Harmonic Drive

The ultra-flat CSD precision gears are available in seven sizes, with ratios 50:1 to 100:1, designed for high precision applications like robotics in tight spaces.

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Rated Torque L10	3.7 Nm
Limit for Repeated Peak Torque	12 Nm
Limit for Momentary Peak Torque	24 Nm
Backdriving Torque	2.5 Nm
Standard Accuracy	1.5 arc min
Mass	0.06 kg
K1 Torsional Stiffness	0.29 10^4 Nm / rad
K2 Torsional Stiffness	0.37 10^4 Nm / rad
K3 Torsional Stiffness	0.47 10^4 Nm / rad

The CSD-2UF is a zero-backlash gear unit available in 6 sizes with ratios from 50:1 to 100:1, offering peak torques from 12 to 450 Nm.

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Rated Torque L10	3.7 Nm
Limit for Repeated Peak Torque	12 Nm
Limit for Momentary Peak Torque	24 Nm
Backdriving Torque	2.5 Nm
Standard Accuracy	1.5 arc min
Mass	0.5 kg
K1 Torsional Stiffness	0.29 10^4 Nm / rad
K2 Torsional Stiffness	0.37 10^4 Nm / rad
K3 Torsional Stiffness	0.47 10^4 Nm / rad
Output Moment Stiffness (Km)	12.8 10^4 Nm / rad

This housed gear is compact and ultra-flat, available in 7 sizes with ratios from 50:1 to 100:1, offering zero backlash and high load capacity.

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Reduction ratios	30:1 to 160:1
Rated Torque L10	3.7 Nm to 329 Nm
Limit for Repeated Peak Torque	12 Nm to 686 Nm
Limit for Momentary Peak Torque	24 Nm to 1,440 Nm
Backdriving Torque	2.5 Nm to 67 Nm
Standard Accuracy	1.5 arc min to 1 arc min
Mass	0.35 kg to 6.9 kg
K1 Torsional Stiffness	0.29 10^4 Nm / rad to 21 10^4 Nm / rad
K2 Torsional Stiffness	0.37 10^4 Nm / rad to 29 10^4 Nm / rad
K3 Torsional Stiffness	0.47 10^4 Nm / rad to 37 10^4 Nm / rad
Output Moment Stiffness (Km)	4.38 10^4 Nm / rad to 171 10^4 Nm / rad

The CSF 1U-CC mini gearheads are designed for motor mounting with an adapter plate, offering shaft or flange output and zero backlash.

1 5

Zero backlash	Yes
High positioning accuracy	± 1.5 to 10 arc-min
Diameter	⌀13 mm~52 mm
Mass	11.4 g~335 g
Tooth profile	S

The CSF-1U-CC-F Miniature Gear Units offer zero backlash and high positioning accuracy in a very compact package, ideal for demanding space applications.

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Zero backlash	Yes
High positioning accuracy	± 1.5 to 10 arc-min
Diameter	⌀21 mm~52 mm
Mass	25 g~295 g
Tooth profile	S
Rated Torque at input speed 2000rpm	0.25 Nm
Limit for Momentary Peak Torque	0.5 Nm
Limit for Repeated Peak Torque	0.38 Nm
Limit for Average Torque	0.9 Nm
Maximum Input Speed	10000 rpm
Limit for Average Input Speed	6500 rpm
Moment of Inertia	2.5×10-4 kgcm2
Positional accuracy	1.20 ×10-3rad
Hysteresis	8.7 ×10-4rad
Max. backlash	28.6 ×10-5rad
Starting torque	0.53 Ncm
Backdriving torque	0.29 Nm
Ratcheting torque	2.7 Nm
Buckling torque	9.8 Nm
Output bearing pitch circle	13.5 mm
Output bearing offset	4.85 mm
Output bearing basic dynamic rated load	9.14 ×102 N
Output bearing basic static rated load	7.63 ×102 N

The CSF-1U-F Miniature Gear Unit is a compact gearhead from Harmonic Drive, featuring a flange output and shaft input, available in four sizes with reduction ratios from 30:1 to 100:1.

1 4

Outline Dimensions	20 mm~51 mm
Reduction ratios	30:1~100:1
Peak Torque	0.13~28 Nm
Mass	35 g

The Harmonic Drive® CSF component set is compact and can be directly integrated into your machinery/equipment, available in a variety of sizes and ratios.

1 9

Rated Torque L10	0.9 Nm
Limit for Repeated Peak Torque	1.8 Nm
Limit for Momentary Peak Torque	3.3 Nm
Backdriving Torque	0.65 Nm
Standard Accuracy	2 arc min
Mass	0.02 kg
K1 Torsional Stiffness	0.03 10^4 Nm / rad
K2 Torsional Stiffness	0.04 10^4 Nm / rad
K3 Torsional Stiffness	0.05 10^4 Nm / rad

The CSF-2UH-LW Gear Unit is a lightweight gearhead ideal for applications where weight is a critical factor, offering exceptional accuracy and repeatability in a compact and robust design.

1 6

Zero Backlash	Yes
Weight Reduction	30% average lower than Standard Series
Peak Torque	9 Nm to 2600 Nm
Reduction Ratios	30:1 to 160:1
Accuracy	High
Output Bearing	High load capacity

These new gear units have an ultra-flat configuration with high-moment stiffness, ideal for applications requiring smaller, space-saving components.

1

The CSF-2UP gear units are the newest models in the CSF mini-series lineup, featuring an ultra-flat configuration with high-moment stiffness.

1 10

Ratios	30:1 to 100:1
CSF-8-30-2UP Mass	0.2 kg
CSF-8-50-2UP Mass	0.2 kg
CSF-8-100-2UP Mass	0.2 kg
CSF-11-30-2UP Mass	0.33 kg
CSF-11-50-2UP Mass	0.33 kg
CSF-11-100-2UP Mass	0.33 kg
CSF-14-30-2UP Mass	0.62 kg
CSF-14-50-2UP Mass	0.62 kg
CSF-14-100-2UP Mass	0.62 kg

The CSF-2XH miniature gearheads are designed to couple directly to any servomotor, offering zero backlash and high positioning accuracy in a compact package.

1 21

Gear Ratios	30:1 to 100:1
Peak Torque	0.5~28 Nm
Positioning Accuracy	± 1.5 to 10 arc-min
Diameter	22 mm~53 mm
Output	Flange (F) or Shaft (J)
Series	CSF
Model	2XH-J
Lubricant Gear	Harmonic Grease SK-2
Lubricant Output bearing	Multemp HL-D
Lubricant Manufacturer Gear	Harmonic Drive Systems
Lubricant Manufacturer Output bearing	Kyodo Yushi
Lubricant Base oil Gear	Refined oil
Lubricant Base oil Output bearing	Composite hydrocarbon oil
Lubricant Base Viscosity Gear	295 cSt (25oC)
Lubricant Base Viscosity Output bearing	280 cSt (25oC)
Lubricant Thickening agent Gear	Lithium soap
Lubricant Thickening agent Output bearing	Lithium soap
Lubricant Drop point Gear	198oC
Lubricant Drop point Output bearing	210oC
Lubricant Appearance Gear	Green
Lubricant Appearance Output bearing	White

This miniature gearhead features a flange output, designed for direct coupling to high-performance small servomotors.

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Series	CSF
Size	8
Ratio	30
Type	1U-CC-F
Rated Torque L10	0.9 Nm
Limit for Average Torque	1.4 Nm
Limit for Repeated Peak Torque	1.8 Nm
Limit for Momentary Peak Torque	3.3 Nm
Starting Torque	1.3 Ncm
Backdriving Torque	0.7 Nm
Ave. Input Speed	3,500 rpm
Standard Accuracy	2 arc min

Zero-backlash CSF-GH Harmonic Drive® gearheads are available with reduction ratios from 50:1 to 160:1, utilizing a proprietary S tooth profile for high torque and accuracy.

1 6

Peak Torque	18 Nm to 2,630 Nm
Ratios	50:1 to 160:1
Accuracy	<1 arc-min
Repeatability	±4 to ±10 arc-sec
Available Sizes	5
Output Bearing	Cross Roller

Harmonic Drive® CSG Series gearing component sets are second generation cup-type component sets, ideal for high torque applications.

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Peak Torque	23 Nm to 3419 Nm
Zero Backlash	Yes
High Accuracy	Yes
High load capacity output bearing	Yes
Lightweight versions also available	Yes
Rated Torque at 2000rpm	87 Nm
Limit for Repeated Peak Torque	204 Nm
Limit for Average Torque	140 Nm
Limit for Momentary Peak Torque	369 Nm
Maximum Input Speed (Oil)	7500 rpm
Maximum Input Speed (Grease)	5600 rpm
Limit for Average Input Speed (Oil)	5600 rpm
Limit for Average Input Speed (Grease)	3500 rpm
Moment of Inertia (I)	0.413 ×10−4kgm2
Moment of Inertia (J)	0.421 ×10−5kgfms2

The CSG-2UH is a high torque housed component gear set combined with a precision cross roller output bearing & flange, offering a compact, robust, and easy-to-use gearhead solution.

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Peak Torque	23 Nm to 3419 Nm
Accuracy	<1 arc-min
Reduction ratios	30:1 to 160:1
Rated Torque L10	7 Nm to 1236 Nm
Limit for Repeated Peak Torque	23 Nm to 3419 Nm
Limit for Momentary Peak Torque	46 Nm to 6175 Nm
Backdriving Torque	1.8 Nm to 198 Nm
Standard Accuracy	1.5 arc min to 1 arc min
Mass	0.52 kg to 20.9 kg
Output Moment Stiffness (Km)	4.38 10^4 Nm / rad to 404 10^4 Nm / rad

A lightweight, high-torque gear unit with zero backlash, ideal for applications where weight is a critical factor.

1 5

Peak Torque	23 Nm to 3419 Nm
Reduction ratios	30:1 to 160:1
Standard Accuracy	1 arc min
Series	CSG
Model	2UH-LW

Harmonic Drive® CSG-GH gearheads offer zero-backlash, 30% higher torque, and 42% longer life than standard models, featuring a proprietary S tooth profile and Quick Connect® coupling for easy servo motor mounting.

1 16

Peak Torque	23 Nm to 3,419 Nm
Ratios	50:1 to 160:1
Accuracy	<1 arc-min
Repeatability	±4 to ±10 arc-sec
Frame Sizes	5
Mass	1.8 kg
Rated Torque at 2000 rpm	33 Nm
Rated Torque at 3000 rpm	29 Nm
Momentary Peak Torque	44 Nm
Max. Average Input Speed	3500 rpm
Max. Input Speed	6500 rpm
Ratcheting Torque	280 Nm
Buckling Torque	800 Nm
Starting torque	14 Ncm
Backdriving torque	8 Nm
No-load running torque	11 Ncm

The DDP Servo Drive is a compact and versatile DC digital servo drive designed for precise motion control in various applications, including those requiring incremental encoder feedback.

1 7

Supply Voltage (DDP-090-09)	DC24V
Supply Voltage (DDP-090-18, DDP-090-36)	DC48 to 90 V
Control Modes	Indexer, Point-to-Point, PVT, Camming, Gearing, Position, Velocity, Torque
Command Interface	CANopen/DeviceNet, ASCII and discrete I/O, Stepper commands, ±10 V position/velocity/torque command, PWM velocity/torque command, Master encoder
Communications	CANopen/DeviceNet, RS-232
I/O – Digital	12 inputs, 3 outputs
Dimensions	168 x 99 x 31 mm [6.6 x 3.9 x 1.2 in]

Harmonic Drive offers reliable direct drive and hollow shaft motor options to support manufacturing processes in numerous industries, including robotics, medical devices, automotive, and aerospace.

3 4

Positioning accuracy	10 arc-sec
Repeatability	±0.5 arc-sec
Resolution	0.16 arc-sec
Frame sizes	5

The FB-2 Component Gear Set offers high ratio, in-line mechanical power transmissions in extremely compact configurations, making it easier to use than conventional gearing.

1 14

Mass	0.1 kg
Gear Backlash	< 3 arc min
Rated torque at 2000rpm (oil lubricant)	14 Nm
Rated torque at 2000rpm (grease lubricant)	18 Nm
Max. Repeated Peak Torque (oil lubricant)	18 Nm
Max. Repeated Peak Torque (grease lubricant)	18 Nm
Max. Load Torque	34 Nm
Max. Momentary input Torque	3.5 kgfm
Max. rotational speed	2000 rpm
Max. Input Speed (Limit for Average Input Speed)	6000 rpm
Moment of Inertia (I)	0.135 x10−4kgm2
Moment of Inertia (J)	0.138 x10−5kgfms2
Lost motion	40.0 arc min
Spring constant	0.35 kgfm/arc min

The FB-32-157-2-GR is a flat component set from Harmonic Drive, consisting of a wave generator, flexspline, circular spline, and dynamic spline, designed for precise motion control.

3 7

Rated Torque L10	82 Nm
Limit for Average Torque	118 Nm
Limit for Repeated Peak Torque	157 Nm
Limit for Momentary Peak Torque	235 Nm
Ave. Input Speed	2,300 rpm
Gear Backlash	< 3 arc min
Mass	1 kg

FBB gear sets allow easy and direct phasing of rotating elements and are ideally suited for web presses and other machines requiring constant monitoring and adjustment while they are in motion.

1 11

Maximum Input RPM (Oil)	6000
Maximum Input RPM (Grease)	3500
Rated Torque @1750 RPM (lb-in)	246 - 3180
Rated Torque @1750 RPM (Nm)	28 - 359
Maximum Output Torque (lb-in)	250 - 5800
Maximum Output Torque (Nm)	28 - 655
No Load Starting Torque (in-oz)	4.5 - 50
No Load Starting Torque (Ncm)	3.2 - 35.3
Input Inertia (lb in2)	0.05 - 3.39
Input Inertia (kgcm2)	0.14 - 9.91
Weight (lb/kgf)	1.5/0.7 - 15.30/6.9

The FD series is an extremely compact differential unit that allows you to fine-tune the phase and timing during operation.

1 8

Mass(kg) 20	2.0
Mass(kg) 25	2.6
Mass(kg) 32	5.0
Mass(kg) 40	8.3
Mass(kg) 50	17
Mass(kg) 65	34
Mass(kg) 80	59
Mass(kg) 100	118

The FD series is an extremely compact differential unit that allows you to fine-tune the phase and timing during operation.

1 8

Mass (Size 20)	0.6 kg
Mass (Size 25)	1.0 kg
Mass (Size 32)	2.0 kg
Mass (Size 40)	3.6 kg
Mass (Size 50)	7.2 kg
Mass (Size 65)	14 kg
Mass (Size 80)	26 kg
Mass (Size 100)	48 kg

Super-flat hollow shaft actuators with high torque, high positioning accuracy and high torsional stiffness, ideal for various space applications.

1 2

Peak torque	39~820 Nm
Max speed	22~96 rpm

The FHA-C Lightweight Mini is a compact, flat-profile actuator designed for applications where every gram and every millimeter matter.

1

The FHA-C mini Series is a family of extremely compact actuators that deliver high torque with exceptional accuracy and repeatability, now available with an integrated servo drive utilizing CANopen® communication.

2 7

Supply Voltage Range	24VDC Nominal +7 to 28VDC
Output Sensing Encoder Resolution	14bit (16384 cpr)
Input Sensing Encoder Resolution	15bit (32768 cpr)
Safety Standard	EN60034-1:2010, EN60034-5
One-way Positioning Accuracy (FHA-8C)	150 arc-sec
Allowable Moment Load (FHA-8C)	15 Nm
Mass (FHA-8C)	0.41 kg

The FHA-C Mini Series is a family of extremely compact Actuators that deliver high torque with exceptional accuracy and repeatability, combining a high precision Harmonic Drive® gear component with a pancake brushless servo motor.

1 9

Maximum Torque (FHA-14C, 100)	28 N.m
Maximum Speed	200 rpm
Positioning Accuracy	90 arc-sec
Maximum Moment Load (FHA-14C)	75 Nm
Moment Stiffness (FHA-14C)	8 x 10^4 Nm/rad
Encoder Type	Incremental, Absolute, Dual Absolute
Mass (FHA-14C Incremental)	1.2 kg
Mass (FHA-14C Absolute)	1.3 kg
Mass (FHA-14C Dual ABS)	1.2 kg

Introducing Dual Absolute encoder versions of the FHA-C mini actuator, featuring BiSS-C bi-directional communication for both encoders within the same compact package size as the single incremental encoder version.

1 12

Output Encoder Resolution	14bit (16384 cpr)
Input Encoder Resolution	14bit (16384 cpr)
Encoder Communication	BiSS-C bi-directional
Compatible Drive	Copley Controls BEL or BPL
Encoder Voltage Range	4.75-30 V
Gear Type	Harmonic Drive® CSF zero backlash gear
FHA-8C Mass (Dual ABS)	0.40 kg
FHA-11C Mass (Dual ABS)	0.62 kg
FHA-14C Mass (Dual ABS)	1.2 kg
FHA-8C Max Torque	1.8 - 4.8 N.m
FHA-11C Max Torque	4.5 - 11 N.m
FHA-14C Max Torque	9.0 - 28 N.m

The FLA Ultra-Flat Rotary Actuator combines high-precision/high-performance reducers with a compact, high-output brushless DC motor, ideal for applications like AGV wheel drives and powered exoskeletons.

3 12

Gear Ratio (HP)	8, 9
Maximum Torque (HP)	1.8 - 12.1 Nm
Maximum Speed (HP)	400 - 500 rpm
Weight (HP)	390 - 1,060 g
Gear Ratio (FB)	50, 100
Maximum Torque (FB)	6.7 - 34 Nm
Maximum Speed (FB)	50 - 100 rpm
Weight (FB)	420 - 1,170 g
Winding Voltage	24VDC, 48VDC
Motor Position Sensor	Hall sensor
Installation Direction	Any direction
Enclosure	Fully enclosed self-cooling (IP40)

The FR-2 Pancake Gear is a heavy-duty component set designed for maximum reduction ratio in minimum space, offering low backlash and simple installation.

2 15

Gear Backlash	< 1.5 arc min
Series	FR
Mass	0.5 kg
Max. Input Speed	6000 rpm
Limit for Average Input Speed	3600 rpm
Rated Input Speed	2500 rpm
Dimensions ØA	70 mm
Dimensions B	12 mm
Dimensions C	1 mm
Dimensions D	25 mm
Dimensions E	17.3 mm
Dimensions F	3.85 mm
Dimensions ØG	60 mm
Dimensions ØJ (Standard)	9 mm
Dimensions ØJ (Max. size)	11 mm

HarmonicGrease® is a high-quality lubrication specifically formulated to optimize the performance and extend the life of Harmonic Drive gears, reducing friction and corrosion.

3 10

SK-1A Temperature	0ºC to + 40ºC
SK-1A Size Compatibility	Size 20 and larger
SK-2 Temperature	0ºC to + 40ºC
SK-2 Size Compatibility	Size 17 and smaller
SK-3 Temperature	0ºC to + 40ºC
SK-3 Size Compatibility	Size 20 and larger
4B No.2 Temperature	–10ºC to + 70ºC
4B No.2 Size Compatibility	All
HFL-1 Temperature	-10°C to + 40°C
HFL-1 Size Compatibility	Size 20 and larger

Harmonic Drive engineers and manufactures high-precision rack and pinion gears for converting rotational movement into linear motion, utilizing cutting-edge technology and extensive experience.

1 12

Helix angle	19.5283°
Rack heat treatment	Induction hardened and ground
Rack Module 2 Length	500 mm, 1000 mm
Rack Module 3 Length	500 mm, 1000 mm
Pinion heat treatment	Carburized and ground
Pinion Module 2 Number of teeth	35, 40, 45
Pinion Module 3 Number of teeth	31, 35, 40
HPG-32R/HPG-32A Module	2
HPG-50A Module	3
Backlash (Standard)	3 arc-min or less
Backlash (Optional)	1 arc-min or less
Gear Accuracy	JIS N5 class (equivalent to DIN Q6)

The HPG-RA Harmonic Planetary® gearhead delivers high-torque and high-accuracy in a compact Right Angle design, incorporating continuous backlash compensation for consistent low backlash.

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Peak Torque	150 Nm to 2,200 Nm
Ratios	5:1 to 50:1
Backlash	<3 arc-min
Frame Sizes	3
Rated Torque L10	66 Nm (min) to 800 Nm (max)
Rated Torque L50	120 Nm (min) to 1,650 Nm (max)
Limit for Repeated Peak Torque	150 Nm (min) to 2,200 Nm (max)
Limit for Momentary Peak Torque	200 Nm (min) to 4,500 Nm (max)
Max. Input Speed	3,000 rpm (min) to 6,000 rpm (max)
Mass	6 kg (min) to 120 kg (max)

The HPG-A Harmonic Planetary® gearhead delivers high-torque and high-accuracy in a compact package, featuring continuous backlash compensation and a large Cross Roller bearing for supporting large loads.

1 18

Peak Torque	5 Nm to 3,200 Nm
Ratios	3:1 to 50:1
Backlash	<3 arc-min (<1 arc-min available as an option)
Repeatability	±20 arc-sec
Available Frame Sizes	Six
Efficiency	Up to 95%
Accuracy	±30 arc sec (Size 11, Ratio 21)
Starting Torque	5 Ncm (Size 11, Ratio 21)
Backdriving Torque	0.60 Nm (Size 11, Ratio 21)
No-load Running Torque	1.3 Ncm (Size 11, Ratio 21)
Mass	0.34 kg (Size 11, Single Stage, Flange)
Rated Torque	3.4 Nm (Size 11, Ratio 21)
Rated Torque (L50)	6 Nm (Size 11, Ratio 21)
Limit for Average Load Torque	6 Nm (Size 11, Ratio 21)
Limit for Repeated Peak Torque	20 Nm (Size 11, Ratio 21)
Max Average Input Speed	3000 rpm (Size 11, Ratio 21)
Max Input Speed	10000 rpm (Size 11, Ratio 21)
Torsional Stiffness	0.637 Nm/arc min (Size 11, Ratio 21)

The HPG-U1 Planetary Gearhead offers high performance with an input shaft for shaft couplings or belt drives, incorporating continuous backlash compensation for consistent low backlash.

1 11

Peak Torque	5 Nm to 3,200 Nm
Ratios	3:1 to 50:1
Backlash	<3 arc-min
Frame Sizes	6
Max. Input Speed	10,000 rpm
Rated Torque L10	2.5 Nm to 870 Nm
Rated Torque L50	5 Nm to 1,650 Nm
Limit for Momentary Peak Torque	20 Nm to 4,500 Nm
Mass	0.2 kg to 48 kg
Output Permissible Radial Load	280 N to 18,900 N
Output Permissible Axial Load	430 N to 28,200 N

The HPGP Harmonic Planetary® gearhead uses four planet gears to deliver high torque and high accuracy in a compact package, incorporating continuous backlash compensation for low backlash throughout its life.

1 12

Peak Torque	12 Nm to 3,940 Nm
Ratios	4:1 to 45:1
Backlash	<3 arc-min
Repeatability	±20 arc-sec
Rated Torque L10	3.4 Nm to 1,130 Nm
Rated Torque L50	6.6 Nm to 1,900 Nm
Limit for Repeated Peak Torque	12 Nm to 3,940 Nm
Limit for Momentary Peak Torque	20 Nm to 4,500 Nm
Max. Input Speed	2,500 rpm to 10,000 rpm
Standard Accuracy	3 arc min to 5 arc min
Mass	0.22 kg to 37 kg
Output Permissible Radial Load	280 N to 15,300 N

The HPN Harmonic Planetary® Value Series Gearbox offers a low-cost solution with high torque, quiet performance, and long life, without compromising on quality.

1 9

Peak torque	9 Nm to 752 Nm
Ratios	3:1 to 50:1
Backlash	<5 arc-min (single stage), <7 arc-min (two stage)
Frame Sizes	5
Max. Input Speed	10,000 rpm
Mass	0.44 kg (HPN-11A-4)
K1 Torsional Stiffness	0.2 10^4 Nm / rad (HPN-11A-4)
Output Permissible Radial Load	240 N (HPN-11A-4)
Output Permissible Axial Load	280 N (HPN-11A-4)

The HPN-L Harmonic Planetary® value series gearbox offers a cost-effective solution without compromising on quality or performance, featuring helical gears for high torque, quiet operation, and extended life.

1 11

Peak torque	9 Nm to 752 Nm
Ratios	3:1 to 50:1
Backlash (single stage)	<5 arc-min
Backlash (two stage)	<7 arc-min
Frame Sizes	5
Efficiency	Up to 97%
Noise	< 56 dB
Mass (HPN-14L, Single Stage)	0.95 kg
Mass (HPN-14L, Two Stage)	1.3 kg
Mass (HPN-20L, Single Stage)	3 kg
Mass (HPN-20L, Two Stage)	3.7 kg

The KDU Series are Direct Drive Motors designed for high-precision positioning and repeatability, featuring a large hollow shaft for versatile integration.

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Maximum torque (KDU-13SB)	7.0 Nm (62.0 In.lb)
Maximum torque (KDU-13WB)	15.0 Nm (132.8 In.lb)
Maximum rotational speed (KDU-13SB)	180 rpm
Maximum rotational speed (KDU-13WB)	160 rpm
Input power supply voltage	AC100 V
Moment of inertia (KDU-13SB)	0.0047 kg•m²
Moment of inertia (KDU-13WB)	0.0065 kg•m²
Repeatability positioning precision	±0.5 arc sec
Absolute positioning accuracy	10 arc sec
Mass (KDU-13SB)	4.0 kg
Mass (KDU-13WB)	5.0 kg
Combined driver	HA-770-2

The LA Precision Linear Actuator offers exceptional positioning accuracy and repeatability, making it ideal for demanding applications in various high-tech industries.

2 8

Max. driving force	49 N (5kgf)
Resolution	0.0174μm
Stroke	10 mm, 30 mm
Maximum feed speed	0.9 mm/s
Repeatability	±0.1μm/1 mm stroke
Lost motion	5μm/1 mm stroke
Mass (LA-30B-10-F)	320 g
Mass (LA-32-30-F)	550 g

Harmonic Drive manufactures galvanometer scanner actuators capable of scanning at high speeds with intense precision, utilizing unique mobile magnet motors and a newly developed optical sensor for the LSA Series.

1 8

Item/model	LSA-10A-30
Maximum angular runout	±15 deg
Torque constant	0.0077 N·m/A (0.0668 In.lb/A)
Sensor Linearity (on full scale)	±0.06 %
Scale drift	0.005 %/°C
Position reproducibility (offset and scale drift excluded)	5 μrad
Mass	180 g
Combined driver	PSM-130

Super compact incremental encoders available in micro and ultra-micro models for precision motion control.

1 10

Ultra-micro model (MES-6) Dimensions	ø7.5 x 10.5 mm
Ultra-micro model (MES-6) Line Count	360
Micro model (MES-9/MEH-9) Dimensions	ø13 x 20 mm
Micro model (MES-9/MEH-9) Line Count	1000
Power supply	DC5V±10%
Max. response frequency	100 kHz
Permissible Max. revolutions (Mechanical)	6000r/min
Operating temperature	0°C∼60°C
MES-6 Mass	5 g
ME-9 Mass	10 g

Harmonic Drive's phase adjusters are high-precision phasing differential gears designed to fine-tune phase and timing during equipment operation, ideal for demanding applications in space and manufacturing industries.

2 2

Torque range	500 in-lb to 20,000 in-lb
Adjustment ratio	100:1

Harmonic Drive's precision component sets are core motion control mechanisms, offering zero-backlash performance and design flexibility for various applications.

3 3

Accuracy	<1 arc-min
Torque (SHF-2A)	9.0 ~ 1800 Nm
Torque (SHG-2A)	23 ~ 3400 Nm

The REL Servo Drive offers a versatile command interface and supports various encoder types, making it suitable for a wide range of motion control applications.

1 7

Command Interface	CANopen over EtherCAT (CoE), ASCII and discrete I/O, Stepper commands, ±10 V position/velocity/torque command, PWM velocity/torque command, Master encoder (Gearing/Camming)
Control Modes	Indexer, Point-to-Point, PVT, Camming, Gearing, Position, Velocity, Torque
Encoder Interface	14 wire Incremental Encoder, 4 wire Incremental Encoder, Absolute Encoder
Communications	EtherCAT, RS-232, RS-485 (Optional)
I/O – Digital	15 inputs, 6 outputs
I/O – Analog	2, 16 bit inputs; 1, 12 bit output
Dimensions	202 x 139 x 52 mm

The RH Mini Series is a DC servo actuator that incorporates Harmonic Drive® precision gears, a high-performance brush DC servomotor, and an incremental encoder.

1 8

Mass	0.09 kg (RH-5A)
Mass (2)	0.3 kg (RH-8D)
Mass (3)	0.5 kg (RH-11D)
Mass (4)	0.77 kg (RH-14D)
Maximum momentary torque (RH-5A)	0.39 N·m
Rated torque (RH-5A)	0.16 N·m
Max. rotational speed (RH-5A)	180 rpm
Rated rotational speed (RH-5A)	88 rpm

The RKF series is a compact servo actuator combining a zero backlash Harmonic Drive® gear and an AC servo motor, designed for operation with a wide range of third-party drives.

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Mass (RKF-20A)	2.9 kg
Mass (RKF-25A)	5.0 kg
Mass (RKF-32A)	9.5 kg
One-way Positioning accuracy	90 arc.sec
Encoder type	Incremental encoder
Encoder resolution	200 - 2000p/rev
Time rating	Continuous
Excitation method	Permanent magnet
Insulation class	Class B
Dielectric strength	AC1000 V/min
Insulation resistance	DC500 V 100M ohm or higher
Structure	Totally enclosed, self-cooled
Lubricant	Grease (Harmonic Grease®)
Ambient temperature	0 to 40°C
Ambient humidity	20 to 80% (no condensation)
Storage temperature	-20°C to +60°C
Repeatability (RKF-20A)	±30 arc sec
Repeatability (RKF-25A)	±25 arc sec
Repeatability (RKF-32A)	±20 arc sec
Output shaft surface runout	0.04 mm
Output shaft end runout	0.04 mm
Eccentricity of flange fitting outside diameter	0.06 mm
Perpendicularity between surface of mounting flange and outp	0.06 mm

The RSF series servo actuator combines a high performance brushless servomotor with a high accuracy Harmonic Drive® gearhead, delivering precise, reliable motion control for high torque and long life applications.

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Rated Output (RSF-17A, Ratio 50)	62 W
Rated Output (RSF-17A, Ratio 100)	62 W
Rated Torque (RSF-17A, Ratio 50)	9.8 Nm
Rated Torque (RSF-17A, Ratio 100)	20 Nm
Rated Rotational Speed (RSF-17A, Ratio 50)	60 rpm
Rated Rotational Speed (RSF-17A, Ratio 100)	30 rpm
Mass (RSF-17A)	2.1 Kg
Mass (RSF-20A)	2.9 Kg
Mass (RSF-25A)	4.7 Kg
Mass (RSF-32A)	8.7 Kg
One-way Positioning accuracy (RSF-17A)	120 arc/sec
One-way Positioning accuracy (RSF-20A, 25A, 32A)	90 arc/sec

These brushless servo actuators utilize zero backlash Harmonic Drive® precision gears with an AC servomotor, ideal for small robot joints and semiconductor/LCD manufacturing equipment.

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Model	RSF-8B, RSF-11B, RSF-14B
Gear Ratio	30, 50, 100
Max. Torque (RSF-14B, 100)	28 N.m (248 In.lb)
Maximum Speed of Rotation	60-200 rpm
Max. Continuous Torque (RSF-14B, 100)	6.0 N.m (53.1 In.lb)
One-way Positioning Accuracy	120-180 arc/sec
Quad Encoder Resolution	120,000-400,000 counts/rev
No. of Poles	8
Mass (RSF-14B)	0.8 Kg
Compatible Servo Drives	DCJ-055-09, DDP-090-09, DDP-090-36, HA-680-4B-24, HA-680-6B-24

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.

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Rated Torque (RSF-3C, 30)	0.03 Nm
Rated Torque (RSF-3C, 50)	0.07 Nm
Rated Torque (RSF-3C, 100)	0.11 Nm
Rated Torque (RSF-5B, 30)	0.18 Nm
Rated Torque (RSF-5B, 50)	0.29 Nm
Rated Torque (RSF-5B, 100)	0.44 Nm
Mass (RSF-3C, Without Brake)	31.0 g
Mass (RSF-5B, Without Brake)	66.0 g
Mass (RSF-5B, With Brake)	86.0 g
Number of Poles	8

Harmonic Drive provides digital servo drives for brushless (AC) and brush (DC) actuators, compatible with various communication protocols and motor OEM encoder formats.

1 1

Power	4 kW

Harmonic Drive offers easy-to-connect gearheads with a range of gear ratios and torque capacities, available as planetary or harmonic gearheads.

3 10

The SHA Integrated Series offers compact actuators delivering high torque with exceptional accuracy and repeatability, featuring Harmonic Drive® gearing, a brushless servo motor, and integrated servo drive with CANopen® or EtherCAT® communication.

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Axially compact gear units featuring a large hollow input shaft and a robust cross roller bearing, allowing loads to be mounted directly without additional support bearings.

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Axially compact gear units featuring a large hollow input shaft and a robust cross roller bearing, allowing loads to be mounted directly without additional support bearings.

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The SHF-11-50-2UH is a compact hollow shaft gear unit from Harmonic Drive, designed for precision motion control applications.

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The SHF-2A Component Set is a zero-backlash component gear set featuring a brim-like mounting surface and large through hole, available in 10 sizes with reduction ratios from 30:1 to 160:1.

1 3

The SHG-50-100-2UJ Gear Unit from Harmonic Drive is a high torque gear unit designed for precision motion control applications.

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Planetary Gearbox backlash (standard)	< 3 arc-min
Planetary Gearbox backlash (optional)	<1 arc-min
Harmonic Drive® gearing repeatability	±4 to ±10 arc-sec
HPGP Planetary Gearbox Peak Torque	12 Nm to 3,940 Nm
HPG Planetary Gearbox Repeatability	±20 arc-sec
HPF Gear Unit backlash	<3 arc-min
HPG-U1 Gear Unit backlash	<3 arc-min
Harmonic Planetary® ratios	3:1 to 50:1
Harmonic Drive® ratios	50:1 to 160:1
HPG-R Helical Harmonic Planetary® gearbox ratios	3:1 through 10:1

Maximum torque	68-477 Nm
Maximum Speed	16-75 rpm
Maximum current	9.1-25.5 A rms
Continuous torque	16-126 Nm
Continuous speed	15-51 rpm
Mass	2.1-6.4 kg
Operating voltage	48 (24-60) V
Communication protocol	CAN, CANopen® (DS301/DS402), EtherCAT®
Ambient operating temp	0-40 (-20-60 storage) °C
Operating humidity	20-80 (no condensation) %RH
Vibration resistance	25 m/s²
Shock resistance	300 m/s²

Accuracy	<1 arc-min (most sizes)
Weight reduction	30% lower than Standard SHF Series
Design	15% shorter than SHF Series
Backlash	Zero
SHD-14-50-2UH-LW Mass	0.49 kg
SHD-14-80-2UH-LW Mass	0.49 kg
SHD-14-100-2UH-LW Mass	0.49 kg
SHD-17-50-2UH-LW Mass	0.66 kg
SHD-17-80-2UH-LW Mass	0.66 kg
SHD-17-100-2UH-LW Mass	0.66 kg
SHD-20-50-2UH-LW Mass	0.84 kg
SHD-20-80-2UH-LW Mass	0.84 kg

Mass	0.53 kg
Rated Torque L10	3.5 Nm
Limit for Average Torque	5.5 Nm
Limit for Repeated Peak Torque	8.3 Nm
Limit for Momentary Peak Torque	17 Nm
Starting Torque	7.1 Ncm
Backdriving Torque	4.6 Nm
Ave. Input Speed	3,500 rpm
Standard Accuracy	2 arc min
Basic Dynamic Rated Load (C)	52.9 x 10^2 N
Basic Static Rated Load (Co)	75.5 x 10^2 N
Allowable Moment Load (Mc)	74 Nm

Rated Torque L10	611 Nm
Limit for Average Torque	866 Nm
Limit for Repeated Peak Torque	1,274 Nm
Limit for Momentary Peak Torque	2,678 Nm
Starting Torque	80 Ncm
Backdriving Torque	96 Nm
Ave. Input Speed	2,500 rpm
Standard Accuracy	1 arc min
Mass	13.9 kg
Basic Dynamic Rated Load (C)	816 10^2 N
Basic Static Rated Load (Co)	1,490 10^2 N
Allowable Moment Load (Mc)	1,487 Nm

About Harmonic Drive

Products

CSD-2A Component Set

CSD-2A Component Set

Description

Specifications

CSD-2UF Gear Unit

CSD-2UF Gear Unit

Description

Specifications

CSD-2UH Gear Unit

CSD-2UH Gear Unit

Description

Specifications

CSF-1U-CC Miniature Gear Units

CSF-1U-CC Miniature Gear Units

Description

Specifications

CSF-1U-CC-F Miniature Gear Units

CSF-1U-CC-F Miniature Gear Units

Description

Specifications

CSF-1U-F Miniature Gear Units

CSF-1U-F Miniature Gear Units

Description

Specifications

CSF-2A

CSF-2A

Description

Specifications

CSF-2UH-LW Gear Unit

CSF-2UH-LW Gear Unit

Description

Specifications

CSF-2UP

CSF-2UP

Description

CSF-2UP Ultra Flat Gearhead

CSF-2UP Ultra Flat Gearhead

Description

Specifications

CSF-2XH Miniature Gear Units

CSF-2XH Miniature Gear Units

Description

Specifications

CSF-8-30-1U-CC-F Miniature Gear Units

CSF-8-30-1U-CC-F Miniature Gear Units

Description

Specifications

CSF-GH Harmonic Drive® gearhead

CSF-GH Harmonic Drive® gearhead

Description

Specifications

CSG-2A Component Set

CSG-2A Component Set

Description

Specifications

CSG-2UH Zero Backlash Gear Unit

CSG-2UH Zero Backlash Gear Unit

Description

Specifications

CSG-2UH-LW Gear Unit

CSG-2UH-LW Gear Unit

Description

Specifications

CSG-GH

CSG-GH

Description

Specifications

DDP Servo Drive

DDP Servo Drive

Description

Specifications

Direct Drive and Hollow Shaft Motors

Direct Drive and Hollow Shaft Motors

Description

Specifications

FB-2 Component Gear Set

FB-2 Component Gear Set