit: mm)

Actuator model FHA-17C-PR FHA-25C-PR FHA-32C-PR FHA-40C-PR

Dimension L1 35 44.3 46 58.5

Dimension L2 29.5 39.3 41 51.5

Mechanical Accuracy
The FHA-C-PR mechanical accuracies of the output shaft and mounting flange are shown below: (Unit: mm)

Feature FHA-17C-PR FHA-25C-PR FHA-32C-PR FHA-40C-PR

1. Output shaft surface runout 0.010 0.012 0.012 0.014

2. Output shaft axial runout 0.010 0.012 0.012 0.014

3. Parallelism between output shaft

0.040 0.050 0.050 0.060
and mounted surface
4. Concentricity between output shaft
0.040 0.050 0.050 0.060
and fitting part
Note: For information on the measurement method, refer to the "FHA-C Series Technical Manual."
Note: Values are based on the Total Indicator Reading (T.I.R.).

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Hollow Shaft Brushless Actuators
FHA-C PR Series

FHA-C PR Series
FHA-C PR Series Ratings
"200V" and "100V" in the table are referred to as the 200V specification (standard) and the 100V specification (option), respectively.
Model FHA-17C-PR FHA-25C-PR FHA-32C-PR FHA-40C-PR
Ratio
50 100 160 50 100 160 50 100 160 50 100 160
Nm 39 57 64 150 230 260 281 398 453 500 690 820
Maximum torque
in-lb 345 504 566 1328 2036 2301 2487 3522 4009 4425 6107 7257
Maximum speed rpm 96 48 30 90 45 28 80 40 25 70 35 22
Nm/A
200V 21 42 67 22 45 72 27 54 86 31 64 102
(rms)
Torque constant
Nm/A
100V 11 21 33 11 22 36 13 27 43 - - -
(rms)
200V A 2.1 1.6 1.1 7.3 5.6 4.0 11.4 8.0 5.9 17.3 11.8 9.0
Maximum
current*2
100V A 4.2 3.2 2.2 15 11 8.0 23 16 12 - - -

200V V/(rpm) 2.3 4.7 7.5 2.5 5.1 8.1 3.0 5.9 9.5 3.6 7.2 11.4
EMF voltage
constant

Rotary Servo Actuator

100V V/(rpm) 1.2 2.4 3.8 1.3 2.6 4.1 1.5 3.0 4.8 - - -

200V (20C) 7.9 2.6 1.0 0.73

Phase resistance
100V (20C) 2.0 0.65 0.25 -
200V mH 6.0 2.6 1.3 1.5
Phase inductance
100V mH 1.5 0.65 0.33 -

(GD2/4) kgm2 0.21 0.83 2.1 0.90 3.5 9.2 2.1 8.2 21 5.5 22 56
Moment of inertia
2
(J) kgfcms 2.1 8.5 21 9 37 94 21 84 215 56 223 569

kN 2.9 4.9 9.5 14.7

Allowable radial load
kgf 300 500 970 1500
kN 9.8 14.7 24.5 39.2
Allowable axial load
kgf 1000 1500 2500 4000
Nm 188 370 530 690
Max. moment load
kgfm 19 38 54 70
3 3 3
Nm/rad 22010 49010 79010 1400103
Moment stiffness kgfm/
6.5 15 23 42
arc-min
One-way positioning arc-sec 60 40 40 40 30 30 40 30 30 40 30 30
accuracy
One-way repeatability arc-sec 5 5 4 4

Bi-directional repeatability arc-sec 75 30 30 60 25 25 50 20 20 50 20 20

Motor encoder 2500 counts / revolution

Quad encoder resolution*3 Pulse/rev 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000 500,000 1,000,000 1,600,000

Mass kg 2.8 4.7 7.1 13.6

Enclosure Totally enclosed self-cooling (IP44)
Operating temperature: 0 to 40C/storage temperature: -20 to 60C
Operating humidity / storage humidity: 20 to 80%RH (no condensation)
Vibration resistance: 24.5m/s2 (frequency: 10 to 400Hz) / shock resistance: 294m/s2
Environmental conditions Do not expose to dust, metal powder, corrosive gas, flammable gas, or oil mist.
Use indoors, and do not expose to direct sunlight.
Altitude: 1000 m or lower above sea level

Motor insulation Insulation resistance: 100M or higher (500 VDC), Withstanding voltage: AC1500V/1min, Insulation class: Type F

Mounting direction All position

200V HA-800*-3C-200 HA-800*-3C-200 HA-800*-6C-200 HA-800*-6C-200

Combination servo driver
100V HA-800*-3C-100 HA-800*-6C-100 HA-800*-6C-100 -

1 The values in the table above are referred to as typical values for the output shaft.
2 The value when used with the HA-800 driver.
3 Quadrature resolutions are obtained by (motor encoder resolution x 4) x (reduction ratio)

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SHA-CG Series Hollow Shaft Brushless Actuators
SHA-CG Series

SHA-CG high precision actuators are a great alternative for direct drive motors.
SHA-CG actuators offer direct drive motor performance in a compact, significantly
lighter package. The SHA-CG offers improved rotary positioning accuracy and a high
precision output with surface runout less than 10 microns.
Alternative to Direct Drive Motors
High Accuracy Output Bearing
Available with Mounting Base
High Torque
Hollow Shaft Design
Compact
Available in 4 sizes

SHA-CG Series Ratings

Model SHA20A SHA25A (Motor voltage 100V) SHA25A (Motor voltage 200V)
Rotary Servo Actuator

Item
Gear Ratio 50 80 100 120 160 50 80 100 120 160 50 80 100 120 160

Maximum Nm 73 96 107 113 120 127 178 204 217 229 127 178 204 217 229
Torque*1 in-lb 642 850 947 100 1062 1124 1575 1805 1920 2027 1124 1575 1805 1920 2027

Maximum
rpm 120 75 60 50 37.5 96 60 48 40 30 112 70 56 46.7 35
Rotational Speed
Nm/
16 26 33 39 53 10.9 17.7 22 27 35 19 31 38 46 61
A(rms)
Torque Constant
in-lb/
142 230 292 345 469 97 157 195 239 308 168 274 336 407 540
A(rms)

Maximum Current*1 A(rms) 6.1 5 4.6 4.1 3.4 15.1 13.2 12.2 11 9 8.7 7.6 7 6.3 5.2

Moment of Inertia GD2/4 kgm2 0.21 0.53 0.82 1.2 2.1 0.5 1.3 2 2.9 5.1 0.5 1.3 2 2.9 5.1
(without brake) J kgfcms2 2.1 5.4 8 12 22 5.1 13 20 29 52 5.1 13 20 29 52

Moment of Inertia GD2/4 kgm 2

0.23 0.6 0.94 1.3 2.4 0.6 1.5 2.4 3.4 6.1 0.6 1.5 2.4 3.4 6.1
(with brake) J kgfcms2 2.4 6.1 9.6 14 24 6.1 16 24 35 62 6.1 16 24 35 62

One-Way Positioning
arcsec 60 50 50 50 50 50 40 40 40 40 50 40 40 40 40
Accuracy

Allowable Nm 187 258

Moment Load in-lb 1655 2283

Nm/rad 25.2104 39.2104

Moment Stiffness
in-lb/rad 7.5 11.6

Pulses/
Output Resolution 6,553,600 10,485,760 13,107,200 15,728,640 20,971,520 6,553,600 10,485,760 13,107,200 15,728,640 20,971,520 10,485,760 13,107,200 15,728,640 20,971,520 15,859,712
Revolution
Power Supply #4 V 200V 100V 200V

Mass (without brake) kg 2.6 3.95

Mass (with brake) kg 2.7 4.1
Protection Structure Enclosed, self-cooled (IP54)

Operating temperature: 0 to 40C Storage temperature: -20 to +60C. Operating and storage humidity: 20 to 80% RH (No condensation permitted).
Vibration resistance : 25m/s2 (frequency: 10 to 400Hz) Shock resistance: 300m/s2. Indoor installation: No dust, no metal powder, no corrosive gas, no inflammable
Environmental Conditions
gas, no oil mist, no other foreign matter and no direct sunshine. Altitude 1000m or less. Insulation resistance: 100M or higher (DC 500V). Dielectric strength: AC
1500V/1min. Insulation class: Class E
REL-230-18, REL-230-18, REL-230-36, REL-230-18, REL-230-36,
Recommended Driver
HA-800-3D/E-200 HA-800-6D/E-100*1 HA-800-3D/E-200

Encoder Type Magnetic absolute encoder Magnetic absolute encoder

The table shows typical output values of actuators.

*1 Typical characteristics when combined with our drivers.

Harmonic Drive LLC 12 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Hollow Shaft Brushless Actuators

SHA-CG Series
SHA-CG Series
SHA-CG Series Ratings
Model
SHA32A SHA40A
Item

Gear Ratio 50 80 100 120 160 50 80 100 120 160

Maximum Nm 281 395 433 459 484 523 675 738 802 841
Torque*1 in-lb 2487 3496 3832 4062 4283 4629 5974 6531 7098 7443

Maximum
rpm 96 60 48 40 30 80 50 40 33.3 25
Rotational Speed

Nm/A(rms) 20 33 41 49 66 25 40 50 60 80
Torque Constant
in-lb/A(rms) 177 292 363 434 584 221 354 443 531 708

Maximum Current*1 A(rms) 17.7 15.4 13.7 12.2 10 27.2 22 19.6 18 14.7

Moment of Inertia GD2/4 kgm 2

1.7 4.3 6.7 9.7 17 4.8 12 19 27 49
(without brake) J kgfcms2 17 44 68 99 175 49 124 194 280 497

Moment of Inertia GD2/4 kgm2 2 5.1 7.9 11 20 5.8 15 23 33 59

Rotary Servo Actuator

(with brake) J kgfcms 2
20 52 81 116 207 59 150 235 338 601

One-Way Positioning
arcsec 40 30 30 30 30 40 30 30 30 30
Accuracy

Allowable Nm 580 849

Moment Load in-lb 5133 7514

Nm/rad 100104 179104

Moment Stiffness
in-lb/rad 29.6 53.2

Pulses/
Output Resolution 6,553,600 10,485,760 13,107,200 15,728,640 20,971,520 6,553,600 10,485,760 13,107,200 15,728,640 20,971,520
Revolution

Power Supply V 200V 200V

Mass (without brake) kg 7.7 13

Mass (with brake) kg 8 13.8

Protection Structure Enclosed, self-cooled (IP54)

Operating temperature: 0 to 40C Storage temperature: -20 to +60C. Operating and storage humidity: 20 to 80% RH (No condensation permit-
ted). Vibration resistance : 25m/s2 (frequency: 10 to 400Hz) Shock resistance: 300m/s2. Indoor installation: No dust, no metal powder, no cor-
Environmental Conditions
rosive gas, no inflammable gas, no oil mist, no other foreign matter and no direct sunshine. Altitude 1000m or less. Insulation resistance: 100M
or higher (DC 500V). Dielectric strength: AC 1500V/1min. Insulation class: Class E

Recommended Driver REL-230-18, REL-230-36, HA-800-6D/E-200 REL-230-36, REL-230-40, HA-800-24D/E-200

Encoder Type Magnetic absolute encoder Magnetic absolute encoder

The table shows typical output values of actuators. (28) (28)

*1 Typical characteristics when combined with our drivers.

(14)
Units: mm 1A

Size (12)
SHA20A SHA25A SHA32A SHA40A 1B
Symbol 200 (21) (13)
+35
0

Output Rotational Part

A 117 144 175 225

15 MAX
R0.4 MAX R0.4 MAX

B 69 84 110 132 3.5

C 17 27 35 45 C0.5
-0.030
0
A

D 26 28.5 34 40
-0.2
+0.5
Hollow Shaft Diameter
N.P

E 125.5 127.5 144 170

C

C0.5

D
E

The mechanical accuracies of the output shaft and mounting flange are as follows: Units: microns

Size Symbol SHA20A SHA25A SHA32A SHA40A

1. Output shaft surface runout 10 10 10 10 2-1 2-2 B

A 1
2-1. Output shaft axial runout (Outside diameter) 10 10 10 10
5 A 3 B
2-2. Output shaft axial runout (Inside diameter) 15 15 15 15
3. Parallelism between the output shaft and actuator mounting surface 30 30 35 35
6 A
4 B
4. Parallelism between the output shaft and actuator mounting surface 40 40 45 45

5. Concentricity between the output shaft and actuator mounting diameter 50 50 55 60

6. Concentricity between the output shaft and actuator mounting diameter 60 60 65 70

Note: All values are T.I.R. (Total Indicator Reading).

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 13 Harmonic Drive LLC

SHA Series Hollow Shaft Brushless Actuators
SHA Series

SHA Series AC Servo Actuators provide high torque and highly accurate rotary
operation.
These servo actuators utilize Harmonic Drive precision gears combined with a
brushless servomotor and magnetic absolute encoder. The SHA Series is an advanced
version of the FHA series AC Servo Actuators, featuring a larger hollow shaft with a
smaller, outside diameter.
The SHA Series is designed to operate with REL Series and HA-800 drivers.
High torque
Compact, slim design
Large center through hole
Low voltage winding available for SHA25A

SHA Series Ratings

Model SHA20A SHA25A SHA32A

Rotary Servo Actuator

Item
Gear Ratio 51 81 101 121 161 11HP 51 81 101 121 161 11HP 51 81 101 121 161

Maximum Nm 73 96 107 113 120 26 127 178 204 217 229 62 281 395 433 459 484
Torque*2 in-lb 646 850 947 1,000 1,062 203 1124 1575 1805 1920 2027 549 2487 3496 3832 4062 4283

Maximum
rpm 117.6 74.1 59.4 49.6 37.3 509.1 109.8 69.1 55.4 46.3 34.8 436.4 94.1 59.3 47.5 39.7 29.8
Rotational Speed
Nm/
16.5 27 33 40 53 4.2 19 31 39 46 62 4.5 21 33 42 50 66
A(rms)
Torque Constant
in-lb/
146 239 292 354 469 37 168 274 345 407 549 40 186 292 372 443 584
A(rms)

Maximum Current*2 A(rms) 6.0 4.9 4.5 4.0 3.4 8.9 8.6 7.5 7.0 6.3 5.2 19 17.3 15.2 13.5 12.2 9.9

Moment of Inertia GD2/4 kgm2 0.23 0.58 0.91 1.3 2.3 0.029 0.56 1.42 2.2 3.2 5.6 0.092 2.0 5.1 8.0 11 20
(without brake) J kgfcms 2
2.4 6.0 9.3 13 24 0.296 5.7 14.4 22 32 57 0.930 21 52 81 17 207

Moment of Inertia GD2/4 kgm2 0.26 0.65 1.0 1.4 2.6 0.034 0.66 1.66 2.6 3.7 6.6 0.107 2.3 5.9 9.2 13 23
(with brake) J kgfcms2 2.6 6.6 10 15 26 0.347 6.7 17 26 38 67 1.087 24 60 94 135 238

One-Way Positioning
arcsec 60 50 50 50 50 120 50 40 40 40 40 120 50 40 40 40 40
Accuracy

Allowable Nm 187 410 258 932 580

Moment Load in-lb 1,655 3629 2283 8248 5133

Nm/rad 25.2 x 104 37.4 x 104 39.2 x 104 86.1 x 104 100 x 104
Moment Stiffness
in-lb/rad 223 x 104 335 x 104 346.9 x 104 761 x 104 885 x 104
Pulses/
Output Resolution 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592 1,441,792 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592 1,441,792 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592
Revolution
AC AC
Power Supply #4 V AC 200 AC 100, AC 200, DC 48V-90V AC 200, DC 48V-90V
200 200
Mass (without brake) kg 2.0 5 2.95 9.4 5.9
Mass (with brake) kg 2.1 5.1 3.1 9.7 6.2
Protection Structure Totally enclosed self-cooled type (equivalent to IP54)

Operating temperature: 0 to 40C Storage temperature: -20 to +60C. Operating and storage humidity: 20 to 80% RH (No condensation permitted).
Vibration resistance : 25m/s2 (frequency: 10 to 400Hz) Shock resistance: 300m/s2. Indoor installation: No dust, no metal powder, no corrosive gas, no inflammable
Environmental Conditions
gas, no oil mist, no other foreign matter and no direct sunshine. Altitude 1000m or less. Insulation resistance: 100M or higher (DC 500V). Dielectric strength: AC
1500V/1min. Insulation class: Class E

Recommended Driver
DEP-090-36 DEP-090-36
DC 48V-90V
Recommended Driver
REL-230-18, REL-230-36
AC-100V
REL-
Recommended Driver
REL-230-18, HA-800-3D 230- REL-230-18, HA-800-3D REL-230-18, REL-230-36, HA-800-6D
AC-200V
18

1 The table shows typical output values of actuators.

2 When combined with HA-800 driver.
3 Encoder Type: Magnetic absolute encoder. Single Motor Revolution Encoder Resolution: 217 (313,072). Motor Multi Revolution Counter: 216 (65,536) (Battery back-up).
4 Please refer to the manual for rating details.

Harmonic Drive LLC 14 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Hollow Shaft Brushless Actuators

SHA Series
SHA Series
SHA Series Ratings
Model
SHA40A SHA58A SHA65A
Item

Gear Ratio 51 81 101 121 161 81 101 121 161 81 101 121 161

Maximum Nm 523 675 738 802 841 1924 2067 2236 2392 2400 2990 3263 3419
Torque*2 in-lb 4629 5974 6531 7098 7443 17027 18293 19789 21169 21240 26462 28878 30258

Maximum
rpm 78.4 49.4 39.6 33.1 24.8 37.0 29.7 24.8 18.6 34.6 27.7 23.1 17.4
Rotational Speed
Nm/A(rms) 25 41 51 61 81 54 68 81 108 54 68 81 108
Torque Constant
in-lb/A(rms) 221 363 451 540 717 478 602 717 956 478 602 717 956

Maximum Current*2 A(rms) 26.7 21.8 19.4 17.9 14.6 45 39 36 30 55 55 51 41

Moment of Inertia GD2/4 kgm 2

5.0 13 20 28 50 96 149 214 379 110 171 245 433
(without brake) J kgfcms2 51 130 202 290 513 980 1520 2180 3870 1120 1740 2500 4420

kgm2 6.1 15 24 34 61 106 165 237 420 120 187 268 475

Rotary Servo Actuator

Moment of Inertia GD2/4
(with brake) J kgfcms 2
62 157 244 350 619 1090 1690 2420 4290 130 1910 2740 4850

One-Way Positioning
arcsec 50 40 40 40 40 40 40 40 40 40 40 40 40
Accuracy

Allowable Nm 849 2,180 2,740

Moment Load in-lb 7514 19293 24249

Nm/rad 179 x 104 531 x 104 741 x 104

Moment Stiffness
in-lb/rad 1584.2 x 10 4 4699.4 x 10 4 6557.9 x 104

Pulses/
Output Resolution 6,684,672 10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592 10,616,832 13,238,272 15,859,712 21,102,592
Revolution

Power Supply #4 V AC 200 AC 200 AC 200

Mass (without brake) kg 9.9 29.5 37.5

Mass (with brake) kg 10.7 32 40

Protection Structure Totally enclosed self-cooled type (equivalent to IP54)

Operating temperature: 0 to 40C Storage temperature: -20 to +60C. Operating and storage humidity: 20 to 80% RH (No condensation permitted).
Vibration resistance : 25m/s2 (frequency: 10 to 400Hz) Shock resistance: 300m/s2. Indoor installation: No dust, no metal powder, no corrosive gas, no
Environmental Conditions
inflammable gas, no oil mist, no other foreign matter and no direct sunshine. Altitude 1000m or less. Insulation resistance: 100M or higher (DC 500V).
Dielectric strength: AC 1500V/1min. Insulation class: Class E

Recommended Driver
REL-230-36, REL-230-40
AC-200V

Recommended Driver HA-800-24D HA-800-24D HA-800-24D

1 The table shows typical output values of actuators.

2 When combined with a HA-800 driver.
3 Encoder Type: Magnetic absolute encoder. Single Motor Revolution Encoder Resolution: 217 (313,072). Motor Multi Revolution Counter: 216 (65,536) (Battery back-up).
4 Please refer to the manual for detail of ratings.
Units: mm

Size
SHA20A SHA25A SHA32A SHA40A SHA58A SHA65A
Symbol

A 94 114 146 175 247 284

B 70 86 114 140 203 223
C 17 27 35 45 65 65
D 11.5 15.5 20 26 37 42.5
E 103 109 125 148 213 222

SHA20A, SHA25A, SHA32A, SHA58A, SHA65A

SHA40A

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 15 Harmonic Drive LLC

RSF Supermini Series Brushless Actuators
RSF Supermini Series

These extremely small servo actuators utilize zero backlash Harmonic Drive
precision gears, a brushless servo motor and an incremental encoder to
deliver precision motion control. The RSF Supermini series is designed to
operate with a wide range of third party drivers as well as Harmonic Drive
LLCs DCJ Series, DDP Series, DEP Series, and HA680 drivers. The units are
small enough to fit inside the finger of a robotic hand.
Compact, lightweight
High output torque
High positional accuracy
RSF-5B is available with an optional brake

RSF Supermini Series Ratings

Model
RSF-3C RSF-5B
Item
Gear Ratio 30 50 100 30 50 100
Rotary Servo Actuator

Power Supply Voltage (driver) V DC2410% DC2410%

Maximum Continuous Current A(rms) 0.65 0.66 0.56 1.11 0.92 0.76
Rated Torque Nm 0.03 0.07 0.11 0.18 0.29 0.44
(during operation at allowable) in-lb 0.27 0.62 0.97 1.6 2.6 3.9
Maximum Rotational Speed (output shaft) rpm 150 90 45 150 90 45
Nm 0.04 0.08 0.12 0.28 0.44 0.65
Continuous Stall Torque
in-lb 0.35 0.71 1.06 2.5 3.9 5.8
Maximum Instantaneous Current A(rms) 1.5 1.4 1.1 2.3 2.2 1.7
Nm 0.13 0.21 0.3 0.5 0.9 1.4
Maximum Torque
in-lb 1.15 1.86 2.66 4.4 8 12.4
Maximum Speed rpm 333 200 100 333 200 100
Nm/A(rms) 0.11 0.18 0.4 0.3 0.54 1.1
Torque Constant in-lb/A
0.97 1.59 3.54 2.66 4.78 9.74
(rms)
EMF Constant V/(rpm) 0.015 0.025 0.05 0.04 0.07 0.13
Phase Resistance (at 20C) 1.34 0.82
Phase Inductance mH 0.18 0.27
0.66x10-4 1.83x10-4 7.31x10-4
GD /42 kgm 2
0.11x10 -4
0.29x10 -4
1.17x10-4
(0.11x10-3) (0.31x10-3) (1.23x10-3)
Moment of Inertia4
0.67x10-3 1.87x10-3 7.45x10-3
J kgfcms2 1.07x10-4 2.98x10-4 11.90x10-4
(1.13x10-3) (3.15x10-3) (12.6x10-3)
One-Way Positioning Accuracy arc/sec 600 600 600 240 180 180
Allowable Radial Load N 36 90
(output shaft central value) 8 20
lbf
N 130 270
Allowable Axial Load
lbf 29 61
Encoder Pulses (motor shaft) Pulse 200 500
Quad Encoder Resolution (output shaft: when multiplied by 4) 5 Pulse/rev. 24,000 40,000 80,000 60,000 100,000 200,000
Input Power Voltage V - DC2410%
Motor Shaft Brake Retention Nm - 0.18 0.29 0.44
Torque in-lb - 0.16 0.26 0.39
Without Brake g 31.0(except clamp filter) 66.0(except clamp filter)
Mass6
With Brake g - 86.0(except clamp filter)
DC24V DCJ-055-09/DDP-090-09/DEP-090-09
Recommended Driver
HA-680-4B-24 HA-680-4B-24
Notes:
1 The table shows typical output values of actuators.
2 The values in the table above are obtained when it is
combined with the driver (HA-680-4B-24).
3 All values are typical.
4 The moment of inertia is the total value of the motor
shaft and the gears moment of inertia values converted
to the output side. The values in parentheses are for
equipment with a brake.
5 The quad encoder resolution is (motor shaft encoder
resolution when multiplied by 4) x (gear ratio).
6 The weight of clamp filter is 6g each.
RSF-3C RSF-5B RSF-3C

Harmonic Drive LLC 16 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Brushless Actuators
RSF-Mini Series

RSF Mini Series

These brushless servo actuators utilize zero backlash Harmonic Drive
precision gears for precise motion control. The RSF Mini Series is designed
to operate with a wide range of third party drivers as well as Harmonic Drive
LLCs DCJ Series, DDP Series, DEP Series, and HA680 drivers.
Exceptional positional accuracy
Compact design

RSF Mini Series Ratings

Model
RSF-8B RSF-11B RSF-14B
Item

Rotary Servo Actuator

Gear Ratio 30 50 100 30 50 100 30 50 100
Power Suppy Voltage V DC24
Nm 1.8 3.3 4.8 4.5 8.3 11 9 18 28
Maximum Torque*3
in-lb 15.9 29.2 42.5 39.8 73.5 97.4 79.7 159 248

Maximum Speed*3 rpm 200 120 60 200 120 60 200 120 60

Maximum Current*3 A(rms) 3.8 3.9 2.9 14.4 15.8 9.4 14.4 17.2 12.3

Nm 0.78 1.4 2.0 1.1 2.0 4.0 1.7 3.0 6.0

Allowable Continuous Torque*3,4
in-lb 6.9 12.4 17.7 9.7 17.7 35.4 15.0 26.6 53.1

Allowable Continuous Current*3,4 A(rms) 2.0 2.0 1.5 5.0 4.9 4.9 4.9 4.7 4.7

Allowable Continuous Speed *3 rpm 100 60 30 100 60 30 100 60 30

Torque Constant Nm/A 0.62 1.1 2.1 0.4 0.66 1.5 0.76 1.3 2.6
(rms)
EMF Constant V(rpm) 0.07 0.11 0.22 0.04 0.07 0.15 0.08 0.13 0.28
Phase Resistance (25C) 0.93 0.19 0.23
Phase Inductance mH 0.45 0.1 0.19
10-2
GD2/4 0.06 0.16 0.65 0.18 0.49 2.0 0.41 1.1 4.5
kgm2
Moment of Inertia
10 -2
J 0.6 1.7 6.6 1.8 5.0 20 4.1 11 46
kgfcms2
N 196 245 392
Allowable Radial Load
lbf 44 55 88

N 98 196 392
Allowable Axial Load
lbf 22 44 88

One-Way Positioning Accuracy arc/sec 180 150 150 150 120 120 150 120 120
Quad Encoder Resolution6 p/rev 120000 200000 400000 120000 200000 400000 120000 200000 400000
Mass kg 0.3 0.5 0.8
Insulation Class B
Insulation Resistance 100M (DC500V) or more
Withstanding Voltage AC500V/1 min
DCJ-055-09/DDP-090-09/
Recommended Driver DC24V DEP-090-09/HA-680-4B-24
DDP-090-36/DEP-090-36/HA-680-6B-24

Notes:
1 The table shows output values of the actuator.
2 All specifications are applicable for actuators mounted on an aluminum heat sink of size: 150 x 150 x 6(mm).
3 Values for saturated actuator temperature. Other values are for actuator temperature of 20C.
4 Values are during operation at allowable continuous rotation speed.
5 All values are typical.
6 Quad encoder resolution is (motor shaft encoder resolution) x 4 x (gear ratio).
7 The specifications above are based on using HA-680 driver.

Model A B C D Eh7 F G

RSF-8B 124.3 21.8 76.5 26 21 34.5 7.5

RSF-11B 141.7 25 90.7 26 24 32.5 9.5

RSF-14B 168.5 28 114.5 26 30 32.5 11.5

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 17 Harmonic Drive LLC

RSF Series Brushless Actuators
RSF Series

The RSF series is compact and includes high torque AC servo actuators
with high rotational accuracy, a shaft output combining Harmonic Drive
strain wave gearing for precision control and an AC servomotor. The RSF
Series is designed to operate with a wide range of third party drivers as
well as Harmonic Drive LLCs RTL Series, and REL Series.
Header

Compact and lightweight

High power
High positioning and high rotational accuracies

RSF Series Ratings

Model
RSF-17 RSF-20A RSF-25A RSF-32A
Item
Gear Ratio 50 100 50 100 50 100 50 100
Rotary Servo Actuator

Rated Output W 62 62 120 111 180 190 310 310

Power Supply Voltage (driver) V AC200V
Nm 9.8 20 19 35 29 59 49 98
Rated Torque
in-lb 87 177 168 310 257 522 434 867
Rated Rotational Speed rpm 60 30 60 30 60 30 60 30
Nm 9.8 20 19 35 29 59 49 98
Continuous Stall Torque
in-lb 87 177 168 310 257 522 434 867
Nm 34 54 56 82 98 157 220 330
Max. Momentary Torque
in-lb 301 478 496 726 867 1389 1947 2921
Max. Rotational Speed rpm 90 45 90 45 90 45 90 45

(GD2/4) 0.047 0.19 0.098 0.39 0.19 0.77 0.67 2.7

Moment of Inertia*4 kg.m2
(J) kgfcm 2 0.48 1.9 1.0 4.0 2.0 7.9 6.9 27

One-Way Positioning Accuracy arc/sec 120 90 90 90

N 780 1400 2900 4400
Allowable Radial Load
Lbf 175 315 652 989
N 780 1370 2900 4400
Allowable Axial Load
Lbf 175 308 652 989
Pulses/
Quad Encoder Resolution*5 400,000 800,000 400,000 800,000 400,000 800,000 400,000 800,000
Revolution
Mass kg 2.1 2.9 4.7 8.7
Recommended Driver AC200 RTL-230-18, REL-230-18
Notes:
1 The aforementioned values are those at the output shaft.
2 The actuator specification is the value when mounted on the following
aluminum radiation plate:
RSF-17, RSF-20 250 x 250 x 12mm
RSF-25, RSF-32 300 x 300 x 15mm
3 The values are those on temperature rise saturation. The other values are
those at 20C.
4 The moment of inertia is the sum of the inertia of the motor and
Harmonic Drive gear reflected at the output shaft.
5 Quad Encoder resolution is calculated using (Motor shaft encoder
resolution) x 4 x (Reduction ratio).

Unit: mm

Model A B C D1 Eh7 F G Mass(kg)

RSF-17A 210 40 88 82 20 60 76 2.1

RSF-20A 242 48 98 96 85 60 93 2.9

RSF-25A 288.7 60 104.7 124 110 60 116 4.7

RSF-32A 331 80 123 128 130 80 137 8.7

Harmonic Drive LLC 18 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Brushless Actuators
RKF Series

RKF Series
The RKF series is compact and includes high torque AC servo actuators with
high rotational accuracy, a flange output combining Harmonic Drive strain
wave gearing for precision control and an AC servo motor. The RKF Series
is designed to operate with a wide range of third party drivers as well as
Harmonic Drive LLCs RTL Series, and REL Series.

Header
Compact and lightweight
High power
High positioning and high rotational accuracies

RKF Series Ratings

Model
RKF-20A RKF-25A RKF-32A
Item

Rotary Servo Actuator

Gear Ratio 50 100 50 100 50 100
Rated Output W 120 111 180 190 310 310
Power Supply Voltage (driver) V AC200
Nm 19 35 29 59 49 98
Rated Torque
in-lb 168 310 257 522 434 867
Rated Rotational Speed rpm 60 30 60 30 60 30
Nm 19 35 29 59 49 98
Continuous Stall Torque
in-lb 168 310 257 522 434 867
Nm 56 82 98 157 220 330
Max. Momentary Torque
in-lb 496 726 867 1389 1947 2921
Max. Rotational Speed rpm 90 45 90 45 90 45

(GD2/4) 0.098 0.39 0.19 0.77 0.67 2.7

Moment of Inertia kg.m2
(J) kgfcm 2 1.0 4.0 2.0 7.9 6.9 27

One-Way Positioning Accuracy arc/sec 90 90 90

N 2000 2500 3900
Allowable Radial Load
Lbf 450 562 877
N 880 1100 1600
Allowable Axial Load
Lbf 198 247 360
Pulses/
Quad Encoder Resolution*5 400,000 800,000 400,000 800,000 400,000 800,000
Revolution
Mass kg 2.9 5.0 9.5
Recommended Driver AC200 RTL-230-18, REL-230-18
Notes:
1 The aforementioned values are those at the output shaft
including the Harmonic Drive gear efficiency.
2 The actuator specifications are based on operating when
mounted on an aluminum heat sink of the following sizes or
its equivalent:
RKF-20 250 x 250 x 12mm
RKF-25, RKF-32 300 x 300 x 15mm
3 The values are those on temperature rise saturation. The other
values are those at 20C.
4 The moment of inertia is the total of the inertia moments of
the motor shaft and Harmonic Drive gear converted into the
output shaft side.
5 Quad Encoder resolution is calculated using (Motor shaft
encoder resolution) x 4 x (Reduction ratio).

Unit: mm

Model A B C D1 Eh7 F G Mass(kg)

RKF-20A 180 20 64 96 100 60 108 2.9

RKF-25A 215.5 22 69.5 124 120 60 130 5.0

RKF-32A 241 25.5 87.5 128 155 80 165 9.5

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 19 Harmonic Drive LLC

 DC Servo Actuators
RH Mini Series
RH Mini Series

This RH Mini Series is a DC servo actuator incorporating Harmonic Drive

precision gears, a high performance brush DC servomotor and an incremental
encoder.
High torque
Precise positional accuracy
Compact design

RH Series Ratings
Model RH-5A RH-8D RH-11D RH-14D
Rotary Servo Actuator

Item 8802 5502 4402 6006 3006 6001 3001 6002 3002

Rated Output W 1.5 1.7 1.4 8.6 6.2 13.6 12.3 20.3 18.5

Rated Voltage V 12 12 12 24 24 24 24 24 24

Nm 0.39 0.59 0.69 2.7 3.5 4.9 7.8 14 20

Maximum Momentary Torque
in-lb 3.45 5.22 6.11 23.9 31.0 43.4 60.0 123.9 177.0

Maximum Continuous Stall Nm 0.24 0.39 0.43 1.5 2.3 2.5 4.4 5.4 7.8
Torque in-lb 2.12 3.45 3.81 13.3 20.4 22.1 38.9 47.8 69.0

Nm 0.16 0.29 0.29 1.4 2 2.2 3.9 3.2 5.9

Rated Torque
in-lb 1.42 2.57 2.57 12.4 17.7 19.5 34.5 28.3 52.5

Maximum Positioning Speed rpm 180 110 90 100 50 100 50 100 50

Rated Positioning Speed rpm 88 55 44 60 30 60 30 60 30

Maximum Momentary Current A(rms) 0.83 0.78 0.77 1.6 1.1 2.4 2.1 5.4 4.1

Rated Current A(rms) 0.5 0.5 0.5 1.0 0.8 1.3 1.3 1.8 1.8

Nm/A(rms) 0.69 1.11 1.38 2.1 4.2 2.46 4.91 2.92 5.76
Torque Constant
in-lb/A(rms) 6.1 9.8 12.2 18.6 37.2 21.7 43.5 25.8 51

kgm2 6.3x10-4 16x10-4 25x10-4 37x10-4 150x10-4 110x10-4 430x10-4 210x10-4 810x10-4
Moment of Inertia
kgfcms2 0.007 0.016 0.026 0.04 0.15 0.11 0.44 0.21 0.83

One-Way Positioning Accuracy arc/sec 290 290 290 150 150 120 120 120 120

N 29 29 29 98 98 196 196 392 392

Allowable Axial Load
lbf 7 7 7 22 22 44 44 88 88

Reduction Ratio 50 80 100 50 100 50 100 50 100

Mass kg 0.09 0.09 0.09 0.3 0.3 0.5 0.5 0.77 0.77

Time constant: Continuous Protection: Totally closed, self-cooling Ambient temperature: 0 to 40C
Environmental Conditions
Ambient humidity: 35 to 80% RH (no condensation permitted)

DCJ-055-09, DDP-090-09,
DC 20V
Recommended Driver DEP-090-09

DCJ-055-09, DDP-090-09, DEP-090-09

Unit: mm

Model A B C D

RH-5A 20 5 11 78

RH-8D 33 8 21.8 107.2

RH-11D 40 10 25 125.5

RH-14D 50 12 28 148

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Direct Drive Motor

KDU Series
KDU Series

The KDU Series are Direct Drive Motors which achieve 10 arc-sec positioning
accuracy as well as 0.5 arc-sec repeatability with a resolution of 0.16 arc-sec.
Also, the KDU has a large Hollow Shaft design which allows cables, shafts or lasers
to pass through the axis of rotation.
Exceptional positional accuracy
Exceptional repeatability
Ultra high resolution

KDU Series Ratings

Model
KDU-13SB KDU-13WB
Item

Maximum Torque*2 Nm 7.0Nm (62.0 In.lb) 15.0Nm (132.8 In.lb)

Max. Rotational Speed rpm 127 127

Direct Drive Motor

Torque Constant Nm/A(rms) 3.1 (26.9 In.lb/A(rms)) 6.5 (56.4 In.lb/A(rms))

Input Power Supply Voltage V AC 100/AC200

Moment of Inertia kg.m2 0.0047 0.0065

Moment Stiffness Nm/rad 2.4 x 10 5

Incremental encoder
Motor Position Sensor pulse/rev Square wave : phase A and B: 11,840,000
Z Index Pulse Signal

Repeatability*3 arc sec 0.5

Absolute Positioning Accuracy*4 arc sec 10 (Angular position corrected)

Mass kg 4.0 5.0

Mounting Direction Output shaft to face upward

Combined Driver HA-770-2

Induced Voltage Constant V/ (rpm) .033 0.68

Line Resistance W (20C) 9.1 14.0

Line Inductance mH 19 35

Motor Insulation Insulation Resistance: 100 M W more (DC500V)

Insulation Strength: AC1500V/1min.
Insulation Class: Class B

Protective Structure*5 Total-enclosed self-enclosed type (IP 40 or equivalent)

1 The table above shows output values of output shaft.
2 The values in the table above are obtained when connected to HA-770 servo driver.
3 The repeatability and absolute repeatability are the values measured in an environment of 23 0.3C in temperature, 50% RH in humidity and with output shaft facing
upward in mounting direction. Please contact Harmonic Drive LLC, to inquire about use with different environmental conditions.
4 Value after angular position of the HA-770 servo driver is corrected.
5 All parts, except the rotary sliding parts (oil seal), of the actuators are protected against solid bodies of superior dimensions to 1mm, and against the water sprays.
Direct Drive Motor HA-770 Series
Model HA-770-2

Rated Current 1.8A

Maximum Current 10A

Power Source Voltage AC100V~115V(Single-phase) + 10%~15% 50/60Hz,

AC200V~230V (Single-phase) + 10%~15% 50/60Hz

Position Command Line driver system: Maximum response frequency, Two-

Pulse pulse system, One-pulse system: 1MHz,
Two-phase pulse system: 200kHz

Control System Sine wave PWM system, switching frequency: 25kHz

Control Mode Position control

Weight 0.8kg

HA-770 Series Motor Length Unit: mm

KDU-13SB KDU-13WB

A 80 94

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 Hollow Shaft Motor
MA Motor
MA Motor

Harmonic Drive LLC offers MA hollow shaft motors. Hollow shaft design
allows cables, shafts or lasers to pass through the axis of rotation.
Large Hollow Shaft
17-bit Absolute Encoder
Available in 5 frame sizes

MA Motor Ratings
MAB09A200 MAB09A100
Model MAC08A200 MAB12A200 MAB15A200 MAA21AA200
MAB09B200* MAB09B100*
MAC08B200* MAB12B200* MAB15B200* MAA21AB200*
(for SHA25A (for SHA25A
Item (for SHA20A) (for SHA32A) (foir SHA40A) (for SHA58A)
200V) 100V)
Hollow Shaft Motor

Number of poles 10 10 10 10 10 16

Rated torque*1, *2 Nm 0.52 1 0.88 2.2 4.5 (2.5)*4 14

Rated rotational
rpm 3000 3000 3000 2500 2000 1500
speed*1, *2

Rated power*1, *2 W 163 314 276 576 942 (524)*4 2200

Nm/
Torque constant*1 0.35 0.41 0.24 0.44 0.54 0.72
A(rms)

Rated current*1, *2 A(rms) 2.1 3 4.7 6 10 (6)*4 23

Rated stall
A 2.4 3.6 6.2 8.5 13 (8.5)*4 33
current*2

Max. torque*1 Nm 1.8 3 3 7 13 (8.3)*4 45 (33)*5

Max. rotational
rpm 6000 5600 4800 4800 4000 3000
speed*1

Max. current*1 A(rms) 6.5 8.9 15.4 19 29 (19)*4 75 (55)*5

V/
EMF constant*3 0.037 0.043 0.025 0.046 0.057 0.075
(rpm)

Phase resistance
1.43 1.2 0.4 0.33 0.19 0.028
(at 20C)

Phase inductance mH 2.5 3 1 1.4 1.2 0.29

Moment of Inertia
kgm2 0.69 x10-4 1.4 x10-4 1.4 x10-4 4.8 x10-4 13 x10-4 115 x10-4
(without brake)

Moment of Inertia
kgm2 0.78 x10-4 1.8 x10-4 1.8 x10-4 6.0 x10-4 17 x10-4 131 x10-4
(with brake)

Mass (without
kg 1.1 1.5 1.5 2.8 4.4 14.8
brake)

Mass (with brake) kg 1.2 1.65 1.65 3.2 5.2 17.1

Power Supply
V AC200 AC200 AC100 AC200 AC200 AC200
Voltage

Encoder type Absolute encoder

Single motor
revolution 217 (131072)
Encoder resolution

Motor multi
216 ( 65536)
revolution counter

Insulation resistance : 100M MIN (DC 500V)

Motor insulation
Dielectric strength : AC1500V/1min Insulation class : A
* B indicates with brake
*1 The table shows typical output values
*2 Value after temperature rise and saturation when it is used with aluminum radiation plate shown below:
MAC0832032016[mm], MAB0935035018[mm], MAB1240040020[mm], MAB1550050025[mm], MAA21A65065030[mm]
*3 Value shown is for one Phase. Multiply by 3 for phase-to-phase value.
*4 When combined with our driver (HA-800-6)
*5 When combined with our driver (HA-800-24)

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Precision Linear Actuators

LBC Series
LBC Series

The precision lead screw provides positioning accuracy in the micron range with sub-
micron repeatability. The actuator is capable of thrust forces up to 12,000 N.
This product is useful for precise positioning of heavy loads or applications where high
force is required such as molding equipment or precision presses.
12,000 N Force
0.32 m positioning resolution
Brushless servomotor with incremental encoder
Integral Limit Switches

LBC Series Ratings

Item Stroke Maximum Resolution Maximum Outside Total length
Drive Repeatability
Model (mm) Driving Force (N) (m) Speed (mm/s) Dimensions (mm) (mm)

LBC-25A-5D6K Brushless Motor 50 6000 0.32 20 5m or

less/50mm 136 353

Linear Actuator
LBC-25A-5D12K Brushless Motor 50 12000 0.16 10 stroke

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 Precision Linear Actuators
LA Series
LA Series

A precision ball screw provides positioning accuracy better than 2 microns

and repeatability of 0.1 microns.
This product is well suited for measuring instruments, test and inspection
systems, optical equipment, semiconductor and LCD manufacturing
equipment.
49 N Force
2 micron positioning accuracy
Brush DC motor with incremental encoder

LA Series Ratings
Item One-way Outside
Stroke Maximum Resolution Maximum Total length
Drive Positioning Repeatability Dimensions
(mm) Driving Force (N) (m) Speed (mm/s) (mm)
Model Accuracy (mm)

LA-30B-10-F DC motor 10 49 0.0174 0.9 2m or 0.1m or 28 143

less/40m less/1mm
LA-32-30-F DC motor 30 49 0.0174 0.9 stroke stroke 36 164
Linear Actuator

Unit: mm

Size LA-30B-10F LA-32-30-F

A 28 36
B(Stroke) 10 30
C 10 13.3
D 133 150.8

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Precision Linear Actuators
LAH Series

LAH Series
A precision ball screw provides positioning accuracy better than 4 microns
and repeatability of 1 micron.
This product is well suited for measuring instruments, test and inspection
systems, optical equipment, semiconductor and LCD manufacturing
equipment.
392 to 3000 N Force
4 micron positioning accuracy

LAH-46 LAH-80

LAH Series Ratings

Item Maximum One-way Outside Total
Stroke Maximum Resolution
Drive Speed Positioning Repeatability Dimensions length
(mm) Driving Force (N) (m)
Model (mm/s) Accuracy (mm) (mm)

LAH-46-1002-F DC motor 10 392 0.069 3.7 4m or 0.5m or 47 185

less/.02mm less/1mm
LAH-46-3002-F DC motor 30 392 0.069 3.7 stroke stroke 47 204

Linear Actuator
4m or 1m or
Stepping
LAH-80-5020-F-PA 50 3000 2 10 less/2mm less/1mm 85 320
motor
stroke stroke

Unit: mm
Model
LAH-46-1002-F LAH-46-3002-F
Symbol
A 47 47

B(Stroke) 10 30

C 16 16

D 169 188

LAH-46

LAH-80

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LSA Series Galvano Optical Scanners
LSA Series

Galvanometric Laser Scanning Actuator. LSA laser scanning actuators are Galvanometric
scanners capable of scanning at high speed with high precision. A newly developed
optical sensor and our unique moving magnet motors are used in the LSA Series laser
scanning actuators
High response frequency
High accuracy / repeatability
Continuous scanning or discrete pointing

LSA Series Ratings

Galvano Optical Scanners

Item
LSA-10A-30
Model

Maximum Angular Runout Degrees 15

Rotor Moment of Inertia gcm2 1.9

Torque Constant Nm/A(rms) 0.008

Coil Resistance 0.28

Coil Inductance mH 0.098

Sensor Linearity (At full scale) % 0.06

Sensor Angle Sensitivity V/ 0.275

Offset Drift rad/C 25

Scale Drift %/C 0.005

Repeatability (Excluding offset/scale drift)1 mrad 5

1step Response Load Condition: (2gcm ) 2 2

ms 0.5

Sensor Power Supply V 55%-155%

5V5% mA 90(Max)
Sensor Power Consumption
-15V5% mA 120(Max)

Weight g 180

1 All angles are mechanical angles.

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 Micro Encoder Series
Available in two sizes, the micro encoders are ultra-miniature, high resolution
incremental encoders.
The ultra-micro model
Dimensions 7.5 x 10.5mm , Incremental encoder 360 line count
Output phases: A, B, Z
Square wave open collector output
The micro model
Dimensions 13 x 20mm , Incremental encoder 1000 line count
Output phases: A, B, Z
Square wave open collector output
Hollow shaft is also available

Micro Encoder Series Ratings

MES-6- PC ME -9- PC
Model
Shaft Shape Number
Item Number of Pulses *S: Single Shaft of Pulses
*H: Hollow Shaft

Micro Encoder Series

Power Supply DC5V10% DC5V10%

Current Consumption 30mA or less (under no load) 40mA or less (under no load)

Detection System Incremental Incremental

Number of Output Pulses (Standard)

100 200 300 360 100 200 300 360 500 1000
[Number of Pulses/Number of Revolutions]

Output Phases A, B and Z phases A, B and Z phases

Output Mode Square wave, open collector output Square wave, open collector output

Maximum Response Frequency

100kHz 100kHz
(Number of Response Pulses)

Difference between A and B Phases 9045 Difference between A and B Phases 9045
Output Phase Difference (T/4T/8), Z PhaseTT/2 (See output waveform (T/4T/8), Z PhaseTT/2 (See output waveform
diagram.) diagram.)

Permissible Maximum Positioning Speed

6000rpm 6000rpm
(Mechanical)

0C~60C RH 35%~90% 0C~60C RH 35%~90%

Operating Temperature and Humidity
No condensation permitted No condensation permitted

Storage Ambient Temperature -20C~80C -20C~80C

Weight 5g 10g

Model Ordering Code

ME- X- X- XXXPX
1 2 3 4
1 Shaft shape : S, H**
2 Size : 6, 9
3 Output pulses : 100, 200, 300, 360, 500**, 1000**
4 Output circuit : C = Open collector output
None = Voltage output ***
** Hollow shaft feature and line counts of 500 and 1000 are only available in size 9
*** Voltage output is only available in size 9.

06 SERIES 09 SERIES
Output Waveform Dimensions
Appearance Output Waveform Dimensions
Appearance

A
A
B
B
Z

Z
Accessory: Lock nut
* Z is Low-active * Z is High-active Hollow Shaft Type Shaft Type

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 Servo Drivers

DCJ Series DDP Series DEP Series RTL & REL Series

Servo Driver Specifications

DC Digital Servo Drive DCJ Series
Harmonic Drive Servo Drivers

MODEL Vdc lc (Apk) lp (Apk) Control Modes Control Interface Encoder

DCJ-055-09 20-55 3 9
CANopen/DeviceNet
DCJ-055-18 20-55 6 18 Indexer, Point-to-Point, PVT ASCII and discrete I/O,
Stepper commands 14 Wire Standard Incremental
DCJ-090-03 20-90 1 3 Camming, Gearing, Position,
10V position/velocity/torque command Encoder Type
DCJ-090-09 20-90 3 9 Velocity, Torque PWM velocity/torque command
DCJ-090-12 20-91 6 12 Master encoder (Gearing/Camming)

DC Digital Servo Drive DDP Series

MODEL Vdc lc (Apk) lp (Apk) Control Modes Control Interface Encoder
DDP-090-09 90 3 9
DDP-090-18 90 6 18 CANopen/DeviceNet
Indexer, Point-to-Point, PVT ASCII and discrete I/O,
DDP-090-36 90 12 36 Stepper commands 14 Wire Standard Incremental
Camming, Gearing, Position,
DDP-055-18 55 6 18 10V position/velocity/torque command Encoder Type
Velocity, Torque PWM velocity/torque command
DDP-180-09 180 3 9
Master encoder (Gearing/Camming)
DDP-180-18 180 6 18

DC Digital Servo Drive DEP Series

MODEL Vdc lc (Apk) lp (Apk) Control Modes Control Interface Encoder
DEP-090-09 90 3 9
DEP-090-18 90 6 18

DEP-090-36 90 12 36

DEP-055-18 55 6 18
14 Wire Standard Incremental
DEP-180-09 180 3 9 Encoder Type
Indexer, Point-to-Point, PVT CANopen over EtherCAT (CoE) EnDat 2.1/2.2
DEP-180-18 180 6 18 ASCII and discrete I/O
Camming, Gearing, Position, 4 Wire Serial Communication
DEP-090-09 90 3 9 10V position/velocity/torque command
Velocity, Torque Incremental Encoder
Master encoder (Gearing/Camming)
DEP-090-18 90 6 18 HD Absolute Encoder A Type

DEP-090-36 90 12 36 Biss-C (multi-turn, Bi-direction)

DEP-090-09 90 3 9

DEP-090-18 90 6 18

DEP-090-36 90 12 36

AC Digital Servo Drive RTL Series

MODEL Vac lc (Apk) lp (Apk) Control Modes Control Interface Encoder

RTL-230-18 100-240 6 18 CANopen/DeviceNet

Indexer, Point-to-Point, PVT ASCII and discrete I/O,
Stepper commands 14 Wire Standard Incremental
RTL-230-36 100-240 12 36 Camming, Gearing, Position,
10V position/velocity/torque command Encoder Type
Velocity, Torque PWM velocity/torque command
RTL-230-40 100-240 20 40 Master encoder (Gearing/Camming)

AC Digital Servo Drive REL Series

MODEL Vac lc (Apk) lp (Apk) Control Modes Control Interface Encoder
REL-230-18 100-240 6 18
REL-230-36 100-240 12 36
14 Wire Standard Incremental
REL-230-18 100-240 6 18 Encoder Type
CANopen over EtherCAT (CoE)
REL-230-36 100-240 12 36 ASCII and discrete I/O, 4 Wire Serial Communication
Indexer, Point-to-Point, PVT Incremental Encoder
Stepper commands
REL-230-18 100-240 6 18 Camming, Gearing, Position, HD Absolute Encoder S Type
10V position/velocity/torque command
REL-230-36 100-240 12 36 Velocity, Torque PWM velocity/torque command HD Absolute Encoder A Type
REL-230-18 100-240 6 18 Master encoder (Gearing/Camming) Biss-C (multi-turn, Bi-direction)
EnDat 2.1/2.2
REL-230-36 100-240 12 36

REL-230-40 100-240 20 40

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Recommended Driver
Combinations with Servo Drive and Actuator
DC Digital Servo Drive DCJ Series
MODEL Vdc lc (Apk) lp (Apk) Supply Voltage Combination Actuator
FHA-8C-30 / 50 / 100-US200-E, RSF-8B-30 / 50 / 100-F100-24B,
DCJ-055-09 20-55 3 9
RSF-5A-30 / 50 / 100-US050, RSF-3B-30 / 50 / 100-US020
DCJ-055-18 20-55 6 18 FHA-11C-30 / 50 / 100-US200-E
DC24V
DCJ-090-03 20-90 1 3

DCJ-090-09 20-90 3 9

DCJ-090-12 20-90 6 12

DC Digital Servo Drive DDP Series

MODEL Vdc lc (Apk) lp (Apk) Supply Voltage Combination Actuator
FHA-8C-30 / 50 / 100-US200-E, RSF-8B-30 / 50 / 100-F100-24B,
DDP-090-09 90 3 9
RSF-5A-30 / 50 / 100-US050, RSF-3B-30 / 50 / 100-US020

DDP-090-18 90 6 18 FHA-11C-30 / 50 / 100-US200-E

Harmonic Drive Servo Drivers

FHA-14C-30 / 50 / 100-US200-E, FHA-17C50* / 100 / 160-US250-E-SP,
DDP-090-36 90 12 36 DC24V RSF-14B-30 / 50 / 100-F100-24B, RSF-11B-30 / 50 / 100-F100-24B

DDP-055-18 55 6 18

DDP-180-09 180 3 9

DDP-180-18 180 6 18

DC Digital Servo Drive DEP Series

MODEL Vdc lc (Apk) lp (Apk) Supply Voltage Combination Actuator
FHA-8C-30 / 50 / 100-US200 / 12S176b / E200, RSF-8B-30 / 50 / 100-F100-
DEP-090-09 90 3 9
24B, RSF-5A-30 / 50 / 100-US050, RSF-3B-30 / 50 / 100-US020

DEP-090-18 90 6 18 FHA-11C-30 / 50 / 100-US200 / 12S176b / E200

DC24V
FHA-14C-30 / 50 / 100-US200 / 12S176b / E200, FHA-17C50* / 100* /
DEP-090-36 90 12 36 160-US250 / E250 / S248, RSF-14B-30 / 50 / 100-F100-24B, RSF-11B-30 /
50 / 100-F100-24B

AC Digital Servo Drive RTL Series

MODEL Vac lc (Apk) lp (Apk) Supply Voltage Combination Actuator
FHA-8C-30 / 50 / 100-US200 / 12S176b / E200, FHA-11C-30 / 50 / 100-US200
AC100/200V
/ 12S176b / E200, FHA-14C-30 / 50 / 100-US200 / 12S176 / E200
FHA-17C-50 / 100 / 160-US250 / E250 / S248, FHA-25C-100 / 160-US250 /
AC100V
RTL-230-18 100-240 6 18 E250 / S248, FHA-32C-160-US250 / E250 / S248
FHA-17C-50 / 100 / 160-US250 / E250 / S248, FHA-25C-100 / 160-US250 /
AC200V E250 / S248, FHA-32C-160-US250 / E250 / S248,
FHA-40C-100 / 160-US250 / E250 / S248
AC100V FHA-25C-50-US250 / E250 / S248, FHA-32C-50 / 100-US250 / E250 / S248
RTL-230-36 100-240 12 36
AC200V FHA-40C-50-US250 / E250 / S248

RTL-230-40 100-240 20 40 AC200V

AC Digital Servo Drive REL Series

MODEL Vac lc (Apk) lp (Apk) Supply Voltage Combination Actuator
FHA-8C-30 / 50 / 100-US200 / 12S17b / E200, FHA-11C-30 / 50 / 100-US200 /
AC100/200V
12S17b / E200, FHA-14C-30 / 50 / 100-US200 / 12S17b / E200
FHA-17C-50 / 100 / 160-US250 / E250 / S248, FHA-25C-100 / 160-US250 /
AC100V
REL-230-18 100-240 6 18 E250 / S248, FHA-32C-160-US250 / E250 / S248
FHA-17C-50 / 100 / 160-US250 / E250 / S248, FHA-25C-50 / 100 / 160-US250
AC200V / E250 / S248, FHA-32C-50 / 100 / 160-US250 / E250 / S248, FHA-40C-100 /
160-US250 / E250 / S248

AC100V FHA-25C-50-US250 / E250 / S248, FHA-32C-50 / 100-US250 / E250 / S248

REL-230-36 100-240 12 36
AC200V FHA-40C-50-US250 / E250 / S248

SHA-20SG-51 / 81 / 101 / 121 / 161, SHA-20CG-50 / 80 / 100 / 120 / 160,

REL-230-18 100-240 6 18 SHA-25SG-51 / 81 / 101 / 121 / 161, SHA-25CG-50 / 80 / 100 / 120 / 160,
SHA-32SG-161, SHA-32CG-160
AC200V
SHA-32SG-51 / 81 / 101 / 121, SHA-32CG-50 / 80 / 100 / 120,
REL-230-36 100-240 12 36
SHA-40SG-121 / 161, SHA-40CG-120 / 160
REL-230-40 100-240 20 40 SHA-40SG-51 /81 /101, SHA-40CG-50 /80 /100

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 Servo Drivers
HA Series

HA-800A

HA-800B

HA-800 Series HA-800C

Servo Driver Specifications

AC Servo Digital Drivers HA-800 Series

Item Model HA-800-1 HA-800-3 HA-800-6 HA-800-24

Rated Current* 1.5A 3.0A 6.0A 24.0A

Maximum Current* 4.0A 9.5A 19.0A 55.0A

AC200~230V (3 phases)
Main Circuit AC100~115V (Single phase) or AC200~230V (Single phase/3 phases) +10~-15%
+10~-15%
Power Supply
AC200~230V (Single phase)
Control Curcuit AC100~115V (Single phase) or AC200~230V (Single phase) +10~-15%
+10~-15%

Power Supply Frequency 50/60Hz

Servo Drives

:0~50C, :20~65C, :95%RH

Operating temperature: 0 to 50C. Storage temperature: 20 to 65C. Operating/Storage humidity: 95% RH or less and no condensation.
Environmental Conditions
Resistance to vibration: 4.9m/s2 (Frequency: 10 to 55Hz). Shock resistance: 98m/s2. Ambient atmosphere:
There should be no dust, metal powder, corrosive gas, flammable gas and oil mist.

Control Mode Position control, speed control, torque control (Available to change from I/O)

Line driver type: maximum response frequency. 2-pulse system, 1-pulse system: 2-phase pulse system: 200kHz
Position Command Pulse
Open collector type: maximum response frequency 200kHz

Monitor Terminal 3ch motor rpm, current command, general-purpose output (parameter selection)

External regenerative resistance Regenerative resistance installed

Regenerative Processing
Mounting terminal attached Mounting terminal for the external regenerative resistance attached

Regenerative Resistance
3W Max 8W Max 90W Max
Absorption Power

Surge Current Suppress Function Built-in (CPU control by the main circuit voltage monitoring)

Weight 1kg 1.2kg 5.8kg

* The values shown represent the driver rated and maximum currents. Currents are adjusted to match the actuator current ratings before shipment.

HA-800B (MECHATROLINK Compatible) HA-800C (CC-LINK Compatible)

Communication Specification Communication Specification
Item Specification Item Specification
MECHATROLINK Version MECHATROLINK-II CC-LINK Version Ver1.10

Transmission Speed 10Mbps Station Type Remote device station

Maximum Transmission Communication Speed 10M/5M/2.5M/625K/156Kbps

50m
Distance
Communication Method Broadcast polling method
Minimum Distance
0.5m Synchronization Method Frame synchronization method
Between Channels
Encoding Method NRZI
Transmission Medium Shielded twist pair cable (Two-core)
Transmission Path
Number of Connected Bus format (EIA RS-485 compliant)
Max: 30 slave stations Format
Station
Error Control Method CRC (X16+X12+X5+1)
Topology Bus

Connection Cable CC-Link, Ver.1.10 compatible cable

Communication Cycle 1, 1.5, 2, 3, 4, 5ms (Shielded twist pair cable (Three-core))
Communication Method Master-slave full synchronization Transmission Format HDLC compliant
Encoding Manchester encoding Remote Channel 1~64
Data Length 17 bytes/32 bytes, selectable Number of Occupied
1 station, 2 station
Number of Connectable Stations
Max: 30 units
Units Communication
Speed 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps
1 A repeater is required when communicating with 17 or more drives or if the total distance is 30m
Cable Maximum
or longer when communicating with 16 or more drives. The maximum allowable number of units Total Cable 1,200m 900m 400m 160m 100m
connected depends on the communication cycle setting and the number of allowable retries. Length Extension
For details, please see MECHATROLINK Association web site (http://www.mechatrolink.org).
2 Use MP2300 (Yaskawa Electric) controller. Cabel Length 0.2m or longer
3 Be sure to use the dedicated cable. Do not use commercially available USB cable.
4 When CC-Link Ver 1.00 compatible cable coexists: The total cable extension and the inter-office Number of Maximum 42 units with remote device stationonly,
cable length will be the specification of Ver 1.00.
Connectable Units can be shared with other devices.

Harmonic Drive LLC 30 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Servo Drivers

HA Series
HA-680 Series HA-680ML HA-680CL

Servo Driver Specifications

AC Servo Digital Drivers (DC24V) HA-680 Series
Item Model HA-680-4-24 HA-680-6-24
Rated Current* 1.8A 3.9A 6.0A

Maximum Current* 3.4A 8.4A 16.5A

Main Circuit DC24V(20~28V)

Power Supply
Control Curcuit DC24V(20~28V)

Control System Sine wave PWM control, switching frequency: 12.5kHz

Control Mode Position control, speed control, torque control

Servo Drives
Weight 230g

* The values shown represent the driver rated and maximum currents. Currents are adjusted to match the actuator current ratings before shipment.

AC Servo Digital Drivers (DC24V) HA-680ML/CL

Model HA-680ML-4-24 HA-680CL-4-24 HA-680ML-4B-24 HA-680CL-4B-24
Item HA-680ML-6-24 HA-680CL-6-24 HA-680ML-6B-24 HA-680CL-6B-24

Power Source Main Circuit DC24V(20~28V)

Voltage Control Curcuit DC24V(20~28V)

Control System Sine wave PWM method, switching frequency: 12.5kHz

Encoder 4-line spec., serial transmission method, line driver input 14-line spec., line driver input

Input/Output Signal DI: 5 Points (Insulation by photo-coupler), DO:4 Points (Insulation by photo-coupler)

Encoder Monitor Phases A, B, Z line driver output

Control Mode Position control

Weight MECHATROLINK compatible: 260g, CC-Link compatible: 270g

Note: Parameter settings for the driver are adjusted to match a specific actuator before shipment. This driver cannot be used in combination with a different actuator.

HA-680ML (MECHATROLINK Compatible) HA-680CL (CC-LINK Compatible)

Communication Specification Communication Specification
Item Specification Item Specification
MECHATROLINK Version MECHATROLINK-II CC-LINK Version Ver1.10

Transmission Speed 10Mbps Station Type Remote device station

Maximum Transmission Communication Speed 10M/5M/2.5M/625K/156Kbps

50m
Distance
Communication Method Broadcast polling method
Minimum Distance
0.5m Synchronization Method Frame synchronization method
Between Channels
Encoding Method NRZI
Transmission Medium Shielded twist pair cable (Two-core)
Transmission Path
Number of Connected Bus format (EIA RS-485 compliant)
Max: 30 slave stations Format
Station
Error Control Method CRC (X16+X12+X5+1)
Topology Bus

Connection Cable CC-Link, Ver.1.10 compatible cable

Communication Cycle 1, 2, 3, 4, 5ms (Shielded twist pair cable (Three-core))
Communication Method Master-slave full synchronization Transmission Format HDLC compliant
Encoding Manchester encoding Remote Control 1~64
Data Length 17 bytes/32 bytes, selectable Number of Occupied
1 station
Number of Connectable Stations
Max: 30 units
Units Communication
Speed 156kbps 625kbps 2.5Mbps 5Mbps 10Mbps
1 A repeater is required when communication with 17 units or more is performed or the total
Cable Maximum
extended distance is 30m or longer when communication with 16 units or more is performed. Total Cable 1,200m 900m 400m 160m 100m
The maximum number of connectable units resricted through setting communication cycle and Length Extension
the number of retry.
For details, please see MECHATROLINK Association web site (http://www.mechatrolink.org). Cable Length 0.2m or longer

Number of Maximum 42 units with remote device station only,

Connectable Units can be shared with other devices.

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 31 Harmonic Drive LLC

 Recommended Driver
Combinations with Actuator and Servo Drive
Linear Actuators
Series Model No. Servo Drive Voltage
30
LA DCJ-055-09
32 DDP-090-09 Input: DC20V
DEP-090-09
46
LAH
80
REL-230-18,
LBC 25
RTL-230-18

Galvano Optical Scanner

Harmonic Drive Servo Drivers

Series Model No. Servo Drive

LSA All models PSM-130

Harmonic Drive LLC 32 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Notes

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 33 Harmonic Drive LLC

 Cup Type
CSF Series
CSF Series

The Harmonic Drive CSF gears can be directly integrated into your machinery/
equipment. Available in a variety of sizes and ratios, you can select the unit that is
most suitable for your needs.
Zero backlash
Compact design
High torque capacity
High torsional stiffness
High positioning accuracy
Housed configuration is available (see p. 40)

L 10 L i f e : 7 , 0 0 0 h
Harmonic Drive Component Set

CSF Series Ratings

Item Limit for Limit for
Rated Torque at Limit for Repeated Item Rated Torque at Limit for Repeated
Momentary Peak Momentary Peak
Reduction 2000rpm Peak Torque Reduction 2000rpm Peak Torque
Torque Torque
Ratio Ratio
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
30 0.9 8 1.8 16 3.3 29 50 176 1558 500 4425 950 8408
8 50 1.8 16 3.3 29 6.6 58 80 313 2770 706 6248 1270 11240
100 2.4 21 4.8 42 9.0 80 45 100 353 3124 755 6682 1570 13895
30 2.2 19 4.5 40 8.5 75 120 402 3558 823 7284 1760 15576
11 50 3.5 31 8.3 73 17 150 160 402 3558 882 7806 1910 16904
100 5.0 44 11 97 25 221 50 245 2168 715 6328 1430 12656
30 4.0 35 9.0 80 17 150 80 372 3292 941 8328 1860 16461
50 5.4 48 18 159 35 310 50 100 470 4160 980 8673 2060 18231
14
80 7.8 69 23 204 47 416 120 529 4682 1080 9558 2060 18231
100 7.8 69 28 248 54 478 160 529 4682 1180 10443 2450 21683
30 8.8 78 16 142 30 266 50 353 3124 1020 9027 1960 17346
50 16 142 34 301 70 620 80 549 4859 1480 13098 2450 21683
17 80 22 195 43 381 87 770 58 100 696 6160 1590 14072 3180 28143
100 24 212 54 478 108 956 120 745 6593 1720 15222 3330 29471
120 24 212 54 478 86 761 160 745 6593 1840 16284 3430 30356
30 15 133 27 239 50 443 50 490 4337 1420 12567 2830 25046
50 25 221 56 496 98 867 80 745 6593 2110 18674 3720 32922
80 34 301 74 655 127 1124 65 100 951 8416 2300 20355 4750 42038
20
100 40 354 82 726 147 1301 120 951 8416 2510 22214 4750 42038
120 40 354 87 770 147 1301 160 951 8416 2630 23276 4750 42038
160 40 354 92 814 147 1301 50 872 7717 2440 21594 4870 43100
30 27 239 50 443 95 841 80 1320 11682 3430 30356 6590 58322
50 39 345 98 867 186 1646 80 100 1700 15045 4220 37347 7910 70004
80 63 558 137 1212 255 2257 120 1990 17612 4590 40622 7910 70004
25
100 67 593 157 1389 284 2513 160 1990 17612 4910 43454 7910 70004
120 67 593 167 1478 304 2690 50 1180 10443 3530 31241 6660 58941
160 67 593 176 1558 314 2779 80 1550 13718 3990 35312 7250 64163
30 54 478 100 885 200 1770 90 100 2270 20090 5680 50268 9020 79827
50 76 673 216 1912 382 3381 120 2570 22745 6160 54516 9800 86730
80 118 1044 304 2690 568 5027 160 2700 23895 6840 60534 11300 100005
32
100 137 1212 333 2947 647 5726 50 1580 13983 4450 39383 8900 78765
120 137 1212 353 3124 686 6071 80 2380 21063 6060 53631 11600 102660
160 137 1212 372 3292 686 6071 100 100 2940 26019 7350 65048 14100 124785
50 137 1212 402 3558 686 6071 120 3180 28143 7960 70446 15300 135405
80 206 1823 519 4593 980 8673 160 3550 31418 9180 81243 15500 137175
40 100 265 2345 568 5027 1080 9558
120 294 2602 617 5460 1180 10443
160 294 2602 647 5726 1180 10443

Dimensions Unit: mm
Size
8 11 14 17 20 25 32 40
Symbol
A 30 40 50 60 70 85 110 135
B 22.1 25.8 28.5 32.5 33.5 37 44 53

Size
45 50 58 65 80 90 100
Symbol
A 155 170 195 215 265 300 330
B 58.5 64 75.5 83 101 112.5 125

Harmonic Drive LLC 34 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Cup Type - High Torque

CSG Series
CSG Series

CSG is available in 10 sizes with gear reduction ratios from 50:1 to 160:1. CSG high
torque series was based on our CSF standard torque series with the goal of upgrading
load capacity, strength & reliability and extending service life.
Zero backlash
Compact and simple design
High torque capacity
High torsional stiffness
High positioning accuracy
Housed unit type is available (see p. 42)
30% higher torque than a CSF unit
L 10 L i f e : 1 0 , 0 0 0 h

Harmonic Drive Component Set

Performance comparison of CSF and CSG Series Harmonic Drive gearing
Limit for Momentary
Peak Torque [When CSF is set to 100]
Average Ratcheting
Torque

Permissible Peak
Torque

Rated
Torque

Life
(Hours)

CSG Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
Reduction 2000rpm 2000rpm
Torque Torque Ratio Torque Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb
Size Nm In-lb Nm In-lb Nm In-lb
50 178 1575 523 4629 892 7894
50 7.0 62 23 204 46 407
80 268 2372 675 5974 1270 11240
14 80 10 89 30 266 61 540 40 100 345 3053 738 6531 1400 12390
100 10 89 36 319 70 620 120 382 3381 802 7098 1530 13541
50 21 186 44 389 91 805 160 382 3381 841 7443 1530 13541
80 29 257 56 496 113 1000 50 229 2027 650 5753 1235 10930
17
100 31 274 70 620 143 1266 80 407 3602 918 8124 1651 14611
120 31 274 70 620 112 991 45 100 459 4062 982 8691 2041 18063
50 33 292 73 646 127 1124 120 523 4629 1070 9470 2288 20249
80 44 389 96 850 165 1460 160 523 4629 1147 10151 2483 21975
80 484 4283 1223 10824 2418 21399
20 100 52 460 107 947 191 1690
100 611 5407 1274 11275 2678 23700
120 52 460 113 1000 191 1690 50
120 688 6089 1404 12425 2678 23700
160 52 460 120 1062 191 1690
160 688 6089 1534 13576 3185 28187
50 51 451 127 1124 242 2142
80 714 6319 1924 17027 3185 28187
80 82 726 178 1575 332 2938 100 905 8009 2067 18293 4134 36586
25 100 87 770 204 1805 369 3266 58
120 969 8576 2236 19789 4329 38312
120 87 770 217 1920 395 3496 160 969 8576 2392 21169 4459 39462
160 87 770 229 2027 408 3611 80 969 8576 2743 24276 4836 42799
50 99 876 281 2487 497 4398 100 1236 10939 2990 26462 6175 54649
65
80 153 1354 395 3496 738 6531 120 1236 10939 3263 28878 6175 54649
32 100 178 1575 433 3832 841 7443 160 1236 10939 3419 30258 6175 54649
120 178 1575 459 4062 892 7894
160 178 1575 484 4283 892 7894

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol

A 50 60 70 85 110 135 155 170 195 215

B 28.5 32.5 33.5 37 44 53 58.5 64 75.5 83

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 35 Harmonic Drive LLC

 CSD Series Cup Type - Super Flat
CSD Series

The ultra-flat CSD precision gears are available in seven sizes, opening up
new applications for motion control speed reducers.
Zero backlash
Extremely high positioning accuracy
Excellent Repeatability
Superior axial compactness
Hollow through bore, also available with extra large through bore

L 10 L i f e : 7 , 0 0 0 h
Harmonic Drive Component Set

CSD Series Ratings

Item Limit for Repeated Permissible Maximum
Rated Torque at 2000 rpm
Reduction Peak Torque Monetary Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

50 3.7 33 12 106 24 212

14
100 5.4 48 19 168 31 274

50 11 97 23 204 48 425
17
100 16 142 37 327 55 487

50 17 150 39 345 69 611

20 100 28 248 57 504 76 673

160 28 248 64 566 76 673

50 27 239 69 611 127 1124

25 100 47 416 110 974 152 1345

160 47 416 123 1089 152 1345

50 53 469 151 1336 268 2372

32 100 96 850 233 2062 359 3177

160 96 850 261 2310 359 3177

50 96 850 281 2487 480 4248

40 100 185 1637 398 3522 694 6142

160 206 1823 453 4009 694 6142

50 172 1522 500 4425 1000 8850

50 100 329 2912 686 6071 1440 12744

160 370 3275 823 7284 1577 13956

Dimensions Unit: mm
Size
14 17 20 25 32 40 50
Symbol

A 50 60 70 85 110 135 170

B 11 12.5 14 17 22 27 33

Harmonic Drive LLC 36 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Pancake

FB, FR Series
FB and FR Series

FB Pancake gears consist of four main parts: Wave Generator, Flexspline, Dynamic
Spline, and Circular Spline. Extremely flat, these pancake gears offer the design
engineer high ratios in extremely compact configurations.
Flat profile
Easily adapted to customer supplied assembly
FB uses single wave generator bearing
FR is heavy duty version of the FB
FR uses double wave generator bearing

FR L 10 L i f e : 3 , 0 0 0 h

FB, FR Series Ratings

Harmonic Drive Component Set

Rated Torque at 2000 rpm Rated Torque at 2000 rpm

Size Ratio FB Series FR Series Size Ratio FB Series FR Series

Nm In-lb Nm In-lb Nm In-lb Nm In-lb

50 2.6 23 4.4 39 80 216 1912 363 3213

88 4.9 43 5.9 52 100 284 2513 470 4160

14
100 5.9 52 7.8 69 120 304 2690 559 4947
50
110 5.9 52 7.8 69 160 304 2690 559 4947
50 14 124 25 221 200 - - 559 4947
80 17 150 34 301 242 - - 559 4947
20 100 22 195 40 354 78 - - 745 6593

128 24 212 40 354 104 - - 1070 9470

160 24 212 40 354 132 - - 1070 9470

65
50 23 204 39 345 158 - - 1070 9470

80 31 274 56 496 208 - - 1070 9470

100 39 345 67 593 260 - - 1070 9470

25
120 39 345 67 593 80 - - 1320 11682

160 39 345 67 593 96 - - 1660 14691

200 - - 67 593 128 - - 2300 20355

50 44 389 76 673 80 160 - - 2350 20798

78 63 558 108 956 194 - - 2350 20798

100 82 726 137 1212 258 - - 2350 20798

32 131 82 726 137 1212 320 - - 2350 20798

157 82 726 137 1212 80 - - 2330 20621

200 - - 137 1212 100 - - 3200 28320

260 - - 137 1212 120 - - 3890 34427

50 88 779 137 1212 100 160 - - 4470 39560

80 118 1044 196 1735 200 - - 4470 39560

100 157 1389 255 2257 242 - - 4470 39560

40 128 167 1478 294 2602 320 - - 4470 39560

160 167 1478 294 2602

200 - - 294 2602

258 - - 294 2602

Dimensions Unit: mm
Size Symbol FB FR
A B C
14 50 10.5 18
20 70 12.5 25
25 85 16.5 29
32 110 20.5 37
40 135 27.0 43
50 170 33.0 53
65 215 - 71
80 265 - 83 FB FR
100 330 - 101

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 37 Harmonic Drive LLC

 Silk Hat
SHF Series
SHF Series

SHF is a silk hat, component set gear available with a large hollow through
bore. It provides exceptional positioning accuracy in a compact design.
Zero backlash
Hollow bore units available
Compact and simple design
High torque capacity
High positioning accuracy
High torsional stiffness
Housed version of this component set is available (see p. 50)

L 10 L i f e : 7 , 0 0 0 h
Harmonic Drive Component Set

SHF Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque Rated Torque
Repeated Peak Momentary Peak Reduction Repeated Peak Momentary
Reduction at 2000rpm at 2000rpm
Torque Torque Ratio Torque Peak Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb

30 4.0 35 9.0 80 17 150 50 137 1212 402 3558 686 6071

50 5.4 48 18 159 35 310 80 206 1823 519 4593 980 8673

14
80 7.8 69 23 204 47 416 40 100 265 2345 568 5027 1080 9558

100 7.8 69 28 248 54 478 120 294 2602 617 5460 1180 10443

30 8.8 78 16 142 30 266 160 294 2602 647 5726 1180 10443

50 16 142 34 301 70 620 50 176 1558 500 4425 950 8408

17 80 22 195 43 381 87 770 80 313 2770 706 6248 1270 11240

100 24 212 54 478 110 974 45 100 353 3124 755 6682 1570 13895

120 24 212 54 478 86 761 120 402 3558 823 7284 1760 15576

30 15 133 27 239 50 443 160 402 3558 882 7806 1910 16904

50 25 221 56 496 98 867 50 245 2168 715 6328 1430 12656

80 34 301 74 655 127 1124 80 372 3292 941 8328 1860 16461
20
100 40 354 82 726 147 1301 50 100 470 4160 980 8673 2060 18231

120 40 354 87 770 147 1301 120 529 4682 1080 9558 2060 18231

160 40 354 92 814 147 1301 160 529 4682 1180 10443 2450 21683

30 27 239 50 443 95 841 50 353 3124 020 9027 1960 17346

50 39 345 98 867 86 1646 80 549 4859 1480 13098 2450 21683

80 63 558 137 1212 255 2257 58 100 696 6160 1590 14072 3180 28143
25
100 67 593 157 1389 284 2513 120 745 6593 1720 15222 3330 29471

120 67 593 167 1478 304 2690 160 745 6593 1840 16284 3430 30356

160 67 593 176 1558 314 2779

30 54 478 100 885 200 1770

50 76 673 216 1912 382 3381

80 118 1044 230 2036 568 5027

32
100 137 1212 333 2947 647 5726

120 137 1212 353 3124 686 6071

160 137 1212 372 3292 686 6071

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58
Symbol
A 50 60 70 85 110 135 155 170 195
B 28.5 32.5 33.5 37 44 53 58.5 64 75.5

Harmonic Drive LLC 38 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

 Silk Hat - High Torque
SHG Series

SHG Series
SHG is a high torque, silk hat, component set gear available with a large hollow
through bore. It provides exceptional positioning accuracy in a compact design.
Zero backlash
Hollow bore units available
Excellent positioning accuracy
Compact and simple design
High torque capacity
High torsional stiffness
30% higher torque rating than SHF series

L 10 L i f e : 1 0 , 0 0 0 h

Harmonic Drive Component Set

Performance comparison of SHF and SHG Series Harmonic Drive gearing
Limit for Momentary 130 SHF SHG
Peak Torque 100
[When SHF is set to 100]
Average Ratcheting 130
Torque 100

Limit for Repeated 130

Peak Torque 100

Rated 130
Torque 100

Life 150
(Hours) 100
( %)
40 60 80 100 120 140 160

SHG Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
Reduction 2000rpm 2000rpm
Torque Torque Ration Torque Torque
Ration
Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
Size
50 178 1575 523 4629 892 7894
50 7.0 62 23 204 46 407
80 268 2372 675 5974 1270 11240
14 80 10 89 30 266 61 540 40 100 345 3053 738 6531 1400 12390
100 10 89 36 319 70 620 120 382 3381 802 7098 1530 13541
50 21 186 44 389 91 805 160 382 3381 841 7443 1530 13541
80 29 257 56 496 113 1000 50 229 2027 650 5753 1235 10930
17
100 31 274 70 620 143 1266 80 407 3602 918 8124 1651 14611
120 31 274 70 620 112 991 45 100 459 4062 982 8691 2041 18063
50 33 292 73 646 127 1124 120 523 4629 1070 9470 2288 20249
80 44 389 96 850 165 1460 160 523 4629 1147 10151 2483 21975
80 484 4283 1223 10824 2418 21399
20 100 52 460 107 947 191 1690
100 611 5407 1274 11275 2678 23700
120 52 460 113 1000 191 1690 50
120 688 6089 1404 12425 2678 23700
160 52 460 120 1062 191 1690
160 688 6089 1534 13576 3185 28187
50 51 451 127 1124 242 2142
80 714 6319 1924 17027 3185 28187
80 82 726 178 1575 332 2938 100 905 8009 2067 18293 4134 36586
25 100 87 770 204 1805 369 3266 58
120 969 8576 2236 19789 4329 38312
120 87 770 217 1920 395 3496 160 969 8576 2392 21169 4459 39462
160 87 770 229 2027 408 3611 80 969 8576 2743 24276 4836 42799
50 99 876 281 2487 497 4398 100 1236 10939 2990 26462 6175 54649
65
80 153 1354 395 3496 738 6531 120 1236 10939 3263 28878 6175 54649
32 100 178 1575 433 3832 841 7443 160 1236 10939 3419 30258 6175 54649
120 178 1575 459 4062 892 7894
160 178 1575 484 4283 892 7894

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 50 60 70 85 110 135 155 170 195 215
B 28.5 32.5 33.5 37 44 53 58.5 64 75.5 83

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 39 Harmonic Drive LLC

CSF Series Gear Unit

CSF-2UH Series

CSF-2UH is a housed component gear set combined with a precision cross

roller output bearing & flange. It is a very compact, robust and easy to use
gearhead solution.
Zero backlash
Compact and simple design
High torque capacity
High torsional stiffness
High positioning accuracy

L 10 L i f e : 7 , 0 0 0 h

CSF Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Reduction Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
2000rpm Torque 2000rpm Torque
Ratio Torque Ratio Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
30 4.0 35 9.0 80 17 150 50 137 1212 402 3558 686 6072
50 5.4 48 18 159 35 310 80 206 1823 519 4593 980 8674
14
80 7.8 69 23 204 47 416 40 100 265 2345 568 5027 1080 9559
100 7.8 69 28 248 54 478 120 294 2602 617 5460 1180 10444
30 8.8 78 6 142 30 266 160 294 2602 647 5726 1180 10444
50 16 142 34 301 70 620 50 176 1558 500 4425 950 8408
17 80 22 195 43 381 87 770 80 313 2770 706 6248 1270 11240
100 24 212 54 478 108 974 45 100 353 3124 755 6682 1570 13896
120 24 212 54 478 86 761 120 402 3558 823 7284 1760 15577
30 15 133 27 239 50 443 160 402 3558 882 7806 1910 16905
50 25 221 56 496 98 867 50 245 2168 715 6328 1430 12657
80 34 301 74 655 127 1124 80 372 3292 941 8328 1860 16462
20
100 40 354 82 726 147 1301 50 100 470 4160 980 8673 2060 18233
120 40 354 87 770 147 1301 120 529 4682 1080 9558 2060 18233
160 40 354 92 814 147 1301 160 529 4682 1180 10443 2450 21684
30 27 239 50 443 95 841 50 353 3124 1020 9027 1960 17347
50 39 345 98 867 186 1646 80 549 4859 1480 13098 2450 21684
80 63 558 137 1212 255 2257 58 100 686 6160 1590 14072 3180 28145
25
100 67 593 157 1389 284 2513 120 745 6593 1720 15222 3330 29473
120 67 593 167 1478 304 2690 160 745 6593 1840 16284 3430 30358
160 67 593 176 1558 314 2779 50 490 4337 1420 12567 2830 25048
30 54 478 100 885 200 1770 80 745 6593 2110 18674 3720 32925
50 76 673 216 1912 382 3381 65 100 951 8416 2300 20355 4750 42041
80 118 1044 304 2036 568 5027 120 951 8416 2510 22214 4750 42041
32
100 137 1212 333 2947 647 5726 160 951 8416 2630 23276 4750 42041
120 137 1212 353 3124 686 6072
160 137 1212 372 3292 686 6072

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 10 N
2
lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 47 1057 60.7 1365 41 363 4.38 113
17 52.9 1189 75.5 1697 64 566 7.75 200
20 57.8 1299 90.0 2023 91 805 12.8 330
25 96.0 2158 151 3394 156 1381 24.2 623
32 150 3372 250 5620 313 2770 53.9 1388
40 213 4788 365 8205 450 3983 91.0 2343
45 230 5170 426 9576 686 6071 141 3631
50 348 7823 602 13533 759 6717 171 4403
58 518 11645 904 20322 1180 10443 283 7287
65 556 12499 1030 23154 1860 16461 404 10403
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.
The moment stiffnesses are mean values.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 73 79 93 107 138 160 180 190 226 260
B 41 45 45.5 52 62 72.5 79.5 90 104.5 115

Harmonic Drive LLC 40 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

 Lightweight Gear Unit
CSF-2UH-LW Series

CSF Series
LW indicates lightweight, the CSF-2UH is a housed component gear set
combined with a precision cross roller output bearing & flange.
Zero Backlash
30% average lower weight than Standard Series
High Torque to Weight ratio
Accuracy <1 arc-min
High torsional stiffness
High efficiency
Robust cross roller output bearing
Output flange for direct mounting of load
L 10 L i f e : 7 , 0 0 0 h

CSF-LW Series Ratings

Harmonic Drive Housed Unit

Item Limit for Item Limit for
Rated Torque at Limit for Rated Torque at Limit for
Repeated Peak Gear Repeated Peak
Gear 2000rpm Momentary Torque 2000rpm Momentary Torque
Torque Ratio Torque
Ratio
Nm In-lb Nm In-lb Nm In-lb Model No. Nm In-lb Nm In-lb Nm In-lb
Size
50 137 1,213 402 3,558 686 6,072
30 4.0 35 9.0 80 17 150 80 206 1,823 519 4,594 980 8,674
50 5.4 48 18 159 35 310 40 100 265 2,345 568 5,027 1,080 9,559
14
80 7.8 69 23 204 47 416 120 294 2,602 617 5,461 1,180 10,444
100 7.8 69 28 248 54 478 160 294 2,602 647 5,726 1,180 10,444
30 8.8 78 16 142 30 266 50 176 1,558 500 4,425 950 8,408
50 16 142 34 301 70 620 80 313 2,770 706 6,249 1,270 11,240
17 80 22 195 43 381 87 770 45 100 353 3,124 755 6,682 1,570 13,896
100 24 212 54 478 108 956 120 402 3,558 823 7,284 1,760 15,577
120 24 212 54 478 86 761 160 402 3,558 882 7,806 1,910 16,905
50 245 2,168 715 6,328 1,430 12,657
30 15 133 27 239 50 443
80 372 3,292 941 8,329 1,860 16,462
50 25 221 56 496 98 867
50 100 470 4,160 980 8,674 2,060 18,233
80 34 301 74 655 127 1,124
20 120 529 4,682 1,080 9,559 2,060 18,233
100 40 354 82 726 147 1,301 160 529 4,682 1,180 10,444 2,450 21,684
120 40 354 87 770 147 1,301 50 353 3,124 1,020 9,028 1,960 17,347
160 40 354 92 814 147 1,301 80 549 4,859 1,480 13,099 2,450 21,684
30 27 239 50 443 95 841 58 100 696 6,160 1,590 14,073 3,180 28,145
50 39 345 98 867 186 1,646 120 745 6,594 1,720 15,223 3,330 29,473
80 63 558 137 1,213 255 2,257 160 745 6,594 1,840 16,285 3,430 30,358
25 50 490 4,337 1,420 12,568 2,830 25,048
100 67 593 157 1,390 284 2,514
120 67 593 167 1,478 304 2,691 80 745 6,594 2,110 18,675 3,720 32,925
160 67 593 176 1,558 314 2,779 65 100 951 8,417 2,300 20,357 4,750 42,041
120 951 8,417 2,510 22,215 4,750 42,041
30 54 478 100 885 200 1,770
160 951 8,417 2,630 23,277 4,750 42,041
50 76 673 216 1,912 382 3,381
80 118 1,044 304 2,691 568 5,027
32
100 137 1,213 333 2,947 647 5,726
120 137 1,213 353 3,124 686 6,072
160 137 1,213 372 3,292 686 6,072

Cross Roller Bearing Specification

Item Basic Rated Load
Alowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 47 1,057 60.7 1,365 33.6 297 3.6 32
17 52.9 1,189 75.5 1,697 52.5 465 6.4 57
20 57.8 1,299 90.0 2,023 74.6 660 10.5 93
25 96.0 2,158 151 3,395 128 1,133 19.8 175
32 150 3,372 250 5,620 257 2,275 44.2 391
40 213 4,788 365 8,206 369 3,266 74.6 660
45 230 5,171 426 9,577 563 4,983 116 1,027
50 348 7,823 602 13,534 622 5,505 140 1,239
58 518 11,645 904 20,323 838 7,417 201 1,779
65 556 12,499 1030 23,155 1,525 13,497 331 2,930
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between
the rolling element receiving a maximum load and track.
The moment stiffnesses are mean values.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 73 79 93 107 138 160 180 190 226 260
B 41 45 45.5 52 62 72.5 79.5 90 104.5 115

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 41 Harmonic Drive LLC

 High Torque Gear Unit
CSG-2UH Series
CSG Series

CSG-2UH is a high torque housed component gear set combined with a precision
cross roller output bearing & flange. It is a very compact, robust and easy to use
gearhead solution.
Zero backlash
High torque capacity
High torsional stiffness
Compact and simple design
High positioning accuracy
30% higher torque than a CSF unit

L 10 L i f e : 1 0 , 0 0 0 h

CSG Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Momentary Item Limit for Limit for
Rated Torque at Rated Torque at
Repeated Peak Peak Reduction Repeated Peak Momentary Peak
Reduction 2000rpm 2000rpm Torque
Torque Torque Ratio Torque
Ratio
Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
Size
50 178 1575 523 4629 892 7895
50 7.0 62 23 204 46 407 80 268 2372 675 5974 1270 11240
14 80 10 89 30 266 61 540 40 100 345 3053 738 6531 1400 12391
100 10 89 36 319 70 620 120 382 3381 802 7098 1530 13542
50 21 186 44 389 91 805 160 382 3381 841 7443 1530 13542
80 29 257 56 496 113 1000 50 229 2027 650 5753 1235 10931
17
100 31 274 70 620 143 1266 80 407 3602 918 8124 1651 14613
120 31 274 70 620 112 991 45 100 459 4062 982 8691 2041 18064
50 33 292 73 646 127 1124 120 523 4629 1070 9470 2288 20250
80 44 389 96 850 165 1460 160 523 4629 1147 10151 2483 21976
80 484 4283 1223 10824 2418 21401
20 100 52 460 107 947 191 1690
100 611 5407 1274 11275 2678 23702
120 52 460 113 1000 191 1690 50
120 688 6089 1404 12425 2678 23702
160 52 460 120 1062 191 1690
160 688 6089 1534 13576 3185 28190
50 51 451 127 1124 242 2142 80 714 6319 1924 17027 3185 28190
80 82 726 178 1575 332 2938 100 905 8009 2067 18293 4134 36589
25 100 87 770 204 1805 369 3266 58
120 969 8576 2236 19789 4329 38315
120 87 770 217 1920 395 3496 160 969 8576 2392 21169 4459 39465
160 87 770 229 2027 408 3611 80 969 8576 2743 24276 4836 42802
50 99 876 281 2487 497 4399 100 1236 10939 2990 26462 6175 54653
65
80 153 1354 395 3496 738 6532 120 1236 10939 3263 28878 6175 54653
32 100 178 1575 433 3832 841 7443 160 1236 10939 3419 30258 6175 54653
120 178 1575 459 4062 892 7895
160 178 1575 484 4283 892 7895

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 47 1057 60.7 1365 41 363 4.38 113
17 52.9 1189 75.5 1697 64 566 7.75 200
20 57.8 1299 90.0 2023 91 805 12.8 330
25 96.0 2158 151 3394 156 1381 24.2 623
32 150 3372 250 5620 313 2770 53.9 1388
40 213 4788 365 8205 450 3983 91.0 2343
45 230 5170 426 9576 686 6071 141 3631
50 348 7823 602 13533 759 6717 171 4403
58 518 11645 904 20322 1180 10443 283 7287
65 556 12499 1030 23154 1860 16461 404 10403
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.
The moment stiffnesses are mean values.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 73 79 93 107 138 160 180 190 226 260
B 41 45 45.5 52 62 72.5 79.5 90 104.5 115

Harmonic Drive LLC 42 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

High Torque, Lightweight Gear Unit

CSG Series
CSG-2UH-LW Series

LW indicates lightweight. CSG-2UH is a high torque housed component gear set

combined with a precision cross roller output bearing & flange. It is a very compact,
robust and easy to use gearhead solution.
Zero Backlash
30% average lower weight than Standard Series
High Torque to Weight ratio
Accuracy <1 arc-min
High torsional stiffness
High efficiency
Robust cross roller output bearing
Output flange for direct mounting of load L 10 L i f e : 1 0 , 0 0 0 h

CSG-LW Series Ratings

Harmonic Drive Housed Unit

Item Limit for Item Limit for
Rated Torque at Limit for Rated Torque at Limit for
Gear Repeated Peak Gear Repeated Peak
2000rpm Momentary Torque 2000rpm Momentary Torque
Ratio Torque Ratio Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
50 7 62 23 204 46 407 50 178 1,575 523 4,629 892 7,895
14 80 10 89 30 266 61 540 80 268 2,372 675 5,974 1,270 11,240
100 10 89 36 319 70 620 40 100 345 3,054 738 6,532 1,400 12,391
50 21 186 44 389 91 805 120 382 3,381 802 7,098 1,530 13,542
80 29 257 56 496 113 1,000 160 382 3,381 841 7,443 1,530 13,542
17 50 229 2,027 650 5,753 1,235 10,931
100 31 274 70 620 143 1,266
31 274 70 620 112 991 80 407 3,602 918 8,125 1,651 14,613
120
50 33 292 73 646 127 1,124 45 100 459 4,062 982 8,691 2,041 18,064
120 523 4,629 1,070 9,470 2,288 20,250
80 44 389 96 850 165 1,460
160 523 4,629 1,147 10,152 2,483 21,976
20 100 52 460 107 947 191 1,690
80 484 4,284 1,223 10,824 2,418 21,401
120 52 460 113 1,000 191 1,690
100 611 5,408 1,274 11,276 2,678 23,702
160 52 460 120 1,062 191 1,690 50
120 688 6,089 1,404 12,426 2,678 23,702
50 51 451 127 1,124 242 2,142
160 688 6,089 1,534 13,577 3,185 28,190
80 82 726 178 1,575 332 2,938
80 714 6,319 1,924 17,029 3,185 28,190
25 100 87 770 204 1,806 369 3,266
100 905 8,010 2,067 18,294 4,134 36,589
120 87 770 217 1,921 395 3,496 58
120 969 8,576 2,236 19,790 4,329 38,315
160 87 770 229 2,027 408 3,611
160 969 8,576 2,392 21,171 4,459 39,465
50 99 876 281 2,487 497 4,399
80 969 8,576 2,743 24,278 4,836 42,802
80 153 1,354 395 3,496 738 6,532
100 1,236 10,940 2,990 26,464 6,175 54,653
32 100 178 1,575 433 3,832 841 7,443 65
120 1,236 10,940 3,263 28,880 6,175 54,653
120 178 1,575 459 4,062 892 7,895
160 1,236 10,940 3,419 30,261 6,175 54,653
160 178 1,575 484 4,284 892 7,895

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 47 1,057 60.7 1,365 33.6 297 3.6 32
17 52.9 1,189 75.5 1,697 52.5 465 6.4 57
20 57.8 1,299 90.0 2,023 74.6 660 10.5 93
25 96.0 2,158 151 3,395 128 1,133 19.8 175
32 150 3,372 250 5,620 257 2,275 44.2 391
40 213 4,788 365 8,206 369 3,266 74.6 660
45 230 5,170 426 9,577 563 4,983 116 1,027
50 348 7,823 602 13,534 622 5,505 140 1,239
58 518 11,645 904 20,323 838 7,417 201 1,779
65 556 12,499 1030 23,155 1,525 13,497 331 2,930

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 73 79 93 107 138 160 180 190 226 260
B 41 45 45.5 52 62 72.5 79.5 90 104.5 115

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 43 Harmonic Drive LLC

 High Torque Gear Unit
CSG-2UK Series
CSG Series

CSG-2UK is a high torque fully sealed, high accuracy gear reducer ideally suited
for machine tool applications.
Zero backlash
Compatible with Fanuc motors
High torque capacity
High torsional stiffness
High positioning accuracy

L 10 L i f e : 1 0 , 0 0 0 h

CSG Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Momentary Item Limit for Limit for
Rated Torque at Rated Torque at
Repeated Peak Peak Reduction Repeated Peak Momentary Peak
Reduction 2000rpm 2000rpm Torque
Torque Torque Ratio Torque
Ratio
Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
Size
50 229 2027 650 5753 1235 10931
50 51 451 127 1124 242 2142 80 407 3602 918 8124 1651 14613
80 82 726 178 1575 332 2938 45 100 459 4062 982 8691 2041 18064
25 100 87 770 204 1805 369 3266 120 523 4629 1070 9470 2288 20250
120 87 770 217 1920 395 3496 160 523 4629 1147 10151 2483 21976
160 87 770 229 2027 408 3611 80 714 6319 1924 17027 3185 28190
50 99 876 281 2487 497 4399 100 905 8009 2067 18293 4134 36589
58
80 153 1354 395 3496 738 6532 120 969 8576 2236 19789 4329 38315
32 100 178 1575 433 3832 841 7443 160 969 8576 2392 21169 4459 39465
120 178 1575 459 4062 892 7895 80 969 8576 2743 24276 4836 42802
100 1236 10939 2990 26462 6175 54653
160 178 1575 484 4283 892 7895 65
120 1236 10939 3263 28878 6175 54653
50 178 1575 523 4629 892 7895
160 1236 10939 3419 30258 6175 54653
80 268 2372 675 5974 1270 11240
40 100 345 3053 738 6531 1400 12391
120 382 3381 802 7098 1530 13542
160 382 3381 841 7443 1530 13542

Cross Roller Bearing Specification

Item Basic Rated Load
Permissible Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 10 N
2
lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
25 96.0 2158 151 3394 128 1133 19.8 512
32 150 3372 250 5620 257 2274 44.2 1137
40 213 4788 365 8205 369 3266 74.6 1918
45 230 5170 426 9576 563 4983 116 2986
58 518 11645 904 20322 838 7416 201 5173
65 556 12499 1030 23154 1525 13496 331 9374

Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.
The moment stiffnesses are mean values.

Dimensions Unit: mm
B

Size
25 32 40 45 58 65
Symbol
A 107 138 160 180 226 260
A

B 66 75 85 102 120 129

Harmonic Drive LLC 44 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

High Torque Gear Unit

CSG Series
CSG Series
Overview Drawing

Mounting pilot (Servo motor)

Harmonic Drive Housed Unit

Input spline
Cross roller bearing

* This is a fully enclosed unit with oil seals at the input and output shafts.

Typical Assembly

Face A

Input flange

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 45 Harmonic Drive LLC

 Ultra-Flat Gear Unit
CSD-2UH Series
CSD-2UH Series

Available in 7 sizes with ratios 50:1 to 160:1, CSD-2UH is an ultra-thin and

compact housed gear component unit.
Zero Backlash
Lightweight
Ultra-flat
Compact and simple design

L 10 L i f e : 7 , 0 0 0 h

CSD-2UH Series Ratings

Harmonic Drive Housed Unit

Item Maximum
Rated Torque at 2000 rpm Repeated Peak Torque
Momentary Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

50 3.7 33 12 106 24 212

14
100 5.4 48 19 168 35 310

50 11 97 23 204 48 425
17
100 16 142 37 327 71 628

50 17 150 39 345 69 611

20 100 28 248 57 504 95 841

160 28 248 64 566 95 841

50 27 239 69 611 127 1124

25 100 47 416 110 974 184 1628

160 47 416 123 1089 204 1805

50 53 469 151 1336 268 2372

32 100 96 850 233 2062 420 3717

160 96 850 261 2310 445 3938

50 96 850 281 2487 480 4248

40 100 185 1637 398 3522 700 6195

160 206 1823 453 4009 765 6770

50 172 1522 200 1770 1000 8850

50 100 329 2912 686 6071 1440 12744

160 370 3275 823 7284 1715 15178

Cross Roller Bearing Specification

Item
Basic Rated Load
Permissible Moment
Moment Stiffness Km
Load Mc
Size Basic Dynamic Rated Load C Basic Static Rated Load Co

x102N lb x102N lb Nm In-lb x104Nm/rad In-lb/arc.min

14 47 1057 60.7 1365 41 363 3.48 90

17 52.9 1189 75.5 1697 64 566 7.75 200

20 57.8 1299 90 2023 91 805 12.8 330

25 96 2158 151 3394 156 1381 24.2 623

32 150 3372 250 5620 313 2770 53.9 1388

40 213 4788 365 8205 450 3983 91 2343

50 348 7823 602 13533 759 6717 171 4403

Dimensions Unit: mm
Size
14 17 20 25 32 40 50
Symbol
A h7 55 62 70 85 112 126 157
B 25 26.5 29.5 37.1 43 51.7 62.5

Harmonic Drive LLC 46 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Ultra-Flat, Hollow Shaft Gear Unit
CSD-2UF Series

CSD-2UF Series
Available in 6 sizes with ratios 50:1 to 160:1, CSD-2UF is an ultra-thin and
compact housed gear component unit with a hollow through bore.
Zero Backlash
Hollow shaft
High load capacity
Lightweight
Ultra-flat
Compact and simple design

L 10
Life: 7,000h

Harmonic Drive Housed Unit

CSD-2UF Series Ratings
Item Maximum
Rated Torque at 2000 rpm Repeated Peak Torque
Momentary Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

50 3.7 33 12 106 24 212

14
100 5.4 48 19 168 35 310

50 11 97 23 204 48 425
17
100 16 142 37 327 71 628

50 17 150 39 345 69 611

20 100 28 248 57 504 95 841

160 28 248 64 566 95 841

50 27 239 69 611 127 1124

25 100 47 416 110 974 184 1628

160 47 416 123 1089 204 1805

50 53 469 151 1336 268 2372

32 100 96 850 233 2062 420 3717

160 96 850 261 2310 445 3938

50 96 850 281 2487 480 4248

40 100 185 1637 398 3522 700 6195

160 206 1823 453 4009 765 6770

Cross Roller Bearing Specification

Item Basic Rated Load Permissible Moment
Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co Load Mc
Size
x102N lb x102N lb Nm In-lb x104Nm/rad In-lb/arc.min

14 57.8 1299 90 2023 91 805 12.8 330

17 104 2338 163 3664 124 1097 15.4 397

20 146 3282 220 4946 187 1655 25.2 649

25 218 4901 358 8048 258 2283 39.2 1009

32 382 8587 654 14702 580 5133 100 2575

40 433 9734 816 18344 849 7514 179 4609

Dimensions Unit: mm
Size
14 17 20 25 32 40
Symbol
A h7 70 80 90 110 142 170
B 22 22.7 26.8 31.5 37 45

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 47 Harmonic Drive LLC

 Compact Gearhead/Double Shaft
CSF Mini Series Unit
CSF Series

CSF mini gearheads provide high positioning accuracy in a super-compact package.

CSF-1U Compact 4-point contact ball bearing is mounted in the main shaft. Available in five sizes
and four ratios, the CSF mini gearheads feature shaft or flange outputs.
Zero backlash
high positioning accuracy
Compact and lightweight
High torque capacity
High radial, axial, and moment load capacity
4 point contact bearing
Ratios: 30:1 to 100:1
CSF-2XH
Flange output, shaft output, shaft input and output L 10 L i f e : 7 , 0 0 0 h

CSF Mini Series Ratings

Harmonic Drive Housed Unit

Item Rated Torque at 2000 rpm Limit for Repeated Peak Torque Limit for Momentary Peak Torque
Reduction Ratio
Nm In-lb Nm In-lb Nm In-lb
Size

30 0.06 0.53 0.13 1.15 0.22 1.95

3 50 0.11 0.97 0.21 1.86 0.41 3.63

100 0.16 1.42 0.3 2.66 0.57 5.04

30 0.25 2.2 0.5 4.4 0.9 8.0

5 50 0.4 3.5 0.9 8.0 1.8 16

100 0.6 5.3 1.4 12.4 2.7 24

30 0.9 8.0 1.8 16 3.3 29

8 50 1.8 16 3.3 29 6.6 58

100 2.4 21 4.8 42 9 80

30 2.2 19 4.5 40 8.5 75

11 50 3.5 31 8.3 73 17 150

100 5 44 11 97 25 221

30 4 35 9 80 17 150

50 5.4 48 18 159 35 310

14
80 7.8 69 23 204 47 416

100 7.8 69 28 248 54 478

4 Point Contact Bearing Specification

Item Basic Rated Load
Permissible Moment
Basic Dynamic Rated Basic Static Rated Moment Stiffness Km
Load Mc
Load C Load Co

Size x102N lb x102N lb Nm In-lb Nm/rad In-lb/arc.min

3 6.65 149 4.24 95 0.27 2 0.9x102 0.2

5 9.14 205 7.63 172 0.89 8 7.41x10 2

1.9

8 21.6 486 19.0 427 3.46 31 2.76x103 1.7

11 38.9 874 35.4 796 6.6 58 7.41x103 19.0

14 61.2 1376 58.5 1315 13.2 117 1.34x104 34.5

CSF-2XH
Dimensions Unit: mm
Size
3 5 8 11 14
Symbol
A 17.5 29 43.5 58 73
B 20.5 17 28.7 38.3 45

C 13 22 32 43 53

Harmonic Drive LLC 48 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Ultra-Flat Compact Gearhead
CSF Mini Series Unit

CSF Series
The CSF-2UP gear units have an ultra-flat configuration with high-moment stiffness. The
new models are lightweight and extremely flat. Thanks to a cross roller bearing used at the
output flange, the CSF-2UP gearheads offer high-moment stiffness.
Zero backlash
high positioning accuracy
Compact and lightweight
High torque capacity
High radial, axial, and moment load capacity
Cross roller bearing
Ratios: 30:1 to 100:1
L 10
Life: 7,000h

CSF Mini Series Ratings

Harmonic Drive Housed Unit

Item Rated Torque at 2000 rpm Limit for Repeated Peak Torque Limit for Momentary Peak Torque
Reduction Ratio
Nm In-lb Nm In-lb Nm In-lb
Size

30 0.9 8.0 1.8 16 3.3 29

8 50 1.8 16 3.3 29 6.6 58

100 2.4 21 4.8 42 9 80

30 2.2 19 4.5 40 8.5 75

11 50 3.5 31 8.3 73 17 150

100 5 44 11 97 25 221

30 4 35 9 80 17 150

50 5.4 48 18 159 35 310

14
80 7.8 69 23 204 47 416

100 7.8 69 28 248 54 478

Cross Roller Bearing Specification

Item Basic Rated Load
Permissible Moment
Moment Stiffness Km
Basic Dynamic Rated Basic Static Rated Load Mc
Load C Load Co

Size x102N lb x102N lb Nm In-lb Nm/rad In-lb/arc.min

8 21.6 486 19.0 427 3.46 31 2.76x103 1.7

11 38.9 874 35.4 796 6.6 58 7.41x10 3

19.0

14 61.2 1376 58.5 1315 13.2 117 1.34x104 34.5

Dimensions Unit: mm
Size P B
8 11 14
Symbol
A 66 80 100

B 24.8 27 33.5

P 501 601 751

A

d (O-ring)
(provided with the product)

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 49 Harmonic Drive LLC

 Gear unit with hollow shaft or solid input shaft
SHF-2UH Series
SHF Series

Incorporating a Harmonic Drive gear component into an integral housing,

the SHF-2UH is a compact hollow shaft gearhead with zero backlash.
Zero backlash
Large hollow thru bore
High positioning accuracy
Compact and simple design
High torque capacity
High torsional stiffness
Shaft input units available (SHF-2UJ)

L 10 Life: 7,000h
Harmonic Drive Housed Unit

SHF Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Reduction Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
2000rpm Torque 2000rpm Torque
Ratio Torque Ratio Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
50 3.5 31 8.3 73 17 150 50 137 1212 402 3558 686 6072
11
100 5 44 11 97 25 221 80 206 1823 519 4593 980 8674
30 4.0 35 9.0 80 17 150 40 100 265 2345 568 5027 1080 9559
50 5.4 48 18 159 35 310 120 294 2602 617 5460 1180 10444
14
80 7.8 69 23 204 47 416 160 294 2602 647 5726 1180 10444
100 7.8 69 28 248 54 478 50 176 1558 500 4425 950 8408
30 8.8 78 6 142 30 266 80 313 2770 706 6248 1270 11240
50 16 142 34 301 70 620 45 100 353 3124 755 6682 1570 13896
17 80 22 195 43 381 87 770 120 402 3558 823 7284 1760 15577
100 24 212 54 478 110 974 160 402 3558 882 7806 1910 16905
120 24 212 54 478 86 761 50 245 2168 715 6328 1430 12657
30 15 133 27 239 50 443 80 372 3292 941 8328 1860 16462
50 25 221 56 496 98 867 50 100 470 4160 980 8673 2060 18233
80 34 301 74 655 127 1124 120 529 4682 1080 9558 2060 18233
20
100 40 354 82 726 147 1301 160 529 4682 1180 10443 2450 21684
120 40 354 87 770 147 1301 50 353 3124 1020 9027 1960 17347
160 40 354 92 814 147 1301 80 549 4859 1480 13098 2450 21684
30 27 239 50 443 95 841 58 100 686 6160 1590 14072 3180 28145
50 39 345 98 867 186 1646 120 745 6593 1720 15222 3330 29473
80 63 558 137 1212 255 2257 160 745 6593 1840 16284 3430 30358
25
100 67 593 157 1389 284 2514
120 67 593 167 1478 304 2691
160 67 593 176 1558 314 2779
30 54 478 100 885 200 1770
50 76 673 216 1912 382 3381
80 118 1044 230 2036 568 5027
32
100 137 1212 333 2947 647 5726
120 137 1212 353 3124 686 6072
160 137 1212 372 3292 686 6072

Cross Roller Bearing Specification

Item Basic Rated Load
Permissible Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
11 52.9 1189 75.5 1697 74 655 6.5 167
14 58 1304 86 1933 74 655 8.5 219
17 104 2338 163 3664 124 1097 15.1 389
20 146 3282 220 4946 187 1655 25.2 649
25 218 4901 358 8048 258 2283 39.2 1009
32 382 8587 654 14702 580 5133 100 2575
40 433 9734 816 18344 849 7514 179 4609
45 776 17444 1350 30348 1127 9974 257 6618
50 816 18344 1490 33495 1487 13160 351 9038
58 874 19648 1710 38441 2180 19293 531 13673

Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one
million revolutions.Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at
the center of a contact zone between the rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
11 14 17 20 25 32 40 45 50 58
Symbol
A 45.3 54 64 75 90 115 140 160 172 201

B 48 52.5 56.5 51.5 55.5 65.5 79 85 93 106

Harmonic Drive LLC 50 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Lightweight gear unit with hollow shaft or solid input shaft

SHF Series
SHF-2UH-LW Series

LW indicates lightweight. Incorporating a Harmonic Drive gear component into an

integral housing, the SHF-2UH-LW is a lightweight compact hollow shaft gearhead
with zero backlash.
Zero backlash
20% lighter than standard unit
Large hollow through bore
High positioning accuracy
High torque capacity
High torsional stiffness

L 10 Life: 7,000h

SHF-LW Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Item Limit for Limit for
Rated Torque Rated Torque
Gear Repeated Momentary Gear Repeated Momentary
at 2000rpm Torque at 2000rpm Torque
Ratio Peak Torque Ratio Peak Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
30 4.0 35 9.0 80 17 150 50 137 1,213 402 3,558 686 6,072
50 5.4 48 18 159 35 310
14 80 206 1,823 519 4,594 980 8,674
80 7.8 69 23 204 47 416
100 7.8 69 28 248 54 478 40 100 265 2,345 568 5,027 1,080 9,559
30 8.8 78 16 142 30 266 120 294 2,602 617 5,461 1,180 10,444
50 16 142 34 301 70 620 160 294 2,602 647 5,726 1,180 10,444
17 80 22 195 43 381 87 770 50 176 500 4,425 950 8,408
1,558
100 24 212 54 478 108 956
80 313 2,770 706 6,249 1,270 11,240
120 24 212 54 478 86 761
30 15 133 27 239 50 443 45 100 353 3,124 755 6,682 1,570 13,896
50 25 221 56 496 98 867 120 402 3,558 823 7,284 1,760 15,577
80 34 301 74 655 127 1,124 160 402 882 7,806 1,910
20 3,558 16,905
100 40 354 82 726 147 1,301 50 245 2,168 715 6,328 1,430 12,657
120 40 354 87 770 147 1,301
80 372 3,292 941 8,329 1,860 16,462
160 40 354 92 814 147 1,301
50 100 470 4,160 980 8,674 2,060 18,233
30 27 239 50 443 95 841
50 39 345 98 867 186 1,646 120 529 4,682 1,080 9,559 2,060 18,233
80 63 558 137 1,213 255 2,257 160 529 4,682 1,180 10,444 2,450 21,684
25
100 67 593 157 1,390 284 2,514 50 353 3,124 1,020 9,028 1,960 17,347
120 67 593 167 1,478 304 2,691 80 549 4,859 1,480 13,099 2,450 21,684
160 67 593 176 1,558 314 2,779 58 100 696 6,160 1,590 14,073 3,180 28,145
30 54 478 100 885 200 1,770 120 745 1,720 3,330
6,594 15,223 29,473
50 76 673 216 1,912 382 3,381
160 745 6,594 1,840 16,285 3,430 30,358
80 118 1,044 304 2,691 568 5,027
32
100 137 1,213 333 2,947 647 5,726
120 137 1,213 353 3,124 686 6,072
160 137 1,213 372 3,292 686 6,072

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 58 1,304 86 1,933 74 655 8.5 75
17 104 2,338 163 3,664 124 1,097 15.4 136
20 146 3,282 220 4,946 187 1,655 25.2 223
25 218 4,901 358 8,048 258 2,283 39.2 347
32 382 8,588 654 14,703 580 5,133 100 885
40 433 9,734 816 18,344 849 7,514 179 1,584
45 776 17,445 1,350 30,349 1,127 9,975 257 2,275
50 816 18,344 1,490 33,497 1,487 13,161 351 3,107
58 874 19,648 1,710 38,442 2,180 19,295 531 4,700
**1: Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.

*2: Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2)
at the center of a contact zone between the rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58
Symbol
A 52 62 73 88 115 140 160 168 195
B 52.5 56.5 51.5 55.5 65.5 79 85 93 106

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 51 Harmonic Drive LLC

 High torque gear unit with hollow shaft or solid input shaft
SHG-2UH Series
SHG Series

The SHG-2UH series with a hollow shaft is a high torque, compact, precision gearhead
with zero backlash and exceptional accuracy and repeatability.
Zero backlash
Large hollow through bore
High positioning accuracy
High torque capacity
High torsional stiffness
Shaft input units available (SHG-2UJ)
30% increased torque compared to SHF Units

L 10 Life: 10,000h

SHG Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Reduction Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
2000rpm Torque 2000rpm
Ratio Torque Ratio Torque Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
50 7.0 62 23 204 46 407 50 178 1575 523 4629 892 7895
14 80 10 89 30 266 61 540 80 268 2372 675 5974 1270 11240
100 10 89 36 319 70 620 40 100 345 3053 738 6531 1400 12391
50 21 186 44 389 91 805 120 382 3381 802 7098 1530 13542
80 29 257 56 496 113 1000 160 382 3381 841 7443 1530 13542
17
100 31 274 70 620 143 1266 50 229 2027 650 5753 1235 10931
120 31 274 70 620 112 991 80 407 3602 918 8124 1651 14613
50 33 292 73 646 127 1124 45 100 459 4062 982 8691 2041 18064
80 44 389 96 850 165 1460 120 523 4629 1070 9470 2288 20250
20 100 52 460 107 947 191 1690 160 523 4629 1147 10151 2483 21976
120 52 460 113 1000 191 1690 80 484 4283 1223 10824 2418 21401
160 52 460 120 1062 191 1690 100 611 5407 1274 11275 2678 23702
50
50 51 451 127 1124 242 2142 120 688 6089 1404 12425 2678 23702
80 82 726 178 1575 332 2938 160 688 6089 1534 13576 3185 28190
25 100 87 770 204 1805 369 3266 80 714 6319 1924 17027 3185 28190
120 87 770 217 1920 395 3496 100 905 8009 2067 18293 4134 36589
58
160 87 770 229 2027 408 3611 120 969 8576 2236 19789 4329 38315
50 99 876 281 2487 497 4399 160 969 8576 2392 21169 4459 39465
80 153 1354 395 3496 738 6532 80 969 8576 2743 24276 4836 42802
32 100 178 1575 433 3832 841 7443 100 1236 10939 2990 26462 6175 54653
65
120 178 1575 459 4062 892 7895 120 1236 10939 3263 28878 6175 54653
160 178 1575 484 4283 892 7895 160 1236 10939 3419 30258 6175 54653

Cross Roller Bearing Specification

Item Basic Rated Load
Permissible Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 58 1304 86 1933 74 655 8.5 219
17 104 2338 163 3664 124 1097 15.1 389
20 146 3282 220 4946 187 1655 25.2 649
25 218 4901 358 8048 258 2283 39.2 1009
32 382 8587 654 14702 580 5133 100 2575
40 433 9734 816 18344 849 7514 179 4609
45 776 17444 1350 30348 1127 9974 257 6618
50 816 18344 1490 33495 1487 13160 351 9038
58 874 19648 1710 38441 2180 19293 531 13673
65 1300 29224 2230 50130 2740 24249 741 19081

Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 54 64 75 90 115 140 160 175 201 221
B 52.5 56.5 51.5 55.5 65.5 79 85 93 106 128

Harmonic Drive LLC 52 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Lightweight, high torque gear unit with hollow shaft
SHG-2UH-LW Series

SHG Series
Incorporating a Harmonic Drive gear component into an integral housing, the
SHF-2UH-LW is a lightweight compact hollow shaft gearhead with zero backlash.
Zero backlash
20% lighter than standard unit
Large hollow through bore
High positioning accuracy
High torque capacity
High torsional stiffness
30% increased torque compared to SHF Units

L 10 Life: 10,000h

SHG-LW Series Ratings

Harmonic Drive Housed Unit

Item Limit for Limit for Item Limit for Limit for
Rated Torque Rated Torque
Gear Repeated Momentary Gear Repeated Momentary
at 2000rpm Torque at 2000rpm Torque
Ratio Peak Torque Ratio Peak Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
50 7 62 23 204 46 407 50 178 1,575 523 4,629 892 7,895
14 80 10 89 30 266 61 540 80 268 2,372 675 5,974 1,270 11,240
100 10 89 36 319 70 620 40 100 345 3,054 738 6,532 1,400 12,391
50 21 186 44 389 91 805 120 382 3,381 802 7,098 1,530 13,542
80 29 257 56 496 113 1,000 160 382 3,381 841 7,443 1,530 13,542
17
100 31 274 70 620 143 1,266 50 229 2,027 650 5,753 1,235 10,931
120 31 274 70 620 112 991 80 407 3,602 918 8,125 1,651 14,613
50 33 292 73 646 127 1,124 45 100 459 4,062 982 8,691 2,041 18,064
80 44 389 96 850 165 1,460 120 523 4,629 1,070 9,470 2,288 20,250
20 100 52 460 107 947 191 1,690 160 523 4,629 1,147 10,152 2,483 21,976
120 52 460 113 1,000 191 1,690 80 484 4,284 1,223 10,824 2,418 21,401
160 52 460 120 1,062 191 1,690 100 611 5,408 1,274 11,276 2,678 23,702
50
50 51 451 127 1,124 242 2,142 120 688 6,089 1,404 12,426 2,678 23,702
80 82 726 178 1,575 332 2,938 160 688 6,089 1,534 13,577 3,185 28,190
25 100 87 770 204 1,806 369 3,266 80 714 6,319 1,924 17,029 3,185 28,190
120 87 770 217 1,921 395 3,496 100 905 8,010 2,067 18,294 4,134 36,589
58
160 87 770 229 2,027 408 3,611 120 969 8,576 2,236 19,790 4,329 38,315
50 99 876 281 2,487 497 4,399 160 969 8,576 2,392 21,171 4,459 39,465
80 153 1,354 395 3,496 738 6,532 80 969 8,576 2,743 24,278 4,836 42,802
32 100 178 1,575 433 3,832 841 7,443 100 1,236 10,940 2,990 26,464 6,175 54,653
65
120 178 1,575 459 4,062 892 7,895 120 1,236 10,940 3,263 28,880 6,175 54,653
160 178 1,575 484 4,284 892 7,895 160 1,236 10,940 3,419 30,261 6,175 54,653

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 102N lb x 102N lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 58 1,304 86 1,933 74 655 8.5 75
17 104 2,338 163 3,664 124 1,097 15.4 136
20 146 3,282 220 4,946 187 1,655 25.2 223
25 218 4,901 358 8,048 258 2,283 39.2 347
32 382 8,588 654 14,703 580 5,133 100 885
40 433 9,734 816 18,344 849 7,514 179 1,584
45 776 17,445 1,350 30,349 1,127 9,975 257 2,275
50 816 18,344 1,490 33,497 1,487 13,161 351 3,107
58 874 19,648 1,710 38,442 2,180 19,295 531 4,700
65 1,300 29,225 2,230 50,132 2,740 24,251 741 6,558
*1: Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated
life of the bearing of one million revolutions.
*2: Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2)
at the center of a contact zone between the rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 52 62 73 88 115 140 160 168 195 213
B 52.5 56.5 51.5 55.5 65.5 79 85 93 106 128

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 53 Harmonic Drive LLC

 Lightweight, Hollow Shaft
SHD-2UH-LW Series
SHD Series

LW indicates lightweight. Axially compact, these gear units feature a large hollow
input shaft and a robust cross roller bearing so loads can be mounted directly to
the unit without the need for additional support bearings.
Zero Backlash
Ultra-flat design
Large Hollow Input Shaft
Accuracy <1 arc-min (most sizes)
Rigid cross roller output bearing
Lightweight

L 10 Life: 7,000h

SHD-2UH-LW Series Ratings

Harmonic Drive Housed Unit

Item Limit for Repeated Limit for

Rated Torque at 2000 rpm
Peak Torque Momentary Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

50 3.7 33 12 106 23 204

14
100 5.4 48 19 168 35 310

50 11 97 23 204 48 425
17
100 16 142 37 327 71 628

50 17 150 39 345 69 611

20 100 28 248 57 504 95 841

160 28 248 64 566 95 841

50 27 239 69 611 127 1,124

25 100 47 416 110 974 184 1,629

160 47 416 123 1,089 204 1,806

50 53 469 151 1,336 268 2,372

32 100 96 850 233 2,062 420 3,717

160 96 850 261 2,310 445 3,939

50 96 850 281 2,487 480 4,248

40 100 185 1,637 398 3,523 700 6,196

160 206 1,823 453 4,009 765 6,771

Cross Roller Bearing Specification

Item
Basic Rated Load
Allowable Moment
Moment Stiffness Km
Load Mc
Size Basic Dynamic Rated Load C Basic Static Rated Load Co

x102N lb x102N lb Nm In-lb x104Nm/rad In-lb/arc.min

14 29 652 43 967 37 327 7.08 63

17 52 1,169 81 1,821 62 549 12.7 112

20 73 1,641 110 2,473 93 823 21 186

25 109 2,450 179 4,024 129 1,142 31 274

32 191 4,294 327 7,351 290 2,567 82.1 727

40 216 4,856 408 9,172 424 3,753 145 1,283

**1: Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.

*2: Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2)
at the center of a contact zone between the rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 17 20 25 32 40
Symbol
A 74 84 95 115 147 175
B 45.5 48 42 46.5 55 65

Harmonic Drive LLC 54 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Hollow Shaft, Simplicity Unit

SHD-2SH Series
SHD-2SH Series

Axially compact, these gear units feature a large hollow input shaft and a robust
cross roller bearing so loads can be mounted directly to the unit without the need
for additional support bearings.
Zero backlash
Extremely flat profile
Hollow through bore
High positioning accuracy
High stiffness cross roller bearing output
High radial, axial, and moment load capacity

L 10 L i f e : 7 , 0 0 0 h

SHD Series Ratings

Harmonic Drive Housed Unit

Item Rated Torque at 2000 rpm Limit for Repeated Peak Torque Limit for Momentary Peak Torque
Reduction
Ratio Nm In-lb Nm In-lb Nm In-lb
Size

50 3.7 33 12 106 23 204

14
100 5.4 48 19 168 35 310

50 11 97 23 204 48 425
17
100 16 142 37 327 71 628

50 17 150 39 345 69 611

20 100 28 248 57 504 95 841

160 28 248 64 566 95 841

50 27 239 69 611 127 1124

25 100 47 416 110 974 184 1628

160 47 416 123 1089 204 1806

50 53 469 151 1336 268 2372

32 100 96 850 233 2062 420 3717

160 96 850 261 2310 445 3939

50 96 850 281 2487 480 4248

40 100 185 1637 398 3522 700 6196

160 206 1823 453 4009 765 6771

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load Mc Moment Stiffness Km

Basic Dynamic Rated Load C Basic Static Rated Load Co x104 In-lb
Nm In-lb
Size x102N lb x102N lb Nm/rad /arc-min

14 29 652 43 967 37 327 7.08 182

17 52 1169 81 1821 62 549 12.7 327

20 73 1641 110 2473 93 823 21 541

25 109 2450 179 4024 129 1142 31 798

32 191 4294 327 7351 290 2567 82.1 2114

40 216 4856 408 9172 424 3752 145 3734

 Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (4kN/mm2) at the center of a contact zone between the rolling element
receiving a maximum load and track.

Dimensions Unit: mm
Size
14 17 20 25 32 40
Symbol
A 70 80 90 110 142 170
B 17.5 18.5 19 22 27.9 33

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 55 Harmonic Drive LLC

 Simplicity gear unit
SHF-2SH/2SO Series
SHF Series

Simplicity Gear Units are Non-housed component gears combined with a

precision cross roller output bearing. Simplicity Gear Units do not include the
housing and output flange, which allows for even tighter integration into the
customers housing or machine structure.
Zero backlash
High positioning accuracy
Compact and simple design
High torque capacity
High torsional stiffness
Harmonic Drive Simplicity Gear Unit

L 10 Life: 7,000h

SHF Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Reduction Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
2000rpm Torque 2000rpm Torque
Ratio Torque Ratio Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
30 4.0 35 9.0 80 17 150 30 54 478 100 885 200 1770
50 5.4 48 18 159 35 310 50 76 673 216 1912 382 3381
14
80 7.8 69 23 204 47 416 80 118 1044 230 2036 568 5027
32
100 7.8 69 28 248 54 478 100 137 1212 333 2947 647 5726
30 8.8 78 6 142 30 266 120 137 1212 353 3124 686 6072
50 16 142 34 301 70 620 160 137 1212 372 3292 686 6072
17 80 22 195 43 381 87 770 50 137 1212 402 3558 686 6072
100 24 212 54 478 110 974 80 206 1823 519 4593 980 8674
120 24 212 54 478 86 761 40 100 265 2345 568 5027 1080 9559
30 15 133 27 239 50 443 120 294 2602 617 5460 1180 10444
50 25 221 56 496 98 867 160 294 2602 647 5726 1180 10444
80 34 301 74 655 127 1124 50 176 1558 500 4425 950 8408
20
100 40 354 82 726 147 1301 80 313 2770 706 6248 1270 11240
120 40 354 87 770 147 1301 45 100 353 3124 755 6682 1570 13896
160 40 354 92 814 147 1301 120 402 3558 823 7284 1760 15577
30 27 239 50 443 95 841 160 402 3558 882 7806 1910 16905
50 39 345 98 867 186 1646 50 245 2168 715 6328 1430 12657
80 63 558 137 1212 255 2257 80 372 3292 941 8328 1860 16462
25
100 67 593 157 1389 284 2514 50 100 470 4160 980 8673 2060 18233
120 67 593 167 1478 304 2691 120 529 4682 1080 9558 2060 18233
160 67 593 176 1558 314 2779 160 529 4682 1180 10443 2450 21684
50 353 3124 1020 9027 1960 17347
80 549 4859 1480 13098 2450 21684
58 100 686 6160 1590 14072 3180 28145
120 745 6593 1720 15222 3330 29473
160 745 6593 1840 16284 3430 30358
Cross Roller Bearing Specification
Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 10 N2
lb x 10 N 2
lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 58 1304 86 1933 74 655 8.5 219
17 104 2338 163 3664 124 1097 15.1 389
20 146 3282 220 4946 187 1655 25.2 649
25 218 4901 358 8048 258 2283 39.2 1009
32 382 8587 654 14702 580 5133 100 2575
40 433 9734 816 18344 849 7514 179 4609
45 776 17444 1350 30348 1127 9974 257 6618
50 816 18344 1490 33495 1487 13160 351 9038
58 874 19648 1710 38441 2180 19293 531 13673
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one
million revolutions.Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at
the center of a contact zone between the rolling element receiving a maximum load and track.

Dimensions (2SH) Unit: mm

Size
14 17 20 25 32 40 45 50 58
Symbol
A 50 60 70 85 110 135 155 170 195

B 52.5 56.5 51.5 55.5 65.5 79 85 93 106

Harmonic Drive LLC 56 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

High torque simplicity gear unit
SHG-2SH/2SO Series

SHG Series
High Torque versions of our Simplicity Gear Units. Simplicity Gear Units do not include
the housing and output flange, which allows for even tighter integration into the
customers housing or machine structure.
Zero backlash
High positioning accuracy
High torque capacity
High torsional stiffness
30% increased torque compared to SHF Units

Harmonic Drive Simplicity Gear Unit

L 10 Life: 10,000h

SHG Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque at Rated Torque at
Reduction Repeated Peak Momentary Peak Reduction Repeated Peak Momentary Peak
2000rpm Torque 2000rpm
Ratio Torque Ratio Torque Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
50 7.0 62 23 204 46 407 50 178 1575 523 4629 892 7895
14 80 10 89 30 266 61 540 80 268 2372 675 5974 1270 11240
100 10 89 36 319 70 620 40 100 345 3053 738 6531 1400 12391
50 21 186 44 389 91 805 120 382 3381 802 7098 1530 13542
80 29 257 56 496 113 1000 160 382 3381 841 7443 1530 13542
17
100 31 274 70 620 143 1266 50 229 2027 650 5753 1235 10931
120 31 274 70 620 112 991 80 407 3602 918 8124 1651 14613
50 33 292 73 646 127 1124 45 100 459 4062 982 8691 2041 18064
80 44 389 96 850 165 1460 120 523 4629 1070 9470 2288 20250
20 100 52 460 107 947 191 1690 160 523 4629 1147 10151 2483 21976
120 52 460 113 1000 191 1690 80 484 4283 1223 10824 2418 21401
160 52 460 120 1062 191 1690 100 611 5407 1274 11275 2678 23702
50
50 51 451 127 1124 242 2142 120 688 6089 1404 12425 2678 23702
80 82 726 178 1575 332 2938 160 688 6089 1534 13576 3185 28190
25 100 87 770 204 1805 369 3266 80 714 6319 1924 17027 3185 28190
120 87 770 217 1920 395 3496 100 905 8009 2067 18293 4134 36589
58
160 87 770 229 2027 408 3611 120 969 8576 2236 19789 4329 38315
50 99 876 281 2487 497 4399 160 969 8576 2392 21169 4459 39465
80 153 1354 395 3496 738 6532 80 969 8576 2743 24276 4836 42802
32 100 178 1575 433 3832 841 7443 100 1236 10939 2990 26462 6175 54653
65
120 178 1575 459 4062 892 7895 120 1236 10939 3263 28878 6175 54653
160 178 1575 484 4283 892 7895 160 1236 10939 3419 30258 6175 54653

Cross Roller Bearing Specification

Item Basic Rated Load
Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co
Size x 10 N 2
lb x 10 N 2
lb Nm In-lb x 104Nm /rad In-lb/arc-min
14 58 1304 86 1933 74 655 8.5 219
17 104 2338 163 3664 124 1097 15.1 389
20 146 3282 220 4946 187 1655 25.2 649
25 218 4901 358 8048 258 2283 39.2 1009
32 382 8587 654 14702 580 5133 100 2575
40 433 9734 816 18344 849 7514 179 4609
45 776 17444 1350 30348 1127 9974 257 6618
50 816 18344 1490 33495 1487 13160 351 9038
58 874 19648 1710 38441 2180 19293 531 13673
65 1300 29224 2230 50130 2740 24249 741 19081
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.

Dimensions (2SH) Unit: mm

Size
14 17 20 25 32 40 45 50 58 65
Symbol
A 50 60 70 85 110 135 155 175 195 215

B 52.5 56.5 51.5 55.5 65.5 79 85 93 106 128

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 57 Harmonic Drive LLC

FD Series Phasing Differential
FD Series Component

The FD series is an extremely compact differential unit that allows you to

fine-tune the phase and timing during operation.
Pancake
Ultra compact differential unit
Backlash is very small and unit requires no assembly adjustment
FD Phasing Differential Gear Set

FD Series Ratings
Rotational Speed rpm
Gear
Size 3500 rpm 2850 rpm 1450 rpm 960 rpm 500 rpm
Ratio
Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb
80 29 257 30 266 30 266 30 266 30 266
100 30 266 31 274 36 319 36 319 36 319
20
128 31 274 34 301 43 381 43 381 43 381
160 32 283 35 310 45 398 49 434 49 434
80 46 407 50 443 57 504 57 504 57 504
100 49 434 53 469 67 593 79 699 79 699
25 120 52 460 55 487 70 620 82 726 96 850
160 54 478 57 504 73 646 83 735 108 956
200 55 487 59 522 74 655 84 743 108 956
78 98 867 108 956 108 656 108 956 108 956
100 108 956 118 1044 147 1301 157 1389 157 1389
131 108 956 118 1044 157 1389 176 1558 206 1823
32
157 108 956 118 1044 157 1389 176 1558 216 1912
200 108 956 118 1044 157 1389 176 1558 216 1912
260 108 956 118 1044 157 1389 176 1558 216 1912
80 196 1735 196 1735 196 1735 196 1735 196 1735
100 235 2080 245 2168 265 2345 265 2345 265 2345
128 235 2080 245 2168 314 2779 363 3213 372 3292
40
160 235 2080 245 2168 314 2779 363 3213 451 3991
200 235 2080 245 2168 314 2779 363 3213 451 3991
258 235 2080 245 2168 314 2779 363 3213 451 3991
80 353 3124 353 3124 353 3124 353 3124 353 3124
100 441 3903 470 4160 559 4947 559 4947 559 4947
120 441 3903 470 4160 588 5204 666 5894 666 5894
50
160 441 3903 470 4160 588 5204 676 5983 843 7461
200 441 3903 470 4160 588 5204 676 5983 843 7461
242 441 3903 470 4160 588 5204 676 5983 843 7461
78 - - - - 764 6761 764 6761 764 6761
104 - - - - 1100 9735 1190 10532 1190 10532
132 - - - - 1100 9735 1250 11063 1570 13895
65
158 - - - - 1100 9735 1250 11063 1570 13895
208 - - - - 1100 9735 1250 11063 1570 13895
260 - - - - 1100 9735 1250 11063 1570 13895
80 - - - - 1370 12125 1370 12125 1370 12125
96 - - - - 1800 15930 1800 15930 1800 15930
128 - - - - 2180 19293 2490 22037 2710 23984
80 160 - - - - 2180 19293 2490 22037 3130 27701
194 - - - - 2180 19293 2490 22037 3130 27701
258 - - - - 2180 19293 2490 22037 3130 27701
320 - - - - 2180 19293 2490 22037 3130 27701
80 - - - - 2470 21860 2470 21860 2470 21860
100 - - - - 3720 32922 3720 32922 3720 32922
120 - - - - 3980 35223 4560 40356 4740 41949
100 160 - - - - 3980 35223 4560 40356 5720 50622
200 - - - - 3980 35223 4560 40356 5720 50622
242 - - - - 3980 35223 4560 40356 5720 50622
320 - - - - 3980 35223 4560 40356 5720 50622

Dimensions Unit: mm
Size
20 25 32 40 50 65 80 100
Symbol
A 70 85 110 135 170 215 265 330
B 25 29 37 43 53 71 83 101

Harmonic Drive LLC 58 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Phasing Differential
FD Series Unit Type

FD Series
The FD series is an extremely compact differential unit that allows you to
fine-tune the phase and timing during operation. The unit type is provided
with the housing so additional gears or pulleys required for the machine can
be directly mounted onto it.
Pancake
Ultra compact differential unit
Backlash is very small and unit requires no assembly adjustment

FD Phasing Differential Gear Set

FD Series Ratings
Rotational Speed rpm
Gear
Size 3500 RPM 2850 RPM 1450 RPM 960 RPM 500 RPM
Ratio
Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb
80 29 257 30 266 30 266 30 266 30 266
100 30 266 31 274 36 319 36 319 36 319
20
128 31 274 34 301 43 381 43 381 43 381
160 32 283 35 310 45 398 49 434 49 434
80 46 407 50 443 57 504 57 504 57 504
100 49 434 53 469 67 593 79 699 79 699
25 120 52 460 55 487 70 620 82 726 96 850
160 54 478 57 504 73 646 83 735 108 956
200 55 487 59 522 74 655 84 743 108 956
78 98 867 108 956 108 656 108 956 108 956
100 108 956 118 1044 147 1301 157 1389 157 1389
131 108 956 118 1044 157 1389 176 1558 206 1823
32
157 108 956 118 1044 157 1389 176 1558 216 1912
200 108 956 118 1044 157 1389 176 1558 216 1912
260 108 956 118 1044 157 1389 176 1558 216 1912
80 196 1735 196 1735 196 1735 196 1735 196 1735
100 235 2080 245 2168 265 2345 265 2345 265 2345
128 235 2080 245 2168 314 2779 363 3213 372 3292
40
160 235 2080 245 2168 314 2779 363 3213 451 3991
200 235 2080 245 2168 314 2779 363 3213 451 3991
258 235 2080 245 2168 314 2779 363 3213 451 3991
80 353 3124 353 3124 353 3124 353 3124 353 3124
100 441 3903 470 4160 559 4947 559 4947 559 4947
120 441 3903 470 4160 588 5204 666 5894 666 5894
50
160 441 3903 470 4160 588 5204 676 5983 843 7461
200 441 3903 470 4160 588 5204 676 5983 843 7461
242 441 3903 470 4160 588 5204 676 5983 843 7461
78 - - - - 764 6761 764 6761 764 6761
104 - - - - 1100 9735 1190 10532 1190 10532
132 - - - - 1100 9735 1250 11063 1570 13895
65
158 - - - - 1100 9735 1250 11063 1570 13895
208 - - - - 1100 9735 1250 11063 1570 13895
260 - - - - 1100 9735 1250 11063 1570 13895
80 - - - - 1370 12125 1370 12125 1370 12125
96 - - - - 1800 15930 1800 15930 1800 15930
128 - - - - 2180 19293 2490 22037 2710 23984
80 160 - - - - 2180 19293 2490 22037 3130 27701
194 - - - - 2180 19293 2490 22037 3130 27701
258 - - - - 2180 19293 2490 22037 3130 27701
320 - - - - 2180 19293 2490 22037 3130 27701
80 - - - - 2470 21860 2470 21860 2470 21860
100 - - - - 3720 32922 3720 32922 3720 32922
120 - - - - 3980 35223 4560 40356 4740 41949
100 160 - - - - 3980 35223 4560 40356 5720 50622
200 - - - - 3980 35223 4560 40356 5720 50622
242 - - - - 3980 35223 4560 40356 5720 50622
320 - - - - 3980 35223 4560 40356 5720 50622

Dimensions Unit: mm
Size
20 25 32 40 50 65 80 100
Symbol
A 85 95 120 145 185 235 290 360
B 73 81 95 113 132 147 178 212

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 59 Harmonic Drive LLC

FBB Series Phasing Differential
FBB Series

1:1 phasing differential between input and output

High ratio trim adjustment
Compact, low backlash design for end roll mounting
Header
FBB Phasing Differential Gear Set

FBB Series Ratings

Rated Output Torque
Maximum
Limit for Repeated
Momentary Input Speed
Size Ratio Peak Torque
Input rpm
500 rpm 1000 rpm 1500 rpm 2000 rpm 3000 rpm

In-lb Nm Oil Grease In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm

80 250 28

100 300 34
20 6000 3500 373.3 42 296 33 259 29 235 27 206 23
120 350 40

160 390 44

80 425 48

100 600 68
25 5000 3500 616.2 70 489 55 427 48 388 44 339 38
120 700 79

160 780 88

80 950 107

100 1200 136

32 4500 3500 1229 139 976 110 853 96 775 88 677 76
120 1400 158

160 1550 175

80 1700 192

100 2400 271

40 4000 3000 2588 292 2054 232 1795 203 1631 184 1425 161
120 2700 305

160 3100 350

80 3100 350

100 4200 475

50 3500 2500 4826 545 3831 433 3347 378 3042 344 2658 300
120 5200 588

160 5800 655

Dimensions
No Load No Load
Input Input
Starting Starting
Size Inertia Inertia
Torque Torque

in-oz Ncm lb in2 kgcm2

20 4.5 3.2 0.049 0.143

25 6 4.2 0.124 0.363

32 8 5.7 0.45 1.32

40 27 19.1 1.17 3.42 Unit: mm

Size
50 50 35.3 3.39 9.91 20 25 32 40 50
Symbol
A 70 85 110 134 170

B 26.5 34.8 42 56.5 -

Harmonic Drive LLC 60 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

HDI Infinit-Indexer Phase Adjuster

HDI Series
Fine tune rotational position of shafts and machine parts
Phase cams
Adjust roll registration
Take up backlash in spur and worm gears
Synchronize indexing devices

Infinit-Indexer phase adjusters are available from immediate stock in the standard bore
sizes shown with keyways, set screws, and tapped holes for face mounting of either hub. It
is possible for the user to modify these configurations by disassembling the unit. The hub
material is low carbon steel with suitable sizes shown in notes to the dimensional drawings.
Additional sizes and configurations are available by special order.

Harmonic Drive Phase Adjuster

3 Models, 6 Bore Sizes Available From Stock
HDI Size Bore Size O.D. Length Torque Capacity

/2
1
2 3/8 111/16 1000 lb-in
-10 /8
5
(60.33mm) (42.9mm) (113 Nm)
/4
3

/4
3
3 2 3/16 2500 lb-in
-25
1 (76.2mm) (76.2mm) (283 Nm)

3 3/4 2 3/8 5000 lb-in

-50 11/4
(95.3mm) (95.3mm (565 Nm

To operate, hand rotate the adjusting ring in either

direction to produce a 100:1 reduction between the ring
Input
and the output. Adjust the friction adjustment/locking
screw to desired resistance. For some applications, one
adjustment will be sufficient for both shaft turning and
phase adjusting modes. For more severe loading, such
as hard stops or high peak torque situations, the friction
Output adjustment/locking screw may be used to lock the
adjusting ring in place to maintain phase.

Flexible Couplings

HDI Size L DIM

-10 1.09

-25 1.34

-50 1.43
Adapter

IN-LINE SHAFT IN-LINE SHAFT CONCENTRIC SHAFT

Dimensions Unit : inch

Size 10 10 10 25 25 50

A 2.38 2.38 2.38 3.00 3.00 3.75

B 1.69 1.69 1.69 2.19 2.19 2.37

C 0.500 0.625 0.750 0.750 1.000 1.250

D 1.38 1.38 1.38 1.75 1.75 2.17

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 61 Harmonic Drive LLC

 Quick Connect Gearhead for Servomotors
CSF-GH Series
CSF-GH Series

CSF-GH Quick Connect gearheads with zero-backlash Harmonic Drive gearing are
available with high reduction ratios, 50:1 to 160:1. CSF-GH utilizes our proprietary S tooth
profile and provides high precision positioning (repeatability 4 to 10 arc-sec).
Zero Backlash
Available in 5 Sizes
Peak torque 18Nm ~ 2630Nm
Ratios, 50:1 to 160:1
Accuracy <1 arc-min
High Efficiency
High load capacity output bearing
Motor size range 30W to 5,000W L 10 L i f e : 7 , 0 0 0 h

CSF-GH Series Ratings

Harmonic Drive Gearhead

Item Limit for Repeated Peak

Output Torque at 2000rpm Maximum Momentary Torque
Reduction Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

50 5.4 48 18 159 35 310

14 80 7.8 69 23 204 47 416
100 7.8 69 28 248 54 478
50 25 221 56 496 98 867
80 34 301 74 655 127 1124
20 100 40 354 82 726 147 1301
120 40 354 87 770 147 1301
160 40 354 92 814 147 1301
50 76 673 216 1912 382 3381
80 118 1044 304 2690 568 5027
32 100 137 1212 333 2947 647 5726
120 137 1212 353 3124 686 6071
160 137 1212 372 3292 686 6071
50 176 1558 500 4425 950 8408
80 313 2770 706 6248 1270 11240
45 100 353 3124 755 6682 1570 13895
120 402 3558 823 7284 1760 15576
160 402 3558 882 7806 1910 16904
80 745 6593 2110 18674 3720 32922
100 951 8416 2300 20355 4750 42038
65
120 951 8416 2510 22214 4750 42038
160 951 8416 2630 23276 4750 42038

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co 104 In-lb/
Nm In-lb
Size N lb N lb Nm/rad arc.min
14 5110 1149 7060 1587 27 239 3.0 77
20 10600 2383 17300 3889 145 1283 17 438
32 20500 4608 32800 7373 258 2283 42 1082
45 41600 9352 76000 17085 797 7054 100 2575
65 81600 18344 149000 33495 2156 19082 323 8317
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated loadis a static load that achieves a contact stress of a constant level (4kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 20 32 45 65
Symbol
A 60 90 120 170 230

B 21 27 35 53 57

C (ref.) 55 72 105.5 128 157

D 37 53 98 103 135

E 16 25 40 50 70
* The length and shape of the motor adapter flange will depend upon the
specific motor that is selected for use with the gearhead. Please contact
Harmonic Drive LLC for a detailed drawing.

Harmonic Drive LLC 62 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

 Quick Connect Gearhead for Servomotors
CSG-GH Series

CSG-GH Series
CSG-GH high-torque Quick Connect gearheads with zero backlash Harmonic Drive gearing are
available with high reduction ratios, 50:1 to 160:1.
Zero Backlash
Available in 5 Sizes
Peak torque 23Nm ~ 3419Nm
Ratios, 50:1 to 160:1
Repeatability as low as 4 arc-seconds
Accuracy <1 arc-min
High Efficiency
High load capacity output bearing
Motor size range 30W to 5,000W
30% higher rated torque, repeated peak torque & maximum
momentary torque than CSF series products of the same size L 10 L i f e : 1 0 , 0 0 0 h

CSG-GH Series Ratings

Harmonic Drive Gearhead

Item
Limit for Repeated
Gear Rated Torque at 2000rpm Limit for Momentary Torque
Peak Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb
50 7.0 62 23 204 46 407
14 80 10 89 30 266 61 540
100 10 89 36 319 70 620
50 33 292 73 646 127 1124
80 44 389 96 850 165 1460
20 100 52 460 107 947 191 1690
120 52 460 113 1000 191 1690
160 52 460 120 1062 191 1690
50 99 876 281 2487 497 4399
80 153 1354 395 3496 738 6532
32 100 178 1575 433 3832 812 7187
120 178 1575 459 4062 812 7187
160 178 1575 484 4284 812 7187
50 229 2027 650 5753 1235 10931
80 407 3602 918 8125 1651 14613
45 100 459 4062 982 8691 2033 17994
120 523 4629 1070 9470 2033 17994
160 523 4629 1147 10152 2033 17994
80 969 8576 2743 24278 4836 42802
100 1236 10940 2990 26464 5174 45794
65
120 1236 10940 3263 28880 5174 45794
160 1236 10940 3419 30261 5174 45794

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load Mc Moment Stiffness Km
Basic Dynamic Rated Load C Basic Static Rated Load Co 104 In-lb/
Nm In-lb
Size N lb N lb Nm/rad arc.min
14 5110 1149 7060 1587 27 239 3.0 77
20 10600 2383 17300 3889 145 1283 17 438
32 20500 4608 32800 7373 258 2283 42 1082
45 41600 9352 76000 17085 797 7054 100 2575
65 81600 18344 149000 33495 2156 19082 323 8317
Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.
Basic static rated loadis a static load that achieves a contact stress of a constant level (4kN/mm2) at the center of a contact zone between the
rolling element receiving a maximum load and track.

Dimensions Unit: mm
Size
14 20 32 45 65
Symbol
A 60 90 120 170 230

B 21 27 35 53 57

C (ref.) 55 72 105.5 128 157

D 37 53 98 103 135

E 16 25 40 50 70
* The length and shape of the motor adapter flange will depend upon the
specific motor that is selected for use with the gearhead. Please contact
Harmonic Drive LLC for a detailed drawing.

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 63 Harmonic Drive LLC

 Harmonic Planetary Gearhead
Quick Connect Coupling
HPG Series
HPG Series

Quick Connect gearhead for high performance servo motors. Reduction ratios 3:1 to 50:1.
Available with flange output, straight shaft (without key), straight shaft (with key) and center
tapped hole.
Low backlash: Less than 3 arc-min (less than 1 arc-min optional)
Ratios, 3:1 to 50:1
Quick Connect coupling
Peak torque 5Nm ~ 3200Nm
High moment capacity cross roller output bearing
High efficiency
Sealed structure
Motor size range 10W to 15,000W
L 10 L i f e : 2 0 , 0 0 0 h
Harmonic Planetary Gearhead

HPG Series Ratings

Max. Max.
Rated Torque at Repeated Rated Torque at Repeated
Gear Momentary Gear Monentary
Size 3000 rpm Peak Torque Size 3000 rpm Peak Torque
Ratio Peak Torque Ratio Peak Torque

Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb

5 2.5 22 7.8 69 20 177 3 31 274 225 1991 507 4487

9 2.5 22 3.9 35 20 177 5 66 584 300 2655 650 5753

11 21 3.4 30 9.8 87 20 177 11 88 779 300 2655 650 5753

37 3.4 30 9.8 87 20 177 32 15 92 814 300 2655 650 5753

45 3.4 30 9.8 87 20 177 21 98 867 300 2655 650 5753

3 2.9 26 15 133 37 327 33 108 956 300 2655 650 5753

5 5.9 52 23 204 56 496 45 108 956 300 2655 650 5753

11 7.8 69 23 204 56 496 3 97 858 657 5814 1850 16373

14 15 9.0 80 23 204 56 496 5 170 1505 850 7523 1850 16373

21 9 78 23 204 56 496 11 200 1770 850 7523 1850 16373

33 10 89 23 204 56 496 50 15 230 2036 850 7523 1850 16373

45 10 89 23 204 56 496 21 260 2301 850 7523 1850 16373

3 8.8 78 64 566 124 1097 33 270 2390 850 7523 1850 16373

5 16 142 100 885 217 1920 45 270 2390 850 7523 1850 16373

11 20 177 100 885 217 1920 4 500 4425 2200 19470 4500 39825

20 15 24 212 100 885 217 1920 5 530 4691 2200 19470 4500 39825

21 25 221 100 885 217 1920 12 600 5310 2200 19470 4500 39825

33 29 257 100 885 217 1920 15 730 6461 2200 19470 4500 39825
65
45 29 257 100 885 217 1920 20 800 7080 2200 19470 4500 39825

25 850 7523 2200 19470 4500 39825

40 640 5664 1900 16816 4500 39825

50 750 6638 2200 19472 4500 39825

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load MC Moment Stiffness Km

Basic Dynamic Rated Load C Basic Static Rated Load Co x104 In-lb/
Nm In-lb
Size N lb N lb Nm/rad arc-min

11 3116 700 4087 919 9.50 84 0.88 23

14 5110 1149 7060 1587 32.3 286 3.0 77

20 10600 2383 17300 3889 183 1620 16.8 433

32 20600 4631 32800 7373 452 4000 42.1 1084

50 41600 9352 76000 17085 1076 9523 100 2575

65 90600 20367 14800 33270 3900 34515 364 9373

Dimensions Unit: mm
Size *The length and shape of
11 14 20 32 50 65
Symbol the motor adapter flange will
A 40 60 90 120 170 230 depend upon the specific
motor that is selected for use
B 15 21 27 35 53 57 with the gearhead. Please
C (ref.) 30.5 64 71 104 123 184.5 contact Harmonic Drive LLC
for a detailed drawing.
D 27 37 53 98 103 -
--- Size 65Shaft is available
E 8 16 25 40 50 - as special request. ---

Harmonic Drive LLC 64 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Harmonic Planetary Gearhead with helical gearing
Quick Connect Coupling
HPG Helical Series

HPG Helical Series

Quick Connect gearhead for high performance servo motors. Reduction ratios 3:1 to 10:1.
Available with flange output, straight shaft (without key), straight shaft (with key) and center
tapped hole.
Helical Gearing
Available in four Frame Sizes
Peak Torque: 5Nm to 400Nm
Ratios: 3,4,5,6,7,8,9 and 10:1
High Efficiency
Backlash <3 arc-min (<1arc-min available as an option)
Repeatability 20 arc-sec
High load capacity Cross Roller output bearing
Quick Connect coupling for easy mounting of any motor
L 10 L i f e : 2 0 , 0 0 0 h

Harmonic Planetary Gearhead

HPG Helical Series Ratings
Max. Max.
Rated Torque at Repeated Rated Torque at Repeated
Momentary Monentary
Gear 3000 rpm Peak Torque Gear 3000 rpm Peak Torque
Size Peak Torque Size Peak Torque
Ratio Ratio
Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb

4 2.8 25 10 89 20 177 3 11 97 90 797 124 1097

5 2.9 26 10 89 20 177 4 23 203 133 1177 217 1921

6 2.9 26 10 89 20 177 5 23 203 133 1177 217 1921

11 7 3.1 27 9 80 20 177 6 23 203 126 1115 217 1921

20
8 3.1 27 7 62 20 177 7 25 221 108 956 217 1921

9 3.1 27 6 53 20 177 8 25 221 84 743 217 1921

10 3.4 30 5 44 20 177 9 25 221 73 646 217 1921

3 4.0 35 20 177 37 327 10 27 239 65 575 217 1921

4 7.0 62 30 266 56 496 3 50 443 290 2567 507 4487

5 7.2 64 30 266 56 496 4 77 682 400 3540 650 5753

6 7.3 65 30 266 56 496 5 80 708 400 3540 650 5753

14
7 7.8 69 26 266 56 496 6 80 708 390 3452 650 5753
32
8 7.8 69 20 177 56 496 7 85 867 330 2921 650 5753

9 7.9 70 17 150 56 496 8 85 752 260 2301 650 5753

10 8.5 75 15 133 56 496 9 86 752 220 1947 650 5753

10 92 814 200 1770 650 5753

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load MC Moment Stiffness Km

Basic Dynamic Rated Load C Basic Static Rated Load Co

x104 In-lb/
Nm In-lb
N N Nm/rad arc-min
Size lb lb

11 3116 700 4087 919 9.50 84 0.88 23

14 5110 1149 7060 1587 32.3 286 3.0 77

20 10600 2383 17300 3889 183 1620 16.8 433

32 20600 4631 32800 7373 452 4000 42.1 1084

Dimensions Unit: mm
Size *The length and shape of
11 14 20 32 the motor adapter flange will
Symbol
depend upon the specific
A 40 60 90 120
motor that is selected for use
B 15 21 27 35 with the gearhead. Please
contact Harmonic Drive LLC
C (ref.) 30.5 64 71 104 for a detailed drawing.
D 27 37 53 98

E 8 16 25 40

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 65 Harmonic Drive LLC

 Harmonic Planetary Gearhead
Quick Connect Coupling
HPGP Series

HPGP Series
High torque Quick Connect gearhead for high performance servo motors. Reduction
ratios 3:1 to 50:1. Available with flange output, Straight shaft (without key), Straight shaft
(with key) and center tapped hole.
Peak torque 12Nm ~ 3940Nm
High precision
Backlash <1 arc-min is available (size #14-65) (Standard backlash specification is
< 3 arc-min)
Cross roller bearing for high load capacity and moment stiffness
Quick Connect coupling
Ratios, Single Stage: 4:1 to 5:1, Two Stage: 11:1 to 45:1
Motor size range 10W to 15,000W
L 10 L i f e : 2 0 , 0 0 0 h
Harmonic Planetary Gearhead

HPGP Series Ratings

Item Limit for Limit for Item Limit for Limit for
Rated Torque Rated Torque
Gear Repeated Momentary Gear Repeated Momentary
at 2000rpm Torque
at 2000rpm Torque
Ratio Peak Torque Ratio Peak Torque
Size Nm In-lb Nm In-lb Nm In-lb Size Nm In-lb Nm In-lb Nm In-lb
5 3.4 30 10 89 5 87 770
21 11 104 920
11 20 177
37 4.6 41 13 115 15 122 1080
32 400 3540 650 5753
45 21 130 1151
5 7.8 69 33 143 1266
11 10 89 45 143 1266
15 12 106 5 226 2000
14 30 266 56 496
21 12 106 11 266 2354
33 13 115 15 306 2708
50 1130 10001 1850 16374
45 13 115 21 346 3062
5 21 186 33 359 3177
11 26 230 45 359 3177
15 32 283 4 665 5886
20 133 1177 217 1921
21 33 292 5 705 6240
33 39 345 12 798 7063
65 2920 25844 4500 39828
45 39 345 15 971 8594
20 1060 9382
25 1130 10001

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load MC Moment Stiffness Km

Basic Dynamic Rated Load C Basic Static Rated Load Co

x104 In-lb/
Nm In-lb
N N Nm/rad arc-min
Size lb lb

11 3116 700 4087 919 9.50 84 0.88 23

14 5110 1149 7060 1587 32.3 286 3.0 77

20 10600 2383 17300 3889 183 1620 16.8 433

32 20600 4631 32800 7373 452 4000 42.1 1084

50 41600 9352 76000 17085 1076 9523 100 2575

65 90600 20367 148000 33270 3900 34515 364 9373

Dimensions Unit: mm
Size *The length and shape of
11 14 20 32 50 65 the motor adapter flange will
Symbol
depend upon the specific
A 40 60 90 120 170 230
motor that is selected for use
B 15 21 27 35 53 57 with the gearhead. Please
contact Harmonic Drive LLC
C (ref.) 30.5 64 71 104 123 184.5 for a detailed drawing.
D 27 37 53 98 103 - ---- Size 65Shaft is available
as special request. ---
E 10 16 25 40 50 -

Harmonic Drive LLC 66 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Right Angle Harmonic Planetary Gearhead
Quick Connect Coupling

HPG RA Series
HPG RA Series
Right angle, high precision, Harmonic Planetary gearhead with low backlash.
High precision Planetary gearhead
Low backlash: Less than 3 arc-min (less than 1 arc-min optional)
Quick Connect coupling
High torque capacity
High moment capacity cross roller output bearing
Right angle configuration allows for use in limited space

L 10 L i f e : 2 0 , 0 0 0 h

Harmonic Planetary Gearhead

HPG RA Series Ratings
Max. Average Limit for Repeated Max. Momentary
Rated Torque
Size Ratio Load Torque Peak Torque Torque

Nm In-lb Nm In-lb Nm In-lb Nm In-lb

5 66 584 150 1328 150 1328

11 88 779 170 1505

32 650 5753
15 92 814 170 1505 300 2655

21 98 867 170 1505

5 170 1505 340 3009 400 3540

11 200 1770 400 3540

15 230 2036 450 3983

50 1850 16373
21 260 2301 500 4425 850 7523

33 270 2390 500 4425

45 270 2390 500 4425

5 400 3540 400 3540 400 3540

12 600 5310 960 8496 960 8496

65 15 730 6461 1200 10620 1200 10620 4500 39825

20 800 7080 1500 13275 1600 14160

25 850 7523 1500 13275 2000 17700

Cross Roller Bearing Specification

Item Basic Rated Load Allowable Moment Load MC Moment Stiffness Km

Basic Dynamic Rated Load C Basic Static Rated Load Co x104 In-lb/
Nm In-lb
Size N lb N lb Nm/rad arc-min

32 20500 4608 32800 7373 452 4000 42.1 1084

50 41600 9352 76000 17085 1076 9523 100 2575

65 90600 20367 148000 33270 3900 34515 364 9373

Dimensions Unit: mm
Size A B C D E* F G

32 120 115H7 35 107 140/175 175/197/217 130/180/220

50 170 165H7 53 144 168/200 209/234/254 130/180/220

65 230 220H8 57 226 168/200 291/316/336 130/180/220

* Left side description: The limited length of the Motor shaft is 81mm.
Right side description: The limited length of the Motor shaft is 116mm.

Note:
Dimensions F & G depend on the chosen Motor flange square size.
Contact Harmonic Drive LLC for special flange motor combination.

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 67 Harmonic Drive LLC

 Harmonic Planetary Gearhead
HPN Series Quick Connect Coupling
HPN Series
HPN value series planetary gearheads feature a robust design utilizing helical gears for
quiet performance and long life. These gearheads are available with short lead times
and are designed to couple to any servo motor with our Quick Connect coupling.
Peak torque 9Nm to 752Nm
Compact design
High precision
Backlash <5 arc-min (One stage) , < 7 arc-min (Two stage)
Quick Connect coupling
Reduction ratios between 3:1 and 31:1
Helical gears for quiet performance
Motor size range 30W to 7500W
Quick delivery L 50 L i f e : 2 0 , 0 0 0 h
Harmonic Planetary Gearhead

HPN Series Ratings

Repeated Momentary Repeated Momentary
Number Rated Torque Number Rated Torque
Gear Peak Torque Peak Torque Gear Peak Torque Peak Torque
Size Size
of Stages Ratio of Stages Ratio
Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb Nm In-lb

4 14 124 14 124 40 354 3 153 1354 254 2248 625 5532

5 14 124 16 142 40 354 4 198 1752 376 3328 625 5532
1
7 11 97 11 97 40 354 1 5 200 1770 376 3328 625 5532
11 10 9 80 9 80 40 354
7 200 1770 376 3328 625 5532
32
16 18 159 24 212 40 354
10 185 1637 185 1637 625 5532
2 20 22 195 24 212 40 354
13 200 1770 376 3328 625 5532
30 25 221 26 230 40 354
2 21 200 1770 376 3328 625 5532
3 22 195 25 221 89 788
31 200 1770 376 3328 625 5532
4 28 248 50 443 110 974
3 440 3894 752 6656 1137 10063
1 5 29 257 50 443 107 947
4 460 4071 752 6656 1265 11196
7 30 266 37 327 100 885
14 1 5 480 4248 752 6656 1265 11196
10 18 159 18 159 79 699

13 30 266 43 381 106 938

7 510 4514 752 6656 829 7337
40
2 21 30 266 50 443 99 876 10 480 4248 509 4505 829 7337

31 30 266 38 336 101 894 13 530 4691 752 6656 823 7284

3 51 451 74 655 226 2000 2 21 620 5487 752 6656 1029 9107

4 80 708 130 1151 256 2266 31 700 6196 752 6656 1097 9709
1 5 80 708 149 1319 256 2266

7 80 708 113 1000 256 2266

20
10 54 478 54 478 216 1912

13 80 708 130 1151 256 2266

2 21 80 708 147 1301 256 2266

31 80 708 113 1000 256 2266

Dimensions Unit: mm
Size
11A 14A 30A 32A 40A
Symbol
A (mm) 42 60 90 115 142

One Stage 93.5 117 160-184.5 200-264.5 282.5-328.5

B (mm) 217.5-
Two Stage 113 142 175-206.2 327-348
246.5
Dimensions depend upon the motor selected. Dimensions shown in the table are a typical range for reference
only. Contact HDLLC for detailed dimensions of the gear used for your motor.

Harmonic Drive LLC 68 w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2

Hollow Shaft Planetary Gear
HPF Series

HPF Series
Hollow shaft planetary gear with output flange. The flange is integrated with a robust
cross-roller bearing which can support high axial, radial and moment loads without
the need for additional support bearings.
Hollow Shaft Structure
Coaxial input and output shafts
Cross Roller Output Bearing

Backlash < 3 arc-min
The precision HPF planetary gear is also available in our SHA Series Hollow Shaft

Harmonic Planetary Hollow Shaft Gear

Brushless Actuators as a standard product

L 10 Life: 20,000h

HPF Series Ratings

Item Limit for Repeated Limit for
Rated Torque
Peak Torque Momentary Torque
Ratio
Size Nm In-lb Nm In-lb Nm In-lb

25 11 21 186 100 885 170 1505

32 11 44 389 220 1947 450 3983

Cross Roller Bearing Specification

Item
Basic Rated Load
Allowable Moment
Moment Stiffness Km
Load Mc
Size Basic Dynamic Rated Load C Basic Static Rated Load Co

N lb N lb Nm In-lb x104Nm/rad In-lb/arc.min

25 11400 2563 20300 4564 410 3629 37.9 335

32 22500 5058 39900 8970 932 8249 86.1 762

**1: Basic dynamic rated load is a constant stationary radial load that achieves a basic dynamic rated life of the bearing of one million revolutions.

*2: Basic static rated load is a static load that achieves a contact stress of a constant level (408kN/mm2)
at the center of a contact zone between the rolling element receiving a maximum load and track.

Unit: mm
Size Output (Low-speed side)
25 32 Input (High-speed side)
Symbol
A 136 167 Item

B 105.1 125.5
Hollow Shaft ID

C 25 30
A C

w w w. H a r m o n i c D r i v e . n e t 8 0 0 - 9 2 1 - 3 3 3 2 69 Harmonic Drive LLC

Applications

Robots
Industrial robots Primary axis
FHA-Mini CSG
Robot peripheral equipment End effectors
FHA-C CSD
Linear axis
RSF CSF
Indexing table
Peripheral equipment SHG
Micro
Encoder SHF
SHD
HPG

Humanoid Robots
Humanoid Robots Joint articulation
FHA-Mini CSG
Robotic hand
FHA-C CSD
Vision sensor positioning
Torque sensing RSF-Supermini CSF
RSF-Mini SHG
SHF
Micro
Encoder SHD
HPG

Metal Machine Tools

Machining centers Tool changer
FHA-C
Turning centers Tool magazine
NC lathes RSF
Work positioning equipment
Work transfer systems Rotary table LAH
Grinders C Axis CSG
EDM systems CSF
SHG
SHF
HPG

Metal Working Machines

Bending machines Bending axis
FHA-C
Rolling machines Work positioning
Presses Work transfer
RSF
Work transfer systems LSA
SHG
SHF
HPG

Printing, Bookbinding and Paper Processing Machines

Printing presses Web tension control

FHA-C
Folding machines Cutting blade positioning
Phase adjusting RSF
Paper changing machines
Paper positioning machines Roller height adjustment CSG
Paper machines CSF
SHG
SHF
FB
FR
FD
HPG
Semiconductor Manufacturing Systems
Mask and reticle Wafer transfer robots
manufacturing FHA-Cmini Micro
Positioning drive Encoder
Wafer fabrication equipment FHA-C
Indexing tables
Wafer processing equipment Wafer flipper RSF CSF
Test & Assembly equipment Valve opening/closing RSF-Supermini SHD
Inspection equipment KDU SHF
Wafer transfer equipment RH HPG
LA
LAH

Measurement, Analytical and Test Systems

Photometric equipment Transfer systems
Three-dimensional Positioning drive FHA-C mini CSF
measuring instruments Prism positioning drive RSF SHF
Metal tensile test machines Indexing tables RSF-Supermini
Soil-column yield strength Direct transmission tables KDU
test machines
RH
LSA

Micro
Encoder

Medical Equipment
Three-dimensional manipulators Precision joint drive
X-ray photographing and CT-NMR Bed lifting and inclination drive FHA-Cmini
systems Positioning table drive FHA-C
X-ray film developing and take-off
RSF
machines
Surgical operation assistant robots RH
CSF
SHF

Optical Machines
X-ray analytical systems Positioning table drive
FHA-Cmini
Optical component inspection Lens positioning drive
systems RSF
Laser mirror drive
Laser oscillation machines Prism drive RSF-Supermini
Optical measuring instruments Probe drive KDU
Surface inspection systems Sensor positioning drive RH
Optical disc manufacturing systems
LSA
Laser markers
Micro
Encoder

CSF
SHF

Telescopes
Condenser mirror adjusting X, Y, Z axis drive
mechanisms FHA-Cmini
Indirect drive
Electromagnetic wave micrometer mechanisms RSF-Supermini
adjusting mechanisms RSF
Secondary mirror position control KDU
Robot arms for maintenance
LA
servicing
LAH
LBC
CSF
SHF
HPG
Applications

Wood, Light Metal and Plastic Machine Tools

Woodworking machines Milling head drive
FHA-Cmini
5-shaft machining centers Tool revolver drive
Large 3-dimension
FHA-C
Tool changer drive
processing machines Tool magazine drive
RSF
Work transfer systems Work positioning machines RSF-Supermini
Rotary table drive LAH
Tool positioning machine drive CSG
Direct transmission shaft drive CSF
Shaft drive SHG
SHF
HPG

Energy

Oil exploration robot Digging angle positioning drive

FHA-C
Wind power equipment Propeller angle positioning drive
CSF
Electric power equipment Condensing board positioning drive
FR
Photovoltaics

Paper-making Machines
Paper-making machines Coating-process roller
positioning drive RSF
Corrugated fiberboard box
making and printing machines Head box slice lip positioning FHA-C
Cutter knife positioning RH
Cutter knife traveling drive
CSF
SHF
HPG

Crating and Packaging Machines

Sealing machines Shaft synchronizing drive

FHA-C HPG
Label printing machines Roll synchronizing drive
RSF
Label attaching machines Joint drive
Trolley drive
RH
Robots
CSF
Work transfer systems
SHF
FB
FR
FD

Flat Panel Display Manufacturing Systems

Array process equipment Transfer systems
FHA-Cmini CSF
Cell process equipment Parts positioning drive
FHA-C SHF
Assembly process Indexing tables
equipment RSF SHD
Direct transmission tables
Work transfer systems Work reversing machines RSF-Supermini HPG
Tension controllers KDU
Hatch opening/closing drive RH
Joint drive LA
Trolley drive LAH
Communication Equipment
Antennas Pan & Tilt drives
FHA-C mini
Microphones Prism drive Micro
FHA-C Encoder
Cameras
RSF
Wavelength duplexers
Radars RSF-Supermini
RH
LA
LSA
HPG

Printed Circuit Board Manufacturing Machines

Electronic component Drilling head drive
FHA-C mini
insertion machines Tool changer drive
FHA-C
Solder paste dispensing Tool magazine drive
RSF
machines Work positioning machines
Board inspection systems Rotary table drive RSF-Supermini
Transfer systems Tool positioning machine drive LAH
Shaft drive CSG
CSF
SHG
SHF
HPG

Space

Communication Pan & Tilt drive

CSF
Antennas Joint drive
Solar Array Drives SHF
Wheel drive
Robotic joints SHD
Robotic arms

Aircraft
Flight simulators Valve actuator
FHA-Cmini
Cargo handling and transfer Trolley drive
systems FHA-C
Cargo wheel power
Reconnaissance cameras drive unit RSF
Valves Fly-by-Wire Components RSF-Supermini
RH
CSF
HPG

Glass and Ceramic Manufacturing Systems

Ceramic forming machines Valve opening and closing
FHA-Cmini
Glass polishing machines Valve positioning
FHA-C
Sheet glass cutting machines Traveling trolley drive
RSF
LSA
CSF
SHF
HPG
Primary Application Areas

Robots
Humanoid Robots

Printing, Bookbinding
and Paper

Semiconductor Manufacturing
Equipment

Optical Machines

Wood, Light Metal and Plastic

Machine Tools

Paper-making Machines

Flat Panel Display

Manufacturing Systems

Printed Circuit Board

Manufacturing Machines

Aircraft
Metal Working Machine

Processing Machines

Measurement, Analytical
and Test Systems

Medical Equipment

Telescopes

Energy

Packaging Machines

Communication
Equipment

Space Flight

Glass and Ceramic

Manufacturing Systems

All products are warranteed to be free from design or manufacturing defects for a period of one year from the date of shipment. Such items will be repaired or replaced at
the direction of Harmonic Drive LLC. The seller makes no warranty, express or implied, concerning the material to be furnished other than it shall be of the quality and
specifications stated. The sellers liability for any breach is limited to the purchase price of the product. All efforts have been made to assure that the information in this
catalog is complete and accurate. However, Harmonic Drive LLC is not liable for any errors, omissions or inaccuracies in the reported data. Harmonic Drive LLC reserves
the right to change the product specifications, for any reason, without prior notice. For complete details please refer to our current Terms and Conditions posted on our
website.
Harmonic Drive LLC
Boston US Headquarters Group Companies
247 Lynnfield Street Harmonic Drive Systems, Inc.
Peabody, MA 01960 6-25-3 Minami-Ohi, Shinagawa-ku
Tokyo 141-0013, Japan
New York Sales Office
100 Motor Parkway Harmonic Drive AG
Suite 116 Hoenbergstrasse, 14, D-6555
Hauppauge, NY 11788 Limburg/Lahn Germany

California Sales Office

333 W. San Carlos Street
Suite 1070
San Jose, CA 95110

Chicago Sales Office

137 N. Oak Park Ave., Suite 410
Oak Park, IL 60301

T: 800.921.3332
T: 978.532.1800
F: 978.532.9406
TM
www.HarmonicDrive.net
Harmonic Drive, Harmonic Planetary and
Infinit-Indexer are registered trademarks,
and Quick Connect is a trademark of
Harmonic Drive LLC. Rev 20161031