Harmonic csg lw_spechseet

Application Examples

Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor

Specification for Crossroller Bearing

Installation and Transmission Torque

Harmonic Drive is a trademark of Harmonic Drive LLC.

1. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.92. Torque coefficient : K=0.23. Clamp coefficient A=1.44. Coefficient of friction: 0.155. Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. (Please contact a Sales Engineer for more information.)

Using new lightweight materials and an optimized design, a 30% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface dimensions. This weight reduction, combined with the CSG's high torque ratings, results in an exceptional “Torque Density” making it ideally suited for many applications including…

Industrial Robots – allowing operation with higher acceleration rates and payload capacity

Mobile Robots – allowing lower weight designs which improves battery life without sacrificing performance

5th and 6th axis drive for the wrist of an Industrial Robot

Drive for SCARA Robot

Harmonic Drive LLCBoston US Headquarters247 Lynnfield StreetPeabody, MA 01960

New York Sales Office100 Motor ParkwaySuite 116Hauppauge, NY 11788

Group CompaniesHarmonic Drive Systems, Inc.6-25-3 Minami-Ohi, Shinagawa-kuTokyo 141-0013, Japan

Harmonic Drive AGHoenbergstrasse, 14, D-6555Limburg/Lahn Germany

San Jose Sales Office333 W. San Carlos Street Suite 1070San Jose, CA 95110

T: 800.921.3332T: 978.532.1800F: 978.532.9406www.HarmonicDrive.net

Harmonic Drive™

CSG-LW High Torque, Lightweight Gear Unit

Harmonic Drive now offers a NEW lightweight version of our CSG-2UH Gear Units!

30% lighter than our standard CSG-2UH! 30% More Torque than the CSF Series!

Bolt connection to output flange and resulting transmission torque

14

6

M4

23

17

6

M5

27

20

8

M6

32

25

8

M8

42

32

8

M10

55

40

8

M10

68

45

8

M12

82

50

8

M14

84

58

8

M16

100

65

8

M16

110

5.4

48

58

513

10.8

96

109

965

18.4

163

245

2,168

45

398

580

5,133

89

788

1,220

10,798

89

788

1,510

13,365

154

1,363

2,624

23,224

246

2,177

3,690

32,659

383

3,390

5,981

52,936

383

3,390

6,579

58,229

Size

Number of screws

Size of screws

Pitch circle diameter

Torquetransmittingcapacity

lb-in

lb-in

Bolt connection to housing and resulting transmission torque

14

6

M4

65

3.2

28

98

867

17

8

M4

71

3.2

28

143

1,266

20

8

M5

82

6.4

57

261

2,310

25

10

M5

96

6.4

57

382

3,381

32

12

M6

125

10.8

96

842

7,452

40

10

M8

144

26.5

235

1,488

13,170

45

16

M8

164

26.5

235

2,712

24,003

50

18

M8

174

26.5

235

3,237

28,650

58

16

M10

206

51.9

459

5,350

47,351

65

12

M12

236

90

797

6,649

58,849

Size

Number of screws

Size of screws



lb-in

lb-in

Rev_01_13

Nmlbx102 N x102 N x104 Nm/rad x104 lb-in/radlbmm lb-in

14

17

20

25

32

40

45

50

58

65

0.035

0.0425

0.05

0.064

0.083

0.096

0.111

0.119

0.141

0.16

0.0093

0.0091

0.0098

0.0118

0.0133

0.0148

0.0158

0.0180

0.0205

0.0185

47.0

52.9

57.8

96.0

150

213

230

348

518

556

1,057

1,189

1,299

2,158

3,372

4,788

5,171

7,823

11,645

12,499

60.7

75.5

90.0

151

250

365

426

602

904

1,030

1,365

1,697

2,023

3,395

5,620

8,206

9,577

13,534

20,323

23,155

33.6

52.5

74.6

128

257

369

563

622

838

1,525

297

465

660

1,133

2,275

3,266

4,983

5,505

7,417

13,497

3.6

6.4

10.5

19.8

44.2

74.6

116

140

201

331

32

57

93

175

391

660

1,027

1,239

1,779

2,930

Size

Pitch Circledp

OffsetR

Basic Dynamic Rated LoadC

Basic Static Rated LoadCo

Allowable Moment Load Mc

Moment StiffnessKm

Screw Tightening Torque

Screw Tightening Torque 5

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

[email protected]

Sold & Serviced By:

Model

Ordering Code

Rating Table

Size Gear Ratio Type LightweightSpecial

SPCSG

CSG Series 14~65 50:1~160:1 2UH (Gearhead)(Custom Specification)

leave blank for standard product

1. Moment of Inertia: I=1/4GD2

2. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure.

Dimension Table

Weight ComparisonUnit: kg

Note 1: Dimensions in parentheses indicates values for 30:1 gear ratio.Note 2: * Dimensions B, D, t and u indicate the location and tolerance of the wave generator flexspline and circular spline. Please strictly comply with these dimensions since it influences performance and strength of the gear.

5080100508010012050801001201605080100120160508010012016050801001201605080100120160801001201608010012016080100120160

14

17

20

25

32

40

45

50

58

65

7.0 10102129313133445252525182878787991531781781781782683453823822294074595235234846116886887149059699699691,2361,2361,236

6289891862572742742923894604604604517267707707708761,3541,5751,5751,5751,5752,3723,0543,3813,3812,0273,6024,0624,6294,6294,2845,4086,0896,0896,3198,0108,5768,5768,57610,94010,94010,940

2330364456707073961071131201271782042172292813954334594845236757388028416509189821,0701,1471,2231,2741,4041,5341,9242,0672,2362,3922,7432,9903,2633,419

2042663193894966206206468509471,0001,0621,1241,5751,8061,9212,0272,4873,4963,8324,0624,2844,6295,9746,5327,0987,4435,7538,1258,6919,47010,15210,82411,27612,42613,57717,02918,29419,79021,17124,27826,46428,88030,261

91414343551514461646464721131401401401402172812812812553694845865863455076508068196758661,0571,0961,0011,3781,5471,5731,3521,9762,0412,041

801241243013104514513895405665665666371,0001,2391,2391,2391,2391,9212,4872,4872,4872,2573,2664,2845,1875,1873,0544,4875,7537,1347,2495,9747,6659,3559,7008,86012,19613,69213,92211,96617,48918,06418,064

466170911131431121271651911911912423323693823824977388418428428921,2701,4001,4881,4881,2351,6512,0412,2882,4832,4182,6782,6783,1853,1854,1344,3294,4594,8366,1756,1756,175

4075406208051,0001,2669911,1241,4601,6901,6901,6902,1422,9383,2663,4963,6114,3996,5327,4437,8957,8957,89511,24012,39113,54213,54210,93114,61318,06420,25021,97621,40123,70223,70228,19028,19036,58938,31539,46542,80254,65354,65354,653

14,000

10,000

10,000

7,500

7,000

5,600

5,000

4,500

4,000

3,500

8,500

7,300

6,500

5,600

4,800

4,000

3,800

3,500

3,000

2,800

6,500

6,500

6,500

5,600

4,600

3,600

3,300

3,000

2,700

2,400

3,500

3,500

3,500

3,500

3,500

3,000

3,000

2,500

2,200

1,900

0.033

0.079

0.193

0.413

1.69

4.50

8.68

12.5

27.3

46.8

0.034

0.081

0.197

0.421

1.72

4.59

8.86

12.8

27.9

47.8

SizeOillb-in lb-in lb-in lb-in Grease Oil Grease

Ratio

Table 2-1

Rated Torque at 2000rpm

Limit for RepeatedPeak Torque

Limit for Average Torque

Limit for MomentoryTorque

MaximumInput Speed

Max. Average Input Speed

Moment of Inertia

Table 7-1Unit: mm

14

0-0.9

0-0.1

0-0.9

0-1.0

0-1.0

0-1.1

0-1.1

0-1.2

0-1.3

0-1.3

0-1.3

0-0.4

0-0.4

0-0.4

0-0.5

0-0.6

0-0.6

0-0.6

0-0.6

0-0.6

0-0.6

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.20

17 20 25 32 40 45 50 58 65

7341347277241.19.4-18.55654.640.511-8386--236

M4×816564.5386M4

29.0×0.50S50311021.41.15.1140.32

7945378298241.19.5-20.76359.547.510-7488--276

M5×1017184.5458M4

34.5×0.80S563810.523.50.85.8180.46

9345.5387.52810351.19-21.5727055.514-10561213.84328

M6×91.58285.5538M5

40.64×1.14S674515.52316210.64

107524663610351.112-21.68684.67120-15

67（68）1416.35428

M8×121.596105.56610M5

53.28×0.99S805820291.47.4261.1

13862575451234.51.215-23.611311091.126-20901416.35558

M10×151.5125146.68614M6S71S1057827371.49.4262.2

16072.566.5650.51644.51.65-29.7127124.510332-241101416.35688

M10×15214410910610M8

AS568-042S125903439.53.313.3323.5

18079.5745.55816461.66-30.514814312332-251241921.86828

M12×18216416911916M8S100S1451073645.53.515.5325.1

1909085569164618-34.815815513040-321351921.86848

M14×21217418913318M8S105S15511239532.216.2327.0

226104.5977.57720561.510-38.318618315546-381562224.861008

M16×242.5206161115416M10S125S1801354662.83.419.44011.3

260115108.56.584.524561.510444.621220818052142441772427.381108

M16×242.5236121417212M12S135S2051555666.53.919.94816.2

φA B※ C D※ E F G H L M1 M2 NφOh7 φP φQ φR1H7 φR2H7 φS φTh7 φUH7 V WJs9 φX Y Z a φb c φd φe ｆ g h i φk φm r ｔ※ u※ φy Weight （kg）

Symbol Size

140.520.3262

170.680.4668

200.980.6465

251.51.173

323.22.269

405.03.570

6520.916.278%

457.05.173%

508.97.079%

5814.611.377%%%%%%%

SizeCSG Series standard unit type

CSG Series LW unit typeWeight ratio



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External Dimensions

Detailed drawing for input side

Please contact Harmonic Drive LLC for installation drawings.* Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension ‘Z’ , damage to the flexspine may occur. Please refer to installation drawing.

No Load Running Torque

No Load Running Torque for Ratio 100

Ratio: 100

3-1Measurement condition

Input Speed 500r/min Input Speed 1000r/min

Input Speed 2000r/min

Ambient Temperature (C°)

No

Lo

ad R

unni

ng T

orq

ue (N

cm)

Siz

e

Siz

e

Siz

e

Siz

e

No

Lo

ad R

unni

ng T

orq

ue (N

cm)



No

Lo

ad R

unni

ng T

orq

ue (N

cm)

No

Lo

ad R

unni

ng T

orq

ue (N

cm)



3-2Unit: Ncm

Lubricant GreaseName

Grease quantity

RatioSize

Harmonic grease SK-1A

Torque value is measured after 2 hour run-in at 2000 rpm input.Please contact HDLLC if you are using oil lubricant.

Harmonic grease SK-2Recommended quantity

No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive™ gear with no load applied to the output.

Compensation Value for Each RatioThe no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compen-sation value from table 3-2.

φT　h7φe

B※

t※r N 0

-0.1

0 -0.030

C

E

H

2-M3×42-M3×6

F G

a

D※

φy

φA

W

V

φy

φmφS

φk

φQ

φP

φ0　h7

φR　H7

M1

hY-Z*

φX

LH

E Fi

c-φd

f-g

φb

C

φU　H7

φT　h7

B※

2.5 (#14) 3 (#17)

(#17)

(#14)

No key on WG hub for #14, #17



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Efficiency Efficiency

Efficiency at Rated Torque (Size 14)

Ratio 30


Eff

icie

ncy

(%)

Efficiency at Rated Torque (Sizes 17-65)

Ratio 30


Eff

icie

ncy

(%)

Ratio 50


Eff

icie

ncy

(%)

Ratio 80,100


Eff

icie

ncy

(%)

Ratio 120


Eff

icie

ncy

(%)

Ratio 160


Eff

icie

ncy

(%)

Co

mp

ensa

tion

Co

effic

ient

(ke)

Ratio 100


Eff

icie

ncy

(%)

Ratio 50, 80


Torque

dR=Efficiency at Rated Torque

Efficiency Compensation Coefficient

The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant.Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used.

3VHK�;VYX\L��9H[LK�;VYX\L�!�,MMPJPLUJ`�$�,MMPJPLUJ`�MYVT�.YHWO3VHK�;VYX\L�#�9H[LK�;VYX\L�!�,MMPJPLUJ`�$�,MMPJPLUJ`�MYVT�.YHWO�_�� *VTWLUZH[PVU�*VLMMPJPLU[�MYVT�.YHWO��

Eff

icie

ncy

(%)

Torque = Load Torque Rated Torque

Table 4-1

Graph 4-1

Measurement condition Installation

Load torque Rated torque


Grease quantity

Harmonic grease SK-1AHarmonic grease SK-2

Recommended quantity

Based on recommended tolerance



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Efficiency

Efficiency at Rated Torque (Size 14)

Ratio 30


Eff

icie

ncy

(%)

Efficiency at Rated Torque (Sizes 17-65)

Ratio 30


Eff

icie

ncy

(%)

Ratio 50


Eff

icie

ncy

(%)

Ratio 80,100


Eff

icie

ncy

(%)

Ratio 120


Eff

icie

ncy

(%)

Ratio 160


Eff

icie

ncy

(%)

Co

mp

ensa

tion

Co

effic

ient

(ke)

Ratio 100


Eff

icie

ncy

(%)

Ratio 50, 80


Torque

dR=Efficiency at Rated Torque

Efficiency Compensation Coefficient

The gear efficiency is affected by many factors. Efficiency depends on the gear ratio, input speed, load torque, temperature, quantity of lubricant and type of lubricant.Efficiency values shown in the tables shown below are for rated torque. If the actual load torque is below rated torque, a compensation factor must be used.

3VHK�;VYX\L��9H[LK�;VYX\L�!�,MMPJPLUJ`�$�,MMPJPLUJ`�MYVT�.YHWO3VHK�;VYX\L�#�9H[LK�;VYX\L�!�,MMPJPLUJ`�$�,MMPJPLUJ`�MYVT�.YHWO�_�� *VTWLUZH[PVU�*VLMMPJPLU[�MYVT�.YHWO��

Eff

icie

ncy

(%)

Torque = Load Torque Rated Torque

Table 4-1

Graph 4-1

Measurement condition Installation

Load torque Rated torque


Grease quantity

Harmonic grease SK-1AHarmonic grease SK-2

Recommended quantity

Based on recommended tolerance



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Sold & Serviced By:

External Dimensions

Detailed drawing for input side

Please contact Harmonic Drive LLC for installation drawings.* Please Note: The bolts must not extend beyond the length of the threaded hole. If the length of thread engagement exceeds dimension ‘Z’ , damage to the flexspine may occur. Please refer to installation drawing.

No Load Running Torque

No Load Running Torque for Ratio 100

Ratio: 100

3-1Measurement condition

Input Speed 500r/min Input Speed 1000r/min



No

Lo

ad R

unni

ng T

orq

ue (N

cm)

Siz

e

Siz

e

Siz

e

Siz

e

No

Lo

ad R

unni

ng T

orq

ue (N

cm)



No

Lo

ad R

unni

ng T

orq

ue (N

cm)

No

Lo

ad R

unni

ng T

orq

ue (N

cm)



3-2Unit: Ncm


Grease quantity

RatioSize

Harmonic grease SK-1A

Torque value is measured after 2 hour run-in at 2000 rpm input.Please contact HDLLC if you are using oil lubricant.

Harmonic grease SK-2Recommended quantity

No-load running torque is the input torque (high speed shaft) which is required to rotate the Harmonic Drive™ gear with no load applied to the output.

Compensation Value for Each RatioThe no load running torque of Harmonic Drive gears varies with the gear ratio. The graphs indicate a value for ratio 100. For other gear ratios, add the compen-sation value from table 3-2.

φT　h7φe

B※

t※r N 0

-0.1

0 -0.030

C

E

H

2-M3×42-M3×6

F G

a

D※

φy

φA

W

V

φy

φmφS

φk

φQ

φP

φ0　h7

φR　H7

M1

hY-Z*

φX

LH

E Fi

c-φd

f-g

φb

C

φU　H7

φT　h7

B※

2.5 (#14) 3 (#17)

(#17)

(#14)

No key on WG hub for #14, #17



[email protected]

Sold & Serviced By:

Model

Ordering Code

Rating Table

Size Gear Ratio Type LightweightSpecial

SPCSG

CSG Series 14~65 50:1~160:1 2UH (Gearhead)(Custom Specification)

leave blank for standard product

1. Moment of Inertia: I=1/4GD2

2. Please refer to the CSF/CSG Series catalog for an explanation of terms and technical information not included in this brochure.

Dimension Table

Weight ComparisonUnit: kg

Note 1: Dimensions in parentheses indicates values for 30:1 gear ratio.Note 2: * Dimensions B, D, t and u indicate the location and tolerance of the wave generator flexspline and circular spline. Please strictly comply with these dimensions since it influences performance and strength of the gear.

5080100508010012050801001201605080100120160508010012016050801001201605080100120160801001201608010012016080100120160

14

17

20

25

32

40

45

50

58

65

7.0 10102129313133445252525182878787991531781781781782683453823822294074595235234846116886887149059699699691,2361,2361,236

6289891862572742742923894604604604517267707707708761,3541,5751,5751,5751,5752,3723,0543,3813,3812,0273,6024,0624,6294,6294,2845,4086,0896,0896,3198,0108,5768,5768,57610,94010,94010,940

2330364456707073961071131201271782042172292813954334594845236757388028416509189821,0701,1471,2231,2741,4041,5341,9242,0672,2362,3922,7432,9903,2633,419

2042663193894966206206468509471,0001,0621,1241,5751,8061,9212,0272,4873,4963,8324,0624,2844,6295,9746,5327,0987,4435,7538,1258,6919,47010,15210,82411,27612,42613,57717,02918,29419,79021,17124,27826,46428,88030,261

91414343551514461646464721131401401401402172812812812553694845865863455076508068196758661,0571,0961,0011,3781,5471,5731,3521,9762,0412,041

801241243013104514513895405665665666371,0001,2391,2391,2391,2391,9212,4872,4872,4872,2573,2664,2845,1875,1873,0544,4875,7537,1347,2495,9747,6659,3559,7008,86012,19613,69213,92211,96617,48918,06418,064

466170911131431121271651911911912423323693823824977388418428428921,2701,4001,4881,4881,2351,6512,0412,2882,4832,4182,6782,6783,1853,1854,1344,3294,4594,8366,1756,1756,175

4075406208051,0001,2669911,1241,4601,6901,6901,6902,1422,9383,2663,4963,6114,3996,5327,4437,8957,8957,89511,24012,39113,54213,54210,93114,61318,06420,25021,97621,40123,70223,70228,19028,19036,58938,31539,46542,80254,65354,65354,653

14,000

10,000

10,000

7,500

7,000

5,600

5,000

4,500

4,000

3,500

8,500

7,300

6,500

5,600

4,800

4,000

3,800

3,500

3,000

2,800

6,500

6,500

6,500

5,600

4,600

3,600

3,300

3,000

2,700

2,400

3,500

3,500

3,500

3,500

3,500

3,000

3,000

2,500

2,200

1,900

0.033

0.079

0.193

0.413

1.69

4.50

8.68

12.5

27.3

46.8

0.034

0.081

0.197

0.421

1.72

4.59

8.86

12.8

27.9

47.8

SizeOillb-in lb-in lb-in lb-in Grease Oil Grease

Ratio

Table 2-1

Rated Torque at 2000rpm

Limit for RepeatedPeak Torque

Limit for Average Torque

Limit for MomentoryTorque

MaximumInput Speed

Max. Average Input Speed

Moment of Inertia

Table 7-1Unit: mm

14

0-0.9

0-0.1

0-0.9

0-1.0

0-1.0

0-1.1

0-1.1

0-1.2

0-1.3

0-1.3

0-1.3

0-0.4

0-0.4

0-0.4

0-0.5

0-0.6

0-0.6

0-0.6

0-0.6

0-0.6

0-0.6

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.20

17 20 25 32 40 45 50 58 65

7341347277241.19.4-18.55654.640.511-8386--236

M4×816564.5386M4

29.0×0.50S50311021.41.15.1140.32

7945378298241.19.5-20.76359.547.510-7488--276

M5×1017184.5458M4

34.5×0.80S563810.523.50.85.8180.46

9345.5387.52810351.19-21.5727055.514-10561213.84328

M6×91.58285.5538M5

40.64×1.14S674515.52316210.64

107524663610351.112-21.68684.67120-15

67（68）1416.35428

M8×121.596105.56610M5

53.28×0.99S805820291.47.4261.1

13862575451234.51.215-23.611311091.126-20901416.35558

M10×151.5125146.68614M6S71S1057827371.49.4262.2

16072.566.5650.51644.51.65-29.7127124.510332-241101416.35688

M10×15214410910610M8

AS568-042S125903439.53.313.3323.5

18079.5745.55816461.66-30.514814312332-251241921.86828

M12×18216416911916M8S100S1451073645.53.515.5325.1

1909085569164618-34.815815513040-321351921.86848

M14×21217418913318M8S105S15511239532.216.2327.0

226104.5977.57720561.510-38.318618315546-381562224.861008

M16×242.5206161115416M10S125S1801354662.83.419.44011.3

260115108.56.584.524561.510444.621220818052142441772427.381108

M16×242.5236121417212M12S135S2051555666.53.919.94816.2

φA B※ C D※ E F G H L M1 M2 NφOh7 φP φQ φR1H7 φR2H7 φS φTh7 φUH7 V WJs9 φX Y Z a φb c φd φe ｆ g h i φk φm r ｔ※ u※ φy Weight （kg）

Symbol Size

140.520.3262

170.680.4668

200.980.6465

251.51.173

323.22.269

405.03.570

6520.916.278%

457.05.173%

508.97.079%

5814.611.377%%%%%%%

SizeCSG Series standard unit type

CSG Series LW unit typeWeight ratio



[email protected]

Sold & Serviced By:

Application Examples

Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor

Specification for Crossroller Bearing

Installation and Transmission Torque

Harmonic Drive is a trademark of Harmonic Drive LLC.

1. Recommended bolt : JIS B 1176 socket head cap screw strength range : JIS B 1051 over 12.92. Torque coefficient : K=0.23. Clamp coefficient A=1.44. Coefficient of friction: 0.155. Strict compliance to the recommended screw tightening torques is especially important for the lightweight aluminum housing flange. Exceeding the recommended values (over tightening) can cause deformation of the housing flange under the bolt heads. This will result in the housing slipping under full torque loads. (Please contact a Sales Engineer for more information.)

Using new lightweight materials and an optimized design, a 30% reduction in weight has been achieved without reducing the torque rating of the gear unit or significant changes to the interface dimensions. This weight reduction, combined with the CSG's high torque ratings, results in an exceptional “Torque Density” making it ideally suited for many applications including…

Industrial Robots – allowing operation with higher acceleration rates and payload capacity

Mobile Robots – allowing lower weight designs which improves battery life without sacrificing performance

5th and 6th axis drive for the wrist of an Industrial Robot

Drive for SCARA Robot

Harmonic Drive LLCBoston US Headquarters247 Lynnfield StreetPeabody, MA 01960

New York Sales Office100 Motor ParkwaySuite 116Hauppauge, NY 11788

Group CompaniesHarmonic Drive Systems, Inc.6-25-3 Minami-Ohi, Shinagawa-kuTokyo 141-0013, Japan

Harmonic Drive AGHoenbergstrasse, 14, D-6555Limburg/Lahn Germany

San Jose Sales Office333 W. San Carlos Street Suite 1070San Jose, CA 95110

T: 800.921.3332T: 978.532.1800F: 978.532.9406www.HarmonicDrive.net

Harmonic Drive™

CSG-LW – High Torque, Lightweight Gear Unit

Harmonic Drive now offers a NEW lightweight version of our CSG-2UH Gear Units!

30% lighter than our standard CSG-2UH. 30% More Torque than the CSF Series!

Bolt connection to output flange and resulting transmission torque

14

6

M4

23

17

6

M5

27

20

8

M6

32

25

8

M8

42

32

8

M10

55

40

8

M10

68

45

8

M12

82

50

8

M14

84

58

8

M16

100

65

8

M16

110

5.4

48

58

513

10.8

96

109

965

18.4

163

245

2,168

45

398

580

5,133

89

788

1,220

10,798

89

788

1,510

13,365

154

1,363

2,624

23,224

246

2,177

3,690

32,659

383

3,390

5,981

52,936

383

3,390

6,579

58,229

Size

Number of screws

Size of screws



lb-in

lb-in

Bolt connection to housing and resulting transmission torque

14

6

M4

65

3.2

28

98

867

17

8

M4

71

3.2

28

143

1,266

20

8

M5

82

6.4

57

261

2,310

25

10

M5

96

6.4

57

382

3,381

32

12

M6

125

10.8

96

842

7,452

40

10

M8

144

26.5

235

1,488

13,170

45

16

M8

164

26.5

235

2,712

24,003

50

18

M8

174

26.5

235

3,237

28,650

58

16

M10

206

51.9

459

5,350

47,351

65

12

M12

236

90

797

6,649

58,849

Size

Number of screws

Size of screws



lb-in

lb-in

Rev_01_13

Nmlbx102 N x102 N x104 Nm/rad x104 lb-in/radlbmm lb-in

14

17

20

25

32

40

45

50

58

65

0.035

0.0425

0.05

0.064

0.083

0.096

0.111

0.119

0.141

0.16

0.0093

0.0091

0.0098

0.0118

0.0133

0.0148

0.0158

0.0180

0.0205

0.0185

47.0

52.9

57.8

96.0

150

213

230

348

518

556

1,057

1,189

1,299

2,158

3,372

4,788

5,171

7,823

11,645

12,499

60.7

75.5

90.0

151

250

365

426

602

904

1,030

1,365

1,697

2,023

3,395

5,620

8,206

9,577

13,534

20,323

23,155

33.6

52.5

74.6

128

257

369

563

622

838

1,525

297

465

660

1,133

2,275

3,266

4,983

5,505

7,417

13,497

3.6

6.4

10.5

19.8

44.2

74.6

116

140

201

331

32

57

93

175

391

660

1,027

1,239

1,779

2,930

Size

Pitch Circledp

OffsetR

Basic Dynamic Rated LoadC

Basic Static Rated LoadCo

Allowable Moment Load Mc

Moment StiffnessKm

Screw Tightening Torque

Screw Tightening Torque 5

Technology

Harmonic csg lw_spechseet