Strain-wave (harmonic) gear
Harmonic Drive CSG-2A component sets
A high-torque version of the cup-type strain wave gear set. It carries more torque and lasts longer than CSF in the same size, with zero backlash.
Key specifications
| Rated torque (max) | 1,236 Nm |
|---|---|
| Peak torque (max) | 6,175 Nm |
| Speed (max) | 8,500 rpm |
| Ratio | 50–160:1 |
| Backlash (max) | 0 arcmin |
| Sizes | 14, 17, 20, 25, 32, 40, 45, 50, 58, 65 |
Summarised in our own words from Harmonic Drive SE / Harmonic Drive LLC's published data; series maxima, individual models vary. Last checked 2026-10-29. Source 1 · Source 2 · Source 3
Notes on this data
Torques are for CSG-65 (Harmonic Drive LLC table). Rated L10 is 1236 Nm, repeated peak 3419 Nm and momentary peak 6175 Nm. Size 14 starts at 7 Nm rated. Maximum input speed is 2800–8500 rpm depending on size, and power density is up to 545 Nm/kg (Harmonic Drive SE). Backlash is given only as 'zero backlash'. The CSG-2UH gear unit with output bearing has the same sizes and ratios.
Specify Motion is not affiliated with Harmonic Drive SE / Harmonic Drive LLC. Harmonic Drive and CSG-2A component sets are used only to identify the product. Comparisons use published figures; always confirm against the current datasheet.
Typical applications
Alternatives that meet or exceed these figures
Engineers often come to us with a Harmonic Drive part number and leave with an alternative that is easier to source, quicker to deliver or a better fit for the machine. These 3 series from our supply network are the closest match on published figures.
Cup-type strain-wave gear component sets for building your own joint; the LCSG high-torque version lifts capacity by around 30% over the standard LCS.
| Published maximum | CSG-2A component sets | LCS / LCSG |
|---|---|---|
| Rated torque | 1,236 Nm | — |
| Peak torque | 6,175 Nm | — |
| Ratio (max) | 160:1 | 500:1 meets or exceeds |
| Backlash (lower is better) | 0 arcmin | — |
Hollow-shaft strain-wave gear units with a large central bore for routing cables and services; LHSG is the high-torque version (over 30% more torque).
| Published maximum | CSG-2A component sets | LHS / LHSG |
|---|---|---|
| Rated torque | 1,236 Nm | — |
| Peak torque | 6,175 Nm | — |
| Ratio (max) | 160:1 | 500:1 meets or exceeds |
| Backlash (lower is better) | 0 arcmin | — |
Ultra-flat cup-type strain-wave gear with a very short axial length, light weight and high stiffness for its size.
| Published maximum | CSG-2A component sets | LCD |
|---|---|---|
| Rated torque | 1,236 Nm | — |
| Peak torque | 6,175 Nm | — |
| Ratio (max) | 160:1 | 500:1 meets or exceeds |
| Backlash (lower is better) | 0 arcmin | — |
Figures are the highest published for each series and are not always measured the same way. A higher figure is not automatically a better choice: mounting, duty cycle, feedback, connectors and approvals matter too. An engineer will check the fit against your application before recommending anything.
Other strain-wave (harmonic) gear series
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