Application Examples

Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor

Harmonic Drive is a registered trademark of Harmonic Drive LLC.

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 changing the interface dimensions. This weight savings dramatically increases the “Torque Density” of the gear 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®

CSF-LW – Lightweight Gear UnitHarmonic Drive now offers a NEW lightweight version of our CSF-2UH Gear Units!

30% lighter than our standard CSF-2UH!

Specification for Crossroller Bearing

Installation and Transmission Torque

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.)

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

4.5

40

49

434

9.0

80

91

805

15.3

135

204

1,806

37

327

486

4,301

74

655

1,019

9,019

74

655

1,258

11,134

128

1133

2,200

19,472

205

1,814

3,070

27,172

319

2,823

4,980

44,077

319

2,823

5,480

48,502

Size

Number of screws

Size of screwsPitch circle diameter

Screw Tightening Torque

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 screwsPitch circle diameter

Torquetransmittingcapacity

lb-in

lb-in

Nmlbx10 2 N x10 2 N x10 4 Nm/rad x10 4 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 Load RatingC

Basic Static Load RatingCo

Allowable Moment Load Mc

Moment StiffnessKm

Rev. 06-14

Screw Tightening Torque 5

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

Chicago Sales Office137 N. Oak Park Avenue Suite 410Oak Park, IL 6030

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

lb-in

3548696978142195212212133221301354354354239345558593593593478673

1,0441,2121,2121,2121,2121,8232,3452,6022,6021,5582,7703,1243,5583,558

2,1683,2924,1604,6824,6823,1244,8596,1606,5946,5944,3376,5948,4178,4178,417

5080

100120160 50*80

100120160 50*80

100120160

4,500

4,000

3,500

14,000

10,000

10,000

7,500

7,000

5,600

5,000

8,500

7,300

6,500

5,600

4,800

4,000

3,800

6,500

6,500

6,500

5,600

4,600

3,600

3,300

3,500

3,500

3,500

3,500

3,500

3,000

3,000

3,500

3,000

2,800

3,000

2,700

2,400

2,500

2,200

1,900

12.5

27.3

46.8

12.8

27.9

47.8

245372470529529353549696745745490745951951951

715941980

1,0801,1801,0201,4801,5901,7201,8401,4202,1102,3002,5102,630

350519666813843520770

1,0601,1901,210720

1,0401,5201,5701,570

1,4301,8602,0602,06024501,9602,4503,1803,3303,4302,8303,7204,7504,7504,750

1,0801,1801,180950

1,2701,5701,7601,910

lb-in

80159204248142301381478478239496655726770814443867

1,2131,3901,4781,558885

1,9122,6912,9473,1243,2923,5584,5945,0275,4615,7264,4256,2496,6827,2847,8066,3288,3298,6749,55910,4449,02813,09914,07315,22316,28512,56818,67520,35722,21523,277

lb-in

60619797106230239345345177301411434434434336487770956956956664956

1,4781,9121,9121,9121,7352,5143,2923,9923,9922,3453,4524,4255,4875,5763,0984,5945,8957,1967,4614,6026,8159,38210,53210,7096,3739,20513,45313,89613,896

lb-in

150310416478266620770956761443867

1,1241,3011,3011,301841

1,6462,2572,5142,6912,7791,7703,3815,0275,7266,0726,0726,0728,6749,55910,44410,4448,40811,24013,89615,57716,90512,65716,46218,23318,23321,68417,34721,68428,14529,47330,35825,04832,,92542,04142,04142,041

Model

Ordering Code

Rating Table

Size Gear Ratio Type LightweightSpecial

SP

SizeOil Grease Oil Grease

CSF Series 14~65 30:1~160:1 2UH (Gearhead)

Ratio

Table 2-1

Rated Torque at 2000rpm

Limit for RepeatedPeak Torque

Limit for AverageTorque

Limit for MomentoryPeak Torque

MaximumInput Speed

Limit for Average Input Speed

Moment of Inertia

(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. 3. *Gear units size 50 and over with a gear ratio of 50:1 must use oil lubrication. If it is necessary to use grease, the rated torque is reduced by 50%.

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.

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

0-0.8

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

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.20

17 20 25 32 40 45 50 58 65

7341347277241.19.4-17.65654.640.511-8386--236

M4×816564.5386M4

29.0×0.50S50311021.426140.32

7945378298241.19.5-19.56359.547.510-7488--276

M5×1017184.5458M4

34.5×0.80S563810.523.527180.46

9345.5387.52810351.19-20.1727055.514-10561213.84328

M6×91.58285.5538M5

40.64×1.14S674515.5232.47.4210.64

107524663610351.112-20.28684.67120-15

67（68）1416.35428

M8×121.596105.56610M5

53.28×0.99S805820292.88.8261.1

13862575451234.51.215-2211311091.126-20901416.35558

M10×151.5125146.68614M6S71S105782737311262.2

16072.566.5650.51644.51.65-27.5127124.510332-241101416.35688

M10×15214410910610M8

AS568-042S125903439.55.515.5323.5

18079.5745.55816461.66-27.914814312332-251241921.86828

M12×18216416911916M8S100S1451073645.56.118.1325.1

1909085569164618-3215815513040-321351921.86848

M14×21217418913318M8S105S1551123953519327.0

226104.5977.57720561.510-34.918618315546-381562224.861008

M16×242.5206161115416M10S125S1801354662.86.822.84011.3

260115108.56.584.524561.510440.921220818052142441772427.381108

M16×242.5236121417212M12S135S2051555666.57.623.64816.2

φA B※ C D※ E F G H L M1 M2 NφO h7 φP φQ φR1 H7 φR2 H7 φS φT h7 φU H7 V W Js9 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%%%%%%%

SizeCSF Series standard unit type

CSF Series LW unit typeWeight ratio

50

58

65

External Dimensions No Load Running Torque

No Load Running Torque for Ratio 100

Ratio: 100Table 3-1Measurement condition

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

Input Speed 2000r/min

Ambient Temperature (C°)

No

Load

Run

ning

Tor

que

(Ncm

)

Size

Size

Size

Size

No

Load

Run

ning

Tor

que

(Ncm

)

Ambient Temperature (C°)

Ambient Temperature (C°)

No

Load

Run

ning

Tor

que

(Ncm

)

No

Load

Run

ning

Tor

que

(Ncm

)

Ambient Temperature (C°)

Input Speed 3500r/min

Lubricant GreaseName

Grease quantity

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.

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.

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

L

H

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

Table 3-2Unit: Ncm

RatioSize

Efficiency Efficiency

Efficiency at Rated Torque (Size 14)

Ratio 30

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Efficiency at Rated Torque (Sizes 17-65)

Ratio 30

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 50

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 80, 100

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 120

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 160

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Co

mp

ensa

tion

Co

effic

ient

(ke)

Ratio 100

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 50, 80

Ambient Temperature (C°)

Torque

ηR=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.

Load Torque ≥ Rated Torque : Efficiency = Efficiency from GraphLoad Torque < Rated Torque : Efficiency = Efficiency from Graph x Compensation Coefficient from Graph 4-1.

Eff

icie

ncy

(%)

Torque = Load Torque Rated Torque

Table 4-1

Graph 4-1

Measurement condition Installation

Load torque Rated torque

Lubricant GreaseName

Grease quantity

Harmonic grease SK-1AHarmonic grease SK-2

Recommended quantity

Based on recommended tolerance

Efficiency Efficiency

Efficiency at Rated Torque (Size 14)

Ratio 30

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Efficiency at Rated Torque (Sizes 17-65)

Ratio 30

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 50

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 80, 100

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 120

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 160

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Co

mp

ensa

tion

Co

effic

ient

(ke)

Ratio 100

Ambient Temperature (C°)

Eff

icie

ncy

(%)

Ratio 50, 80

Ambient Temperature (C°)

Torque

ηR=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.

Load Torque ≥ Rated Torque : Efficiency = Efficiency from GraphLoad Torque < Rated Torque : Efficiency = Efficiency from Graph x Compensation Coefficient from Graph 4-1.

Eff

icie

ncy

(%)

Torque = Load Torque Rated Torque

Table 4-1

Graph 4-1

Measurement condition Installation

Load torque Rated torque

Lubricant GreaseName

Grease quantity

Harmonic grease SK-1AHarmonic grease SK-2

Recommended quantity

Based on recommended tolerance

External Dimensions No Load Running Torque

No Load Running Torque for Ratio 100

Ratio: 100Table 3-1Measurement condition

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

Input Speed 2000r/min

Ambient Temperature (C°)

No

Load

Run

ning

Tor

que

(Ncm

)

Size

Size

Size

Size

No

Load

Run

ning

Tor

que

(Ncm

)

Ambient Temperature (C°)

Ambient Temperature (C°)

No

Load

Run

ning

Tor

que

(Ncm

)

No

Load

Run

ning

Tor

que

(Ncm

)

Ambient Temperature (C°)

Input Speed 3500r/min

Lubricant GreaseName

Grease quantity

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.

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.

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

L

H

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

Table 3-2Unit: Ncm

RatioSize

lb-in

3548696978142195212212133221301354354354239345558593593593478673

1,0441,2121,2121,2121,2121,8232,3452,6022,6021,5582,7703,1243,5583,558

2,1683,2924,1604,6824,6823,1244,8596,1606,5946,5944,3376,5948,4178,4178,417

508010012016050801001201605080100120160

4,500

4,000

3,500

14,000

10,000

10,000

7,500

7,000

5,600

5,000

8,500

7,300

6,500

5,600

4,800

4,000

3,800

6,500

6,500

6,500

5,600

4,600

3,600

3,300

3,500

3,500

3,500

3,500

3,500

3,000

3,000

3,500

3,000

2,800

3,000

2,700

2,400

2,500

2,200

1,900

12.5

27.3

46.8

12.8

27.9

47.8

245372470529529353549696745745490745951951951

715941980

1,0801,1801,0201,4801,5901,7201,8401,4202,1102,3002,5102,630

350519666813843520770

1,0601,1901,210720

1,0401,5201,5701,570

1,4301,8602,0602,06024501,9602,4503,1803,3303,4302,8303,7204,7504,7504,750

1,0801,1801,180950

1,2701,5701,7601,910

lb-in

80159204248142301381478478239496655726770814443867

1,2131,3901,4781,558885

1,9122,6912,9473,1243,2923,5584,5945,0275,4615,7264,4256,2496,6827,2847,8066,3288,3298,6749,55910,4449,02813,09914,07315,22316,28512,56818,67520,35722,21523,277

lb-in

60619797106230239345345177301411434434434336487770956956956664956

1,4781,9121,9121,9121,7352,5143,2923,9923,9922,3453,4524,4255,4875,5763,0984,5945,8957,1967,4614,6026,8159,38210,53210,7096,3739,20513,45313,89613,896

lb-in

150310416478266620770956761443867

1,1241,3011,3011,301841

1,6462,2572,5142,6912,7791,7703,3815,0275,7266,0726,0726,0728,6749,55910,44410,4448,40811,24013,89615,57716,90512,65716,46218,23318,23321,68417,34721,68428,14529,47330,35825,04832,,92542,04142,04142,041

Model

Ordering Code

Rating Table

Size Gear Ratio Type LightweightSpecial

SP

SizeOil Grease Oil Grease

CSF Series 14~65 30:1~160:1 2UH (Gearhead)

Ratio

Table 2-1

Rated Torque at 2000rpm

Limit for RepeatedPeak Torque

Limit for AverageTorque

Limit for MomentoryPeak Torque

MaximumInput Speed

Limit for Average Input Speed

Moment of Inertia

(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.

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

0-0.8

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

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.10

+0.20

17 20 25 32 40 45 50 58 65

7341347277241.19.4-17.65654.640.511-8386--236

M4×816564.5386M4

29.0×0.50S50311021.426140.32

7945378298241.19.5-19.56359.547.510-7488--276

M5×1017184.5458M4

34.5×0.80S563810.523.527180.46

9345.5387.52810351.19-20.1727055.514-10561213.84328

M6×91.58285.5538M5

40.64×1.14S674515.5232.47.4210.64

107524663610351.112-20.28684.67120-15

67（68）1416.35428

M8×121.596105.56610M5

53.28×0.99S805820292.88.8261.1

13862575451234.51.215-2211311091.126-20901416.35558

M10×151.5125146.68614M6S71S105782737311262.2

16072.566.5650.51644.51.65-27.5127124.510332-241101416.35688

M10×15214410910610M8

AS568-042S125903439.55.515.5323.5

18079.5745.55816461.66-27.914814312332-251241921.86828

M12×18216416911916M8S100S1451073645.56.118.1325.1

1909085569164618-3215815513040-321351921.86848

M14×21217418913318M8S105S1551123953519327.0

226104.5977.57720561.510-34.918618315546-381562224.861008

M16×242.5206161115416M10S125S1801354662.86.822.84011.3

260115108.56.584.524561.510440.921220818052142441772427.381108

M16×242.5236121417212M12S135S2051555666.57.623.64816.2

φA B※ C D※ E F G H L M1 M2 NφO h7 φP φQ φR1 H7 φR2 H7 φS φT h7 φU H7 V W Js9 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%%%%%%%

SizeCSF Series standard unit type

CSF Series LW unit typeWeight ratio

50

58

65

Application Examples

Robot Wrist SCARA Robot Arm Direct Connection to a Servo Motor

Harmonic Drive is a registered trademark of Harmonic Drive LLC.

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 changing the interface dimensions. This weight savings dramatically increases the “Torque Density” of the gear 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®

CSF-LW – Lightweight Gear UnitHarmonic Drive now offers a NEW lightweight version of our CSF-2UH Gear Units!

30% lighter than our standard CSF-2UH!

Specification for Crossroller Bearing

Installation and Transmission Torque

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.)

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

4.5

40

49

434

9.0

80

91

805

15.3

135

204

1,806

37

327

486

4,301

74

655

1,019

9,019

74

655

1,258

11,134

128

1133

2,200

19,472

205

1,814

3,070

27,172

319

2,823

4,980

44,077

319

2,823

5,480

48,502

Size

Number of screws

Size of screwsPitch circle diameter

Screw Tightening Torque

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 screwsPitch circle diameter

Torquetransmittingcapacity

lb-in

lb-in

Nmlbx10 2 N x10 2 N x10 4 Nm/rad x10 4 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 Load RatingC

Basic Static Load RatingCo

Allowable Moment Load Mc

Moment StiffnessKm

Rev. 06-14

Screw Tightening Torque 5

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

Chicago Sales Office137 N. Oak Park Avenue Suite 410Oak Park, IL 6030

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