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Features

CSG series unit type Harmonic Drive®, which are improved versions of the CSF series, are designed for high-torque operation.
Based on the development concepts of upgrading the load capacity, strength reliability and extending the service life, CSG series unit type Harmonic Drive® have been improved further in respect to the following performance characteristics as compared to CSF series products of the same size:

    • Rated torque improved 30%
    • Allowable Peak torque at start-up/stoppage improved 30%
    • Allowable maximum momentary torque improved 30%
    • Ratcheting torque improved 30%
    • Rated service life extended 42% (to 10,000 hours)
    • In respect to external dimensions, rigidity, angle transmission accuracy, input moment of inertia, etc.,
      CSG series component type Harmonic Drive® are the same as CSF series products.

Models & Symbols
a
1. Type: CSG series
2. Size: 14, 17, 20, 25, 32, 40, 45, 50, 58, 65
3. Reduction ratio: 50, 80, 100, 120, 160
4. Models and symbols:
    - 2A-GR = Component type ("2A-R" for sizes 14 and 17)
    - 2UH = Unit type
5. Special specification (Suffix "SP" is only special specification)

  Specification
Size
Reduction ratio
Rated torque at 2000r/min
Allowable peak torque at start and stop
Allowable average torque
Allowable maximum momentary torque
Maximum input speed (Grease lubrication)
N·m
N·m
N·m
N·m
r/min
14
50
7.0
23
9.0
46
8500
80
10
30
14
61
100
10
36
14
70
17
50
21
44
34
91
7300
80
29
56
35
113
100
31
70
51
143
120
31
70
51
112
20
50
33
73
44
127
6500
80
44
96
61
165
100
52
107
64
191
120
52
113
64
191
160
52
120
64
191
25
50
51
127
72
242
5600
80
82
178
113
332
100
87
204
140
369
120
87
217
140
395
160
87
229
140
408
32
50
99
281
140
497
4800
80
153
395
217
738
100
178
433
281
841
120
178
459
281
892
160
178
484
281
892
Size
Reduction ratio
Rated torque at 2000r/min
Allowable peak torque at start and stop
Allowable average torque
Allowable maximum momentary torque
Maximum input speed (Grease lubrication)
N·m
N·m
N·m
N·m
r/min
40
50
178
523
255
892
4000
80
268
675
369
1270
100
345
738
484
1400
120
382
802
586
1530
160
382
841
586
1530
45
50
229
650
345
1235
3800
80
407
918
507
1651
100
459
982
650
2041
120
523
1070
806
2288
160
523
1147
819
2483
50
80
484
1223
675
2418
3500
100
611
1274
866
2678
120
688
1404
1057
2678
160
688
1534
1096
3185
58
80
714
1924
1001
3185
3000
100
905
2067
1378
4134
120
969
2236
1547
4329
160
969
2392
1573
4459
65
80
969
2743
1352
4836
2800
100
1236
2990
1976
6175
120
1236
3263
2041
6175
160
1236
3419
2041
6175

   

Product Drawing
S
(Unit:mm)
Symbol /Size
14
17
20
25
32
40
45
50
58
65
øA
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
C
7
8
10
10
12
16
16
16
20
24
øD h7
56
63
72
86
113
127
148
158
186
212
Mass(kg)
0.52
0.68
0.98
1.5
3.2
5.0
7.0
8.9
14.6
20.9

   Please confirm dimensions and specification with the drawing issued by Harmonic Drive Systems.