CSF Mini GearUnits

Speed Reducers for Precision Motion Control
Harmonic Drive® Reducers

Gear Units CSF-mini
Engineering Data
1
Excellent Technology for Evolving Industries
Harmonic Drive® actuators utilize high-precision, zero-backlash Harmonic Drive® precision gears and play critical roles in robotics,
semiconductor manufacturing equipment, factory automation equipment, medical diagnostics and surgical robotics. Additionally,
our products are frequently used in mission-critical spaceflight applications which capture the human spirit.
With over 50 years of experience, our expert engineering and production teams continually develop enabling technologies for the
evolving motion control market. We are proud of our outstanding engineering capabilities and successful history of providing
customer specific solutions to meet their application requirements.
Harmonic Drive LLC continues to develop enabling technologies for the evolving motion control market, which drives the pace of
global innovation.
C. Walton Musser
Patented Strain Wave
Gearing in 1955
2
Operating Principle of Gears
A simple three-element construction combined with the unique operating principle puts extremely high
reduction ratio capabilities into a very compact and lightweight package. The high-performance attributes
of this gearing technology including, zero-backlash, high-torque-to-weight ratio, compact size, and excellent
positional accuracy, are a direct result of the unique operating principles.
Wave Generator Flexspline Circular Spline

The Wave Generator is a thin, The Flexspline is a non-rigid, The Circular Spline is a rigid ring
raced-ball bearing fitted onto an thin cylindrical cup with external with internal teeth. It engages the
elliptical hub. This serves as a teeth on the open end of the cup. teeth of the Flexspline across the
high-efficiency torque converter The Flexspline fits over the Wave major axis of the Wave Generator
and is generally mounted onto Generator and takes on its ellipse. The Circular Spline has
the input or motor shaft. elliptical shape. The Flexspline two more teeth than the Flexspline
is generally used as the output and is generally mounted onto a
of the gear. housing.
0° 90° 180° 360°

Circular Spline
Wave Generator
Flexspline
The Flexspline is slightly smaller in As the Wave Generator For every 180 degree Each complete clockwise
diameter than the Circular Spline rotates the teeth of the clockwise movement of the rotation of the Wave Generator
and usually has two fewer teeth than Flexspline engage with the Wave Generator, the Flexspline results in the Flexspline moving
the Circular Spline. The elliptical Circular Spline at the major rotates counterclockwise by counterclockwise by two teeth
shape of the Wave Generator causes axis. one tooth in relation to the from its original position, relative
the teeth of the Flexspline to engage Circular Spline. to the Circular Spline. Normally,
the Circular Spline at two opposite this motion is taken out as
regions across the major axis of the output.
ellipse.
■ Development of HarmonicDrive® Speed Reducers

Harmonic Drive® gears have been evolving since the strain wave gear was
first patented in 1955. Our innovative development and engineering teams
have led us to significant advances in our gear technology. In 1988, Harmonic
Drive successfully designed and manufactured a new tooth profile, the "S"
tooth. Since implementing the "S" tooth profile, improvement in life, strength
and torsional stiffness have been realized. In the 1990s, we focused
engineering efforts on designing gears featuring space savings, higher speed,
higher load capacity and higher reliability. Then in the 2000s, significant
reduction in size and thickness were achieved, all while maintaining high
precision specifications.
3
CSF-2UP
Engineering Data
Engineering Data
Component Sets
Component Type
CSF-mini Series
Gear Units
Unit Type CSF-mini
Unit Type
Features Shaft output: outline
170 Technical data
dimensions 1U-CC
182
Motor mounting
Ordering code 171 type Rating table 182
Flange output: outline
Technical data Rating table 170 dimensions 1U-CC-F
183
Positional accuracy 172 Rating table 183
Hysteresis 172 dimensions 2XH-F
184
Backlash 172 Rating table 184
Shaft output: outline
Starting torque 172 185
Phase Adjusters
dimensions 2XH-J
Gear Head Type

Backdriving torque 172 Rating table 185
Ratcheting torque 172 Wave Generator Hole Diameter 186
Buckling torque 172 Torsional stiffness 186
Checking output bearing 173 Mechanical precision 187
Lubrication 173 Efficiency 187
Shaft output: outline
Technical data
dimensions 1U
174 No-load running torque 189
of input shaft
type Rating table 174 Example of installation 190
175 Assembly tolerances 191
Gearheads & Actuators
dimensions 1U-F
176 Installation and transmission 192
Torsional stiffness
torque
Mechanical precision 176 Sealing mechanism 194
Differential Gear
Efficiency 177
No-load running torque 179
Allowable load on the input shaftt 180
Installation and transmission 180
torque
169
Engineering Data
CSF-mini
Features
Engineering Data
CSF-mini series
CSF mini gearheads provide excellent positioning accuracy in a
super-compact package.
Compact 4-point contact bearing on the output side to support
external loads. Available in four sizes and four ratios, the CSF mini
gearheads feature shaft or flange outputs.
Features
Component Sets
■ Zero backlash
■ Compact and lightweight
Component Type
■ High-torque capacity
■ High-torsional stiffness
■ Excellent positional accuracy
■ Coaxial input and output
Ordering Code
The HarmonicDrive® CSF-mini series consists of a wide variety of
products including four sizes and six models.
CSF - 14 - 100 - 2XH - F - SP

Gear Units
Unit Type
Table 170-1
Series Size Ratio*1 Model Special specification
1U= Input shaft, shaft output SP= Special specification

5 30 50 — 100 1U-F= Input shaft, flange output code
1U-CC= Square flange type, shaft
8 30 50 — 100 output Blank = Standard product
CSF 1U-CC-F= Square flange type, flange
11 30 50 — 100 output
2XH-J= Square flange type, shaft output
2XH-F= Square flange type, flange output
Phase Adjusters
Gear Head Type
14 30 50 80 100
*1 The reduction ratio value is based on the following configuration:

Input: wave generator, fixed: circular spline, output: flexspline
Technical Data
Rating table
Table 170-2
Rated Torque at input Limit for Repeated Limit for Average Moment of
Limit for Momentary Maximum Input Limit for Average
speed 2000rpm Peak Torque Torque Inertia
Size Peak Torque Speed Input Speed
Ratio (1/4GD2)
Nm Nm Nm Nm rpm rpm kgcm

2
Differential Gear
30 0.25 0.5 0.38 0.9

2.5×10-4
5 50 0.4 0.9 0.53 1.8 10000 6500
2.5×10-4
100 0.6 1.4 0.94 2.7
30 0.9 1.8 1.4 3.3
3.2×10-3
8 50 1.8 3.3 2.3 6.6 8500 3500
3.0×10-3
100 2.4 4.8 3.3 9.0
30 2.2 4.5 3.4 8.5
1.4×10-2
11 50 3.5 8.3 5.5 17 8500 3500
1.2×10-2
100 5.0 11 8.9 25
30 4.0 9.0 6.8 17
50 5.4 18 6.9 35 3.4×10-2
14 8500 3500
80 7.8 23 11 47 3.3×10-2
100 7.8 28 11 54
* The upper value of moment of inertia is for 1U, whereas, the lower value of it is for 2 XH.
170
CSF-mini
Engineering Data
Structure Fig. 171-1
Input shaft version
Engineering Data
This unit can be driven by a belt, coupling or a gear mounted on the input shaft. Available with shaft output or flange
output.
Shaft output: 1U Flange output: 1U-F
Four-point contact ball bearing Circular spline Output flange

Output shaft
(low-speed shaft) Input shaft
(high-speed shaft)
Shaft output
Component Sets
Wave generator
Flexspline
Component Type
Motor mounting type
This gearhead is designed to be mounted to a motor, with the use of an adapter plate.
1U shaft output: 1U-CC 1U flange output: 1U-CC-F
Gear Units
Unit Type
Phase Adjusters
Gear Head Type
Square flange version: 2XH-J Flange output: 2XH-F
Four-point contact ball bearing Circular spline
Output shaft
(low-speed shaft)
Output Wave generator

(input part)
Differential Gear
Flexspline
* The rotational direction of the output shaft is opposite to that of the input shaft (wave generator) when the housing is fixed.
171
Engineering Data
CSF-mini
Engineering Data
Positional accuracy See "Engineering data" for a description of terms.
Table 172-1
Size
Ratio 5 8 11 14
Specification
×10-3rad 1.20 0.58 0.58 0.58
30
arc min 4.00 2.00 2.00 2.00
×10-3rad 0.87 0.58 0.44 0.44
50 or more
arc min 3.00 2.00 1.50 1.50
Hysteresis See "Engineering data" for a description of terms.

Table 172-2
Size
5 8 11 14
Component Type
Ratio
Component Sets
×10-4rad 8.7 8.7 8.7 8.7

30
arc min 3.0 3.0 3.0 3.0
×10-4rad 8.7 5.8 5.8 5.8
50
arc min 3.0 2.0 2.0 2.0
80 or ×10-4rad 8.7 5.8 5.8 2.9
more arc min 3.0 2.0 2.0 1.0
Max. backlash See "Engineering data" for a description of terms.

Table 172-3
Size
8 11 14
Ratio
×10-5rad 28.6 23.8 29.1
30
arc sec 59 49 60
×10-5rad 17 14.1 17.5
50
arc sec 35 24 36
Unit Type
×10-5rad — — 11.2
Gear Units
80
arc sec — — 23
×10-5rad 8.7 7.3 8.7
100
arc sec 18 15 18
Starting torque See "Engineering data" for a description of terms. Please use as reference values; the values vary based on use Table 172-4
conditions.
Unit: Ncm
Size
5 8 11 14
Ratio
30 0.53 1.3 3.4 6.4
50 0.40 0.80 2.0 4.1
Gear Head Type
80 — — — 2.8
100 0.30 0.59 1.5 2.5
Phase Adjusters
Backdriving torque See "Engineering data" for a description of terms. Please use as reference values; the Table 172-5
values vary based on use conditions. Unit: Nm
Size
5 8 11 14
Ratio
30 0.29 0.70 1.7 2.4
50 0.21 0.55 1.2 1.6
80 — — — 1.6
100 0.27 0.75 1.5 1.8
Ratcheting torque
Differential Gear
See "Engineering data" for a description of terms. Table 172-6

Unit: Nm
Size
5 8 11 14
Ratio
30 2.7 11 29 59
50 3.2 12 34 88
80 − − − 110
100 3.5 14 43 84
Buckling torque See "Engineering data" for a description of terms. Table 172-7
Unit: Nm
Size 5 8 11 14
Total reduction ratio 9.8 35 90 190
172
CSF-mini
Engineering Data
Engineering Data
Checking output bearing
A precision 4-point contact ball bearing is built into the CSF-mini
series to directly support the external load.
Check the maximum moment load, life of the 4-point contact ball
bearing and static safety coefficient to fully maximize the
performance of the CSF-mini series.
See "Engineering data" for each calculation formula.
■ Checking procedure
(1) Checking the maximum moment load (Mmax)
Component Type
Component Sets
Calculate the maximum moment load (Mmax). Maximum moment load (Mmax) ≦ allowable moment (Mc)
(2) Checking the life

Calculate the radial load (Frav) and the average axial load (Faav). Calculate the radial load coefficient (x) and the axial load Calculate the lifetime
coefficient (y).
(3) Checking the static safety coefficient

Calculate the static equivalent radial load coefficient (Po). Check the static safety coefficient. (fs)
■ Output bearing specifications

Specifications Table 173-1
Pitch circle Offset Basic rated load Allowable Moment Allowable Allowable
moment rigidity radial load * axial load
Size dp R Basic dynamic rated load Basic static rated load load
Unit Type
mm mm ×102N ×102N Nm Nm/rad N N
Gear Units
5 13.5 4.85 9.14 7.63 0.89 7.41×102 90 270
8 20.5 7.3 21.6 19.0 3.46 2.76×103 200 630
11 27.5 9 38.9 35.4 6.6 7.41×103 300 1150
14 35 11.4 61.2 58.5 13.2 1.34×104 550 1800
* Allowable radial load is the value on the center of output shaft side of both shaft type (1U) and that of gearhead shaft output type (2XH-J).
* The value of the moment stiffness is the average value.
Lubrication
Table 173-2
Gear Head Type

The standard CSF-mini gearheads are shipped already lubricated
Gear Output bearing
with grease. The table shows the grease that is used in the gear
reducer and in the output bearing. Harmonic Grease
Phase Adjusters
Lubricant Multemp HL-D
SK-2
Harmonic Drive
Manufacturer Systems Kyodo Yushi
Composite
Base oil Refined oil
hydrocarbon oil
Thickening agent Lithium soap Lithium soap
Viscosity cSt (25oC) 295 280
Melting point 198oC 210oC
Appearance Green White

Differential Gear
173
Engineering Data
CSF-1U
Outline dimensions of the input shaft type
Engineering Data
Shaft output: outline dimension of 1U
You can download the CAD files from our website: harmonicdrive.net
Fig. 174-1
(Note)
(Note)
V-W equally
Component Sets
spaced
Component Type
Max. dia. of motor
X-Y equally a
spaced
Center of
output shaft * Refer to the confirmation drawing for detailed dimensions
(Note) There is no positional relationship between the flat on the
output shaft and the V-W tapped holes.
Gear Units
Unit Type
Dimensions Table 174-1

Unit: mm
Size 5 8 11 14
Symbol
φA 26.5 40 54 68
B 37 65.5 82.5 95.4
C 13 23 29.5 29.5
D 16 29.5 37 49.9
E 8 13 16 16
F 0.5 0.5 0.5 1.5
G 2.5 2.5 3 3
Phase Adjusters
Gear Head Type
H 0.8 2.6 3.9 8.4

I 9 18 21.5 23
J 7 11 14 14
K 4.85 7.3 9 11.4
L 9.85 17.3 22 23.9
φM h7 19.5 29 39 48
φN 13 20 26.5 33.5
φO h6 5 9 12 15
φP 9 16 24 32
φQ h6 3 5 6 8
□R 20.4±0.42 30.7±0.46 40.9±0.50 51.1±0.50
S 4.6 8 10.5 14
φT 9.8 15.5 20.5 25.5
φU 23 35 46 58
V 3 4 6 6
Differential Gear
W M2×3 M3×4 M3×5 M4×6

X 4 4 4 4
Y M2×3 M3×6 M4×8 M5×10
□Z 20±0.42 30±0.46 40±0.50 50±0.50
a 2.6 4.5 5.5 7.5
Mass (g) 35 130 240 440
174
CSF-1U
Engineering Data
Outline dimensions of the input shaft type
Engineering Data
Flange output: outline dimension of 1U-F
Component Sets
V-W equally spaced
Component Type
Max. dia. of motor
X-Y equally spaced
Gear Units
* Refer to the confirmation drawing for detailed dimensions
Unit Type
Unit: mm
Size 5 8 11 14
Symbol
φA 26.5 40 54 68
B 27 45.5 56.5 70.4
C 3 3 3.5 4.5
D 16 29.5 37 49.9
E 8 13 16 16
F 0.5 0.5 0.5 1.5
G 2.5 2.5 3 3
Phase Adjusters
Gear Head Type
H 0.8 2.6 3.9 8.4
I 1.7 2.2 2.5 3.5
J 7 11 14 14
K 4.85 7.3 9 11.4
φM h7 19.5 29 39 48
φN 13 20 26.5 33.5
φO H7 5 9 12 15
φP 9 16 24 32
ΦQ h6 3 5 6 8
□R 20.4±0.42 30.7±0.46 40.9±0.5 51.1±0.5
φT 9.8 15.5 20.5 25.5
φU 23 35 46 58
V 3 4 6 6
W M2×3 M3×4 M3×5 M4×6
X 4 4 4 4
Differential Gear
Y M2×3 M3×6 M4×8 M5×10

□Z 20.4±0.42 30±0.46 40±0.5 50±0.5
a 2.6 4.5 5.5 7.5
Mass (g) 34 120 220 405
175
Engineering Data
CSF-1U
Engineering Data
Torsional stiffness See "Engineering data" for a description of terms.
Table 176-1
Size
5 8 11 14
Symbol 1U 1U-F 1U 1U-F 1U 1U-F 1U 1U-F
Nm 0.075 0.29 0.80 2.0
T1
kgfm 0.0077 0.030 0.082 0.20
Nm 0.22 0.75 2.0 6.9
T2
kgfm 0.022 0.077 0.20 0.70
×104Nm/rad 0.009 0.010 0.031 0.034 0.077 0.084 0.172 0.188
K1
kgfm/arc min 0.003 0.003 0.009 0.010 0.023 0.025 0.051 0.056
×104Nm/rad 0.011 0.013 0.039 0.044 0.109 0.124 0.210 0.235
K2
kgfm/arc min 0.003 0.004 0.012 0.013 0.032 0.037 0.063 0.070
Component Type
Ratio ×104Nm/rad 0.012 0.016 0.046 0.054 0.134 0.158 0.286 0.335
K3
Component Sets
30 kgfm/arc min 0.004 0.005 0.014 0.016 0.040 0.047 0.085 0.100
×10-4rad 8.7 7.5 9.5 8.6 10 9.5 12 11
θ1
arc min 3.0 2.6 3.2 3.0 3.6 3.3 4.0 3.6
×10-4rad 22 19 21 19 21 19 35 31
θ2
arc min 7.5 6.4 7.3 6.6 7.4 6.6 12 11
×104Nm/rad 0.011 0.013 0.039 0.044 0.177 0.221 0.286 0.335
K1
kgfm/arc min 0.003 0.004 0.012 0.013 0.053 0.066 0.085 0.100
×104Nm/rad 0.014 0.018 0.056 0.067 0.225 0.300 0.378 0.468
K2
Ratio kgfm/arc min 0.004 0.005 0.017 0.020 0.067 0.089 0.113 0.140
50
×104Nm/rad 0.017 0.025 0.067 0.084 0.236 0.320 0.440 0.568
K3
kgfm/arc min 0.005 0.007 0.020 0.025 0.070 0.095 0.131 0.170
×10-4rad 6.9 5.6 7.5 6.6 4.5 3.6 7.0 6.0
θ1
arc min 2.4 2.0 2.6 2.3 1.6 1.2 2.4 2.0
×10-4rad 18 14 16 14 9.9 7.6 20 16
θ2
arc min 6.0 4.8 5.4 4.7 3.4 2.6 6.8 5.6
×104Nm/rad 0.015 0.020 0.072 0.090 0.206 0.267 0.378 0.468
K1
kgfm/arc min 0.004 0.006 0.021 0.027 0.061 0.079 0.113 0.140
Unit Type
×104Nm/rad 0.018 0.027 0.080 0.104 0.243 0.333 0.460 0.601

Gear Units
K2
Ratio kgfm/arc min 0.005 0.008 0.024 0.031 0.072 0.099 0.137 0.179
80 or more ×104Nm/rad 0.020 0.030 0.089 0.120 0.291 0.432 0.516 0.700
K3
kgfm/arc min 0.006 0.009 0.027 0.036 0.086 0.128 0.154 0.209
×10-4rad 5.0 3.7 4.1 3.2 3.9 3.0 5.3 4.3
θ1
arc min 1.7 1.3 1.4 1.1 1.3 1.0 1.8 1.5
×10-4rad 13 9.2 9.8 7.7 8.8 6.6 16 12
θ2
arc min 4.4 3.1 3.4 2.6 3.0 2.3 5.4 4.2
Mechanical precision The output shaft of the input shaft Fig. 176-1
Gear Head Type
The CSF-mini series gearheads have 4-point contact bearings on

◎ φb A ◎ φb A
the output side to support external loads. The mechanical precision
of the output shaft and output flange is shown below. a a
Phase Adjusters
A
A B B
d d
e B e B
c A c A
Table 176-2
Recommended tolerances * T.I.R. Unit: mm
Size
Differential Gear
5 8 11 14
Symbol
Precision item 1U 1U-F 1U 1U-F 1U 1U-F 1U 1U-F
Runout on the edge of the

1U 0.030 — 0.030 — 0.030 — 0.030 —
output flange
a
Runout on the inner diameter
1U-F of the output flange — 0.005 — 0.005 — 0.005 — 0.005
b Concentricity 0.040 0.040 0.055 0.055
c Perpendicularity 0.020 0.020 0.025 0.025
d Runout 0.005 0.005 0.005 0.005
e Parallelism 0.015 0.020 0.030 0.030
* T.I.R.: This indicates the total reading of the dial gauge when the measuring part is rotated once.
176
CSF-1U
Engineering Data
Engineering Data
Efficiency
The efficiency varies depending on the following conditions. Measurement condition Table 177-1
■ Reduction ratio
Load torque Rated torque in rating table (see Page 170)
■ Input rotational speed
■ Load torque Name Harmonic Grease SK-2
■ Temperature
Grease
Lubricant
lubrication
■ Lubrication (type and quantity) Quality Recommended quantity
■ Efficiency compensation coefficient Efficiency compensation coefficient Graph 177-1
Component Type
When the load torque is lower than the rated torque, the efficiency
Component Sets
value decreases. Calculate compensation coefficient Ke from 1.0
Graph 177-1.
0.9
Compensation coefficient　Ke
0.8 η ＝Ke・ η R
Example of calculation R ＝ Efficiency at the rated torque
η　
Efficiency η (%) under the following condition is obtained from the 0.7
example of CSF-8-100-1U. 0.6
Input rotational speed: 1000 rpm
0.5
Load torque: 2.0 Nm
Lubrication method: Grease lubrication 0.4 Load torque
Torque ratio α ＝ ─
Lubricant temperature: 20oC 0.3 Rated torque
Since the rated torque of size 8 with a reduction ratio of 100 is 2.4 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Nm (Ratings: Page 170), the torque ratio α is 0.83.
Torque ratio
(α=2.0/2.4≈0.83)
■ The efficiency compensation coefficient is Ke=0.99 from Graph
177-1.
Unit Type
■ Efficiency η at load torque 2.0 Nm: η=Ke・ηR=0.99 x 77%=76%
Gear Units
* When the load torque is higher than the rated torque, efficiency compensation
value Ke is 1.
Gear Head Type
Phase Adjusters
Differential Gear
177
Engineering Data
CSF-1U
Engineering Data
■ Efficiency at rated torque
Size 5
Ratio 30 Ratio 50 Ratio 100

Graph 178-1 Graph 178-2 Graph 178-3
100 100 100
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
Component Type
30 30 30
Component Sets
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Ambient Temperature (oC) Ambient Temperature (oC) Ambient Temperature (oC)
Size 8
100 100 100
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
Unit Type
30 30 30
Gear Units
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Size 11
100 100 100
90 90 90
Gear Head Type
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
Phase Adjusters
50 50 50
40 40 40
30 30 30
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Size 14
Ratio 30 Ratio 50 Ratio 80 and 100
Differential Gear
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
30 30 30
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Input rotational 500rpm 1000rpm 2000rpm 3500rpm
speed
178
CSF-1U
Engineering Data
Engineering Data
No-load running torque
No-load running torque is the torque which is required to rotate the Measurement Condition Table 179-1
input side (high speed side), when there is no load on the output Ratio
side (low speed side).
Lubrication type Grease lubrication Name Harmonic Grease SK-2
Torque value is measured after 2 hours at 2000rpm input.
■ Compensation Value in Each Ratio

Table 179-2
No-load running torque of the gear varies with ratio. Graphs 179-1 No-Load Torque Running Torque Compensation Value Unit: Ncm
to 179-4 show the values for a reduction ratio of 100. For other Ratio
gear ratios, add the compensation values in the right-hand table Size
30 50 80
Component Type
(Table 179-2). 0.26 0.11
Component Sets
5 —
8 0.44 0.19 —
11 0.81 0.36 —
14 1.33 0.58 0.1
■ No-load running torque for a reduction ratio of 100
Input speed: 500rpm Input speed: 1000rpm
Graph 179-1 Graph 179-2

100.0 100.0
No-load running torque (Ncm)
Unit Type
Gear Units
10.0 10.0
Size
Size
14
14
11
11
1.0 1.0 8
8
5
5
Gear Head Type

0.1 0.1
-10 0 10 20 30 40 -10 0 10 20 30 40
Ambient Temperature (oC) Ambient Temperature (oC)
Phase Adjusters

100.0 100.0
10.0 10.0
Differential Gear
Size
Size
14
14
11
11
8
8
1.0 1.0
5
5
0.1 0.1
-10 0 10 20 30 40 -10 0 10 20 30 40
Ambient Temperature (oC) Ambient Temperature (oC)
*The values in this graph are average values (X).
179
Engineering Data
CSF-1U
Engineering Data
Performance data for the input bearing
■ Performance data for the input bearing

The input shaft type is supported by two deep groove single row ball
bearings. Please check the loading on the input shaft to make sure that it
is acceptable. Figure 180-1, Table 244-1, Graph 180-1 show the points of
application of forces, which determine the maximum allowable radial and
axial loads as indicated.
The values in Graph 180-1 are valid for an average input speed of 2000
rpm and a mean bearing life of L10=7000h.
Example: When an 8-N axial load (Fa) is applied to the size 14 input shaft,
Component Type
the value of the maximum allowable radial load (Fr) is 20 N.

Component Sets
Specification for Input Bearing Table 180-1
Bearing A Bearing B Distance Overhang

Maximum
between length of the
Size Basic dynamic Basic static Basic dynamic Basic static radial load
Model Model bearings a input shaft b
rated load rated load rated load rated load
Cr（N） Cor（N） Cr（N） Cor（N） a（mm） b（mm） Fr（N）
5 SSLF-630DD 196 59 L-520WO2 176 54 10.8 9.25 8
8 MR126 715 292 MR83 560 170 16.65 18 10
11 689 1330 665 624 1300 485 20.6 21.9 20
14 6900ZZ 2700 1270 605ZZ 1330 505 28.25 24.25 30
Supporting point of the roller bearing Fig. 180-1 Relation between the radial load and the axial load Graph 180-1
Bearing B Bearing A 40
Unit Type
Gear Units
Fr
30
Fa+ Radial load Fr (N)

20
Size: 14
10
Size: 8 Size: 11
Size: 5
Fa: Axial load (N) a b 0 2 4 6 8 10
Fr: Radial load (N) Axial load Fa (N)
Gear Head Type
Installation and transmission torque

Phase Adjusters
■ Installation on the equipment

Check the mating surface for flatness and any burrs prior to
mounting the CSF-mini product. Use the proper screws and
tightening torque as specified in Table 180-2.
Tightening torque of the bolt* of the mounting flange (A in Figure 181-1) Table 180-2
Size
5 8 11 14
Item
Number of bolts 4 4 4 4
Differential Gear
Bolt size M2 M3 M4 M5
Pitch
mm 23 35 46 58
circle
Clamp
Nm 0.25 0.85 2.0 3.96
torque
Screw mm 2.4 3.6 4.8 6.0
Transmission
Nm 3.5 12 29 57
torque
* Recommended bolt: JIS B 1176 hexagonal bolt,strength: JIS B 1051 12.9 or higher.
180
CSF-1U
Engineering Data
Engineering Data
Mounting flange Fig. 181-1
Part A
Component Type
Component Sets
■ Installation of the load on the output part
Install the load on the output part taking the specifications of the
output bearing (see Page 173) into consideration.
Tightening torque of the bolt* of the mounting flange (B in Figure 181-2) Table 181-1
Size
5 8 11 14
Item
Pitch
mm 9.8 15.5 20.5 25.5
circle
Clamp
Nm 0.54 2.0 2.0 4.6
torque
Unit Type
Transmission
Nm 2 13 26 55
Gear Units
torque
As measures have been taken against oil leakage of the output flange, no sealing agent needs to be applied.
* Recommended bolt: JIS B 1176 hexagonal bolt, strength: JIS B 1051 12.9 or higher.
Mounting flange (1U-F) Fig. 181-2
Gear Head Type
Phase Adjusters
Part B
Do not allow the output shaft to receive a shock when you install a
pulley and pinion. It can deteriorate the precision of the reducer and
cause failure.
Differential Gear
181
CSF-2XH/CSF-1U-CC
Engineering Data
Outline Dimensions
Engineering Data
Shaft output: outline dimensions 1U-CC
Fig. 182-1
Wave generator installation

Component Sets
dimension for size 5

e-f equally
spaced
a-b equally
spaced
Component Type
With locking screw
φ φ
Max. dia. of motor
φ
φ
φ
φ
φ
Wave generator
Reverse for motor with long output shaft
c-d equally 0.4＋0.2
　0
spaced
Center of
output shaft
* Please refer to the confirmation drawing for detailed dimensions. The dimension tolerances that are not specified vary depending on the manufacturing method.
Please check the confirmation drawing or contact us for dimension tolerances not shown on the drawing.* See Fig. 040-3 on Page 040 for the shapes of the wave generator.
Dimensions
Gear Units
Table 182-1
Unit : mm
Size 5 8 11 14
Unit Type
Symbol
φA 26.5 40 54 68
B* 30.5 51 64.3 70
C 13 23 29.5 29.5
D 12.7 21.5 26.5 33
E* 4.8 -0.2
0
6.5 -0.3
0
8.3 -0.7
0
7.5 -0.8
0
F 0.5 0.5 0.5 1.5

G 2.5 2.5 3 3
H 1.3 1.5 2 2.5
I 9 18 21.5 23
J 2 2 3 2.5
K 2 2 2 2
Phase Adjusters
L M2×3 M2×3 M3×4 M3×4

Gear Head Type
M 6 12 16 17.6
N 4.85 7.3 9 11.4
O 9.85 17.3 22 23.9
φP h7 19.5 29 39 48
φQ 13 20 26.5 33.5
φR h6 5 9 12 15
φS h6 17 26 35 43
φT H7 3 3 5 6
□U 20.4±0.42 30.7±0.46 40.9±0.5 51.1±0.5
φV 9.8 15.5 20.5 25.5
φW 23 35 46 58
X 4.6 8 10.5 14
φY 22.5 34 46 58
ａ
3 4 6 6
b M2×3 M3×4 M3×5 M4×6
Differential Gear
c 4 4 4 4
d M2×3 M3×6 M4×8 M5×10
e 4 4 4 4
f M2×3 M2.5×5 M3×6 M4×8
g* 27 48.7 62.1 70.4
h* ー 4.2 -0.3
0
6.1-0.7
0
7.9 -0.8
0
Mass (g) 27 111 176 335
*The B, E, g and h dimensions indicated by an asterisk are the Wave generator is removed when the product is delivered.
mounting positions in the shaft direction and allowance of the
three parts (wave generator, flexspline, circular spline). Strictly
observe these dimensions as they affect the performance and
strength.
182
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Flange output: outline dimensions 1U-CC-F
Fig. 183-1
Wave generator installation
Component Sets
e-f equally dimension for size 5
spaced
a-b equally
spaced
With locking screw
Component Type
φ φ
Max. dia. of motor
φ H7
φ
φ
φ
φ
φ
φ
Wave generator
Reverse for motor with long output shaft
c-d equally spaced 0.4 ＋0.2
　0
Gear Units
Unit : mm
Size
Unit Type
Symbol 5 8 11 14
φA 26.5 40 54 68
B＊ 20.5 31 38.3 45
C 3 3 3.5 4.5
D 12.7 21.5 26.5 33
E＊ 4.8 -0.2
0
6.5 -0.3
0
8.3 -0.7
0
7.5 -0.8
0
F 0.5 0.5 0.5 1.5

G 2.5 2.5 3 3
H 1.3 1.5 2 2.5
I 1.7 2.2 2.5 3.5
J 2 2 3 2.5
K 2 2 2 2
Phase Adjusters
L M2×3 M2×3 M3×4 M3×4
Gear Head Type

M 6 12 16 17.6
N 4.85 7.3 9 11.4
φP h7 19.5 29 39 48
φQ 13 20 26.5 33.5
φR H7 5 9 12 15
φS h6 17 26 35 43
φT H7 3 3 5 6
□U 20.4±0.42 30.7±0.46 40.9±0.5 51.1±0.5
φV 9.8 15.5 20.5 25.5
φW 23 35 46 58
φY 22.5 34 46 58
ａ 3 4 6 6
b M2×3 M3×4 M3×5 M4×6
c 4 4 4 4
d M2×3 M3×6 M4×8 M5×10
Differential Gear
e 4 4 4 4
f M2×3 M2.5×5 M3×6 M4×8
g＊ 17 28.7 36.1 45.4
h＊ー 4.2 -0.3
0
6.1 -0.7
0
7.9 -0.8
0
Mass (g) 25 100 150 295
strength.
183
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Flange output: outline dimensions 2XH-F
Fig. 184-1
B＊
□U C D＊ Wave generator installation
dimension for size 5
E F e＊
X-Y equally G
spaced I H g (O-ring)
f＊
e＊
K-L J
Component Type
φT H7
Component Sets
φW
Max. dia. of motor

φR H7
φP h7
φS h6
φQ
φA
φV M
N 0.4＋0.2
　0
a-b equally Wave generator
spaced c-d equally spaced
O N Reverse for motor with long output shaft

Unit Type
Unit : mm
Gear Units
Size 5 8 11 14
Symbol
φA 29 43.5 58 73
B* 20.5 31 38.3 45
C 15.7 24.5 30 37.5
D* 4.8 -0.2
0
6.5 -0.3
0
8.3 -0.7
0
7.5 -0.8
0
E 12.7 19 23.5 28
F 3 5.5 6.5 9.5
G 1.3 1.5 2 2.5
H 2 3 3 5
I 0.5 0.5 0.5 1.5
J 2 2 3 2.5
Gear Head Type
K 2 2 2 2
L M2×3 M2×3 M3×4 M3×4
M 1.7 2.2 2.5 3.5
Phase Adjusters
N 6 12 16 17.6
O 4.85 7.3 9 11.4
φP h7 20.5 31 40.5 51
φQ 13 20 26.5 33.5
φR H7 5 9 12 15
φS h6 17 26 35 43
φT H7 3 3 5 6
□U 22±0.42 32±0.46 43±0.50 53±0.50
φV 9.8 15.5 20.5 25.5
φW 25 37.5 50 62
X 3 4 6 6
Y M2×3 M3X4 M3×5 M4×6
a 2 2 2 2
Differential Gear
b M2 M3 M4 M5
c 2 2 2 2
φd 2.3 3.4 4.5 5.5
e* 17 28.7 36.1 45.4
f* ー 0
4.2 -0.3 0
6.1 -0.7 0
7.9 -0.8
g (accessory) 18.90×0.70 28.20×1.00 38.00×1.50 48.00×1.00
Mass (g) 25 100 150 295
*The B, D, e and f dimensions indicated by an asterisk are the Wave generator is removed when the product is delivered.
strength.
184
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Shaft output: outline dimensions 2XH-J
Fig. 185-1
B＊
C D E＊ Wave generator installation
(note)
(note) z F G g＊ dimension for size 5
a-b equally H i (O-ring)
spaced I J h＊
g＊
N
L-M K
φV H7
Component Type
φY
Component Sets
Max. dia. of motor
φR h7
φT h6
φU h6
φS
φA
φX
c-d equally O 0.4＋0.2

　0
spaced e-f equally spaced Wave generator
P O Reverse for motor with long output shaft
□W Q
Center of
output shaft
(Note) There is no positional relationship between the flat on the
output shaft and the a-b tapped holes.
Unit Type
Unit : mm
Gear Units
Size 5 8 11 14
Symbol
φA 29 43.5 58 73
B* 30.5 51 64.3 70
C 10 20 26 25
D 15.7 24.5 30 37.5
E* 4.8 -0.2
0
6.5 -0.3
0
8.3 -0.7
0
7.5 0
-0.8
F 12.7 19 23.5 28
G 3 5.5 6.5 9.5
H 1.3 1.5 2 2.5
I 0.5 0.5 0.5 1.5
J 2 3 3 5
Gear Head Type

K 2 2 3 2.5
L 2 2 2 2
M M2×3 M2×3 M3×4 M3×4
Phase Adjusters
N 9 18 21.5 23
O 6 12 16 17.6
P 4.85 7.3 9 11.4
Q 9.85 17.3 22 23.9
φR h7 20.5 31 40.5 51
φS 13 20 26.5 33.5
φT h6 5 9 12 15
φU h6 17 26 35 43
φV H7 3 3 5 6
□W 22±0.42 32±0.46 43±0.50 53±0.50
φX 9.8 15.5 20.5 25.5
φY 25 37.5 50 62
4.6 8 10.5 14
Differential Gear
Z
a 3 4 6 6 Gearheads & Actuators
b M2×3 M3×4 M 3×5 M4×6
c 2 2 2 2
d M2 M3 M4 M5
e 2 2 2 2
φf 2.3 3.4 4.5 5.5
g* 27 48.7 62.1 70.4
h* ー 0
4.2 -0.3 0
6.1 -0.7 0
7.9 -0.8
i (accessory) 18.90×0.70 28.20×1.00 38.00×1.50 48.00×1.00
Mass (g) 27 111 176 335
strength.
185
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Hole diameter of the wave generator
The standard hole dimension of the Wave Generator for each size is shown. The
dimension can be changed within a range up to the maximum hole dimension
shown in the following table to match the shaft diameter of the mounting motor.
Table 186-1
Unit: mm
Size 5 8 11 14
Symbol
2XH-F:φT H7
2XH-J:φV H7 2 to 4 3 to 7 4 to 8
1.5 to 6
1U-CC-F:φT H7 (2 to 8) (3 to 8) (4 to 10)
1U-CC:φT H7
Component Type
Note 1: The standard Wave Generator has an Oldham coupling to compensate for any
Component Sets
misalignment. The parenthesized value indicates the value for an input without an
Oldham coupling (known as a solid wave generator). The size 5 is standard with a
solid wave generator.
Note 2: The size of the set screw may be changed due to the hole diameter.
Note 3: A keyway may be incorporated, depending on the hole diameter.
Note 4: Special specifications apply to all changes of the hole diameter size.
Contact our office for details of the sizes.
Torsional stiffness See "Engineering data" for a description of terms.

Table 186-2
Size 5 8 11 14
Symbol 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F
Nm 0.075 0.29 0.80 2.0
T1
kgfm 0.0077 0.030 0.082 0.20
0.22 0.75 2.0 6.9
Unit Type
Nm
T2
kgfm 0.022 0.077 0.20 0.70
Gear Units
×104Nm/rad 0.009 0.010 0.031 0.034 0.077 0.084 0.172 0.188

K1
kgfm/arc min 0.003 0.003 0.009 0.010 0.023 0.025 0.051 0.056
×104Nm/rad 0.011 0.013 0.039 0.044 0.109 0.124 0.210 0.235
K2
kgfm/arc min 0.003 0.004 0.012 0.013 0.032 0.037 0.063 0.070
Ratio
×104Nm/rad 0.012 0.016 0.046 0.054 0.134 0.158 0.286 0.335
30 K3
kgfm/arc min 0.004 0.005 0.014 0.016 0.040 0.047 0.085 0.100
×10-4rad 8.7 7.5 9.5 8.6 10 9.5 12 11
θ1
arc min 3.0 2.6 3.2 3.0 3.6 3.3 4.0 3.6
×10-4rad 22 19 21 19 21 19 35 31
θ2
arc min 7.5 6.4 7.3 6.6 7.4 6.6 12 11
×104Nm/rad 0.011 0.013 0.039 0.044 0.177 0.221 0.286 0.335
K1
Gear Head Type
kgfm/arc min 0.003 0.004 0.012 0.013 0.053 0.066 0.085 0.100
×104Nm/rad 0.014 0.018 0.056 0.067 0.225 0.300 0.378 0.468
K2
kgfm/arc min 0.004 0.005 0.017 0.020 0.067 0.089 0.113 0.140
Ratio
Phase Adjusters
×104Nm/rad 0.017 0.025 0.067 0.084 0.236 0.320 0.440 0.568

50 K3
kgfm/arc min 0.005 0.007 0.020 0.025 0.070 0.095 0.131 0.170
×10-4rad 6.9 5.6 7.5 6.6 4.5 3.6 7.0 6.0
θ1
arc min 2.4 2.0 2.6 2.3 1.6 1.2 2.4 2.0
×10-4rad 18 14 16 14 9.9 7.6 20 16
θ2
arc min 6.0 4.8 5.4 4.7 3.4 2.6 6.8 5.6
×104Nm/rad 0.015 0.020 0.072 0.090 0.206 0.267 0.378 0.468
K1
kgfm/arc min 0.004 0.006 0.021 0.027 0.061 0.079 0.113 0.140
×104Nm/rad 0.018 0.027 0.080 0.104 0.243 0.333 0.460 0.601
K2
kgfm/arc min 0.005 0.008 0.024 0.031 0.072 0.099 0.137 0.179
Ratio
80
×104Nm/rad 0.020 0.030 0.089 0.120 0.291 0.432 0.516 0.700
K3
or more kgfm/arc min 0.006 0.009 0.027 0.036 0.086 0.128 0.154 0.209
×10-4rad 5.0 4.1 3.2 3.9 3.0 5.3 4.3
Differential Gear
3.7
θ1
arc min 1.7 1.3 1.4 1.1 1.3 1.0 1.8 1.5
×10-4rad
13 9.2 9.8 7.7 8.8 6.6 16 12

θ2
arc min 4.4 3.1 3.4 2.6 3.0 2.3 5.4 4.2
186
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Mechanical precision
The CSF-mini series gearheads have 4-point contact bearings on
the output side to support external loads. The mechanical precision
of the output shaft and output flange is shown below.
Shaft output Fig. 187-1 Flange output Fig. 187-2
2XH-J 1U-CC 2XH-F 1U-CC-F
◎ φb A ◎ φb A ◎ φb A
◎ φb A
a a a
a
Component Type
Component Sets
A
A A
B A B
B B
d d d d
e B e B e B e B
c A c A c A c A
Table 187-1
Mechanical precision * T.I.R. Unit: mm
Size
5 8 11 14
Symbol
Precision item 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F 2XH-J/1U-CC 2XH-F/1U-CC-F
Runout of the output shaft 0.030 — 0.030 — 0.030 — 0.030 —
Unit Type
a
Runout of the pilot hole in the
Gear Units
— 0.005 — 0.005 — 0.005 — 0.005
output flange
b Concentricity of the mounting
0.040 0.040 0.055 0.055
pilot
c Perpendicularity of the
0.020 0.020 0.025 0.025
mounting face
d Runout on the output flange face 0.005 0.005 0.005 0.005
e Parallelism of the mounting face

0.015 0.020 0.030 0.030
and the output flange face
* T.I.R.: This indicates the total reading of the dial gauge when the measuring part is rotated once.
Gear Head Type

Efficiency
Phase Adjusters
■ Reduction ratio Load torque Rated torque in rating table (see Page 170)
■ Input rotational speed
■ Load torque Name Harmonic Grease SK-2
■ Temperature Lubricant
Grease
lubrication
■ Lubrication (Type and quantity) Quantity Recommended quantity
■ Efficiency compensation coefficient

If the load torque is lower than the rated torque, the efficiency Efficiency compensation coefficient Graph 187-1
value lowers. Calculate compensaiton coefficient Ke from Graph
186-1 to calculate the efficiency using the following example.
Differential Gear
1.0
0.9
Calculation Example
Efficiency η (%) under the following condition is calculated from the 0.8 η ＝Ke・ η R
example of CSF-8-100-2XH. R ＝ Efficiency at the rated torque
η　
0.7
0.6
Load torque: 2.0 Nm
Lubrication method: Grease lubrication 0.5
Lubricant temperature: 20oC
0.4
Load torque
Since the rated torque of size 8 with a reduction ratio of 100 is 2.4 Torque ratio α ＝ ─
Rated torque
0.3
(α=2.0/2.4≈0.83) 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Torque ratio
186-1.
■ Efficiency η at load torque 2.0 Nm: η=Ke・ηR=0.99 x 77%=76%
* Efficiency compensation coefficient Ke=1 holds when the load torque is greater
than the rated torque.
187
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
■ Efficiency at rated torque
Size 5

100 100 100
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
Component Type
30 30 30
Component Sets
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Size 8
100 100 100
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
Unit Type
30 30 30
Gear Units
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Size 11
100 100 100
90 90 90
Gear Head Type
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
Phase Adjusters
40 40 40
30 30 30
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Size 14
Ratio 30 Ratio 50 Ratio 80 and 100
100 100 100
Differential Gear
90 90 90
80 80 80
70 70 70
Efficiency (%)
Efficiency (%)
Efficiency (%)
60 60 60
50 50 50
40 40 40
30 30 30
20 20 20
10 10 10
0 0 0
-10 0 10 20 30 40 -10 0 10 20 30 40 -10 0 10 20 30 40
Input rotational 500rpm 1000rpm 2000rpm 3500rpm

speed
188
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
No-load running torque
No-load running torque is the torque which is required to rotate the Measurement condition Table 189-1
input side (high speed side), when there is no load on the output
Ratio
side (low speed side).
Lubricant Grease lubrication Name Harmonic Grease SK-2
Torque value is measured after 2 hours at 2000rpm input.
■ Compensation Value in Each Ratio No-Load Torque Running Torque Compensation Value Unit: Ncm
Table 189-2
No-load running torque of the gear varies with ratio. The graphs Ratio
30 50 80
indicate a value for ratio 100. For other gear ratios, add the Size
Component Type
compensation values from table on the right. 5 0.26 0.11 —
Component Sets
8 0.44 0.19 —
11 0.81 0.36 —
14 1.33 0.58 0.1
■ No-load running torque for a reduction ratio of 100

100.0 100.0
Unit Type
10.0 10.0
Gear Units
Size
Size
14
14
1.0 1.0
11
11
8
8
5
5
Gear Head Type

0.1 0.1
-10 0 10 20 30 40 -10 0 10 20 30 40
o
Ambient Temperature ( C) Ambient Temperature (oC)
Phase Adjusters
100.0 100.0
10.0 10.0
Differential Gear
Size
Size
14
14
11
1.0 11 1.0
8
8
5
5
0.1 0.1
-10 0 10 20 30 40 -10 0 10 20 30 40
o
Ambient Temperature ( C) Ambient Temperature (oC)
*The values in this graph are average values (X).
189
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Example of installation
The following examples show a CSF-2XH miniature gearhead mounted to a motor.
Fig. 190-1 Fig. 190-2
This example shows the wave
generator flipped to allow for full
Mounting flange motor shaft engagement with Mounting flange
access to the set screws.
Component Sets
Component Type
■ Motor matching table

The table below provides a rough guide for matching a gearhead to a motor,
based on the motor wattage. Note that the motor shaft diameter may not
always match the diameter of the gearhead's standard input hub. The input
hub can be supplied with a non-standard diameter, see Page 182
Table 190-1
Motor capacity
3W・5W 10W 20W 30W
Size
5 ○
8 ○
11 ○ ○
Unit Type
Gear Units
14 ○
(Note) The shaft diameter of some motors may not fit the hole diameter of the
standard wave generator. In this case, the hole diameter should be
changed (hole diameter size: see Page 182). Changes to the hole
diameter should be performed using special specifications.
Gear Head Type
Phase Adjusters
Differential Gear
190
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Recommended tolerances for assembly
Maintain the recommended tolerences shown in Figure 187-1 and
Table 187-1 for maximum performance of CSF mini gearheads.
Recommended assembly tolerances Fig. 191-1

allowance of the case
Recommended
a A
A Case mating face
Component Sets
Component Type
H7
φc A b A
Recommended Wave generator
allowance of the shaft h6 mounting face
Table 191-1
Recommended assembly tolerances Unit: mm
Size
Symbol 5 8 11 14
Precision item
Unit Type
Gear Units
a Perpendicularity of mounting flange 0.008 0.010 0.011 0.011
0.012 0.012 0.017
b Perpendicularity of the input hub 0.005
（0.006）（0.007）（0.008）
0.015 0.015 0.030
c Concentricity of the input shaft 0.005
（0.006）（0.007）（0.016）
* The standard Wave Generator has an Oldham coupling to compensate for any misalignment. The parenthesized value indicates the value for an input without an
Oldham coupling (known as a solid wave generator). The size 5 is standard with a solid wave generator.
Gear Head Type
Phase Adjusters
Differential Gear
191
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
Installation and transmission torque
■ Installation
Check the mating surface for flatness and for burrs prior to
mounting the CSF-mini product. Use the proper screws and the
tightening torque as specified in Table 192-1 and 192-2.
Bolt tightening torque* of the mounting flange (A in Figure 193-1) /2XH type Table 192-1
Size
5 8 11 14
Item
Component Type
Component Sets
Pitch
circle mm 25 37.5 50 62
Clamp Nm 0.25 0.85 2.0 4.0

torque
Screws mm 2.4 3.6 4.8 6.0
Transmission
Nm 2 7 16 31
torque
* Recommended bolt: JIS B 1176 hexagonal bolt, strength: JIS B 1051 12.9 or higher
Bolt tightening torque* of the mounting flange (A and C part in Figure 193-2) /1U-CC type Table 192-2
Size
5 8 11 14
Item Part A Part C Part A Part C Part A Part C Part A Part C
Unit Type
Gear Units
Number of bolts 4 4 4 4 4 4 4 4
Bolt size M2 M2 M3 M2.5 M4 M3 M5 M4
Pitch
mm 23 22.5 35 34 46 46 58 58
circle
Clamp Nm 0.25 0.25 0.85 0.55 2.0 0.85 4.0 2.0
torque
Screws mm 3 3 6 5 8 6 10 8
Transmission — 29 — 57 —
Nm 3.5 — 12
torque
Gear Head Type
Phase Adjusters
Differential Gear
192
CSF-2XH/CSF-1U-CC
Engineering Data
Engineering Data
■ Installation of the load on the output part
Install the load on the output part of the CSF-mini series taking the
specifications of the output bearing (see Page 173) into
consideration.
Bolt tightening torque* of the mounting flange (B in Figure 193-1 and Figure 193-2) (flange output type) Table 193-1
Size
5 8 11 14
Item
Component Type
Component Sets
Pitch mm 9.8 15.5 20.5 25.5
circle
Clamp Nm 0.54 2. 2.0 4.6
torque
Transmission Nm 2 13 26 55
torque
Output Flange is treated to prevent for grease leakage, re-sealing is not necessary.
Mounting flange (2XH-F) Fig. 193-1 Mounting flange (1U-CC-F) Fig. 193-2
Unit Type
Gear Units
Part B
Part A Part C
Part B
Part A
Avoid impact to the output flange during assembly. It may result

in damage to the gearhead.
Gear Head Type
Phase Adjusters
Differential Gear
193
CSF-2XH/CSF-1U-CC
Engineering Data
Precautions on installation
Sealing
■ Assembly order of the three basic elements
Sealing is required
The to prevent
wave generator greaseafter
is installed leakage
the flexspline and circular spline. If the wave generator is
not inserted into the flexspline last, gear teeth scuffing damage or improper eccentric gear
mesh may result. Installation resulting in an eccentric tooth mesh (Dedoidal) will cause noise
• Mating flange Use the O-Ring supplied with the
and vibration, and can lead to early failure of the gear. For proper function, the teeth of the
flexspline and Circular Spline gearhead, as well as a seal
mesh symmetrically.
adhesive, such as gasket
Assembly order for basic three elementsMake sure the O-Ring
eliminator. Fig. 285-1
is seated properly.
• Screw hole area Apply LOCTITE® 242 to the screw

Component Sets
threads.
Area requiring sealing and recommended

sealing methods Table 194-1
Area requiring sealing Recommended sealing method

Mating flange Use O-ring (supplied with the product)
Input side Motor output Please select a motor which has

shaft an oil seal on the output shaft.
Wave generator Wave generator
Circular spline (Note)

Gear Units
Flexspline Do not build in the wave generator from

Cross roller bearing the diaphragm side of flexspline.
■ Precautions on assembly
It is extremely important to assemble the gear accurately and in
proper sequence. For each of the three components, utilize the
following precautions.
Wave generator Flexspline

1. Avoid applying undue axial force to the wave generator 1. Mounting surfaces need to have adequate flatness,
during installation. Rotating the wave generator bearing smoothness, and no distortion.
while inserting it is recommended and will ease the process. 2. Especially in the area of the screw holes, burrs or foreign
Phase Adjusters
2. Extra care must be given to ensure that concentricity and matter should not be present.
inclination are within the specified limits (see page 281). 3. Adequate clearance with the housing is needed to ensure no
3. Installation bolts on the Wave Generator and Flexspline should interference especially with the major axis of flexspline
not interfere each other. 4. Bolts should rotate freely when installing through the mounting
holes of the flexspline and should not have any irregularity due
Circular spline to the shaft bolt holes being misaligned or oblique.
The circular Spline must not be deformed in any way during the 5. Do not tighten the bolts with the specified torque all at once.
assembly. It is particularly important that the mounting surfaces Tighten the bolts temporarily with about half the specified
are prepared correctly. torque, and then tighten them to the specified torque. Tighten
them in an even, crisscross pattern.
1. Mounting surfaces need to have adequate flatness,
smoothness, and no distortion. 6. The flexspline and circular spline are concentric after
assembly. After installing the wave generator bearing, if it
2. Especially in the area of the screw holes, burrs or foreign
rotates in unbalanced way, check the mounting for dedoidal or

matter should not be present.
non-concentric installation.
3. Adequate relief in the housing corners is needed to prevent
7. Care should be taken not to damage the flexspline diaphragm
interference with the corner of the circular spline.
or gear teeth during assembly.
4. The circular spline should be rotatable within the housing. Be
Avoid hitting the tips of the flexpline teeth and circular spline
sure there is not interference and that it does not catch on
teeth. Avoid installing the CS from the open side of the
anything.
flexspline after the wave generator has been installed.
5. Bolts should not rotate freely when tightening and should not
have any irregularity due to the bolt hole being misaligned or
oblique. Rust prevention
6. Do not tighten the bolts with the specified torque all at once. Although Harmonic Drive® gears come with some corrosion
Tighten the bolts temporarily with about half the specified protection, the gear can rust if exposed to the environment. The
torque, and then tighten them with the specified torque. gear external surfaces typically have only a temporary corrosion
Tighten them in an even, crisscross pattern. inhibitor and some oil applied. If an anti-rust product is needed,
7. Avoid pinning the circular spline if possible as it can reduce please contact us to review the options.
the rotational precision and smoothness of operation.
194
6
Engineering Data
Engineering Data
Engineering Data
Engineering Data
Sets
Tooth profile S tooth profile

Component Sets
009
Rotational direction Cup type 010
and reduction ratio
Silk hat type
Component
011
Pancake type 011
Rating table definitions 012
Life 012
Torque limits 013
Product sizing and selection 014
Lubrication Grease lubricant 016
Precautions on using
Harmonic Grease® 4B No.2 018
Oil lubricant
Units
018
Gear Units
Lubricant for special

environments 019
Torsional stiffness 020
Gear
Positional accuracy 021

Vibration 021
Starting torque 022
Backdriving torque 022
No-load running torque 023
Efficiency 023
Adjusters
PhaseAdjusters
Design Design guideline 024

guidelines Bearing support of the input
and output shafts 025
Wave Generator 026
Assembly Sealing 028
guidelines
Phase
Assembly Precautions 028

"dedoidal" state 029
Checking output Checking procedure 030
bearing How to calculate the maximum
moment load 030
How to calculate the
average load 031

How to calculate the radial load coefficient
(X) and axial load coefficient (Y) 031
How to calculate the life
032
How to calculate the life under
oscillating movement 032
How to calculate the static
safety coefficient 034
Gearheads
8
Engineering Data
Engineering Data
Tooth Profile
Tooth Profile
■ S tooth profile
■ S tooth profile
Harmonic Drive developed a unique gear tooth profile that optimizes
Harmonic Drive developed a unique gear tooth profile that optimizes
thethe
tooth engagement.
tooth engagement.It Ithashasaaspecial
special curved surfaceunique
curved surface uniquetotothe
the
S tooth
S toothprofile
profilethat allows
that allowscontinuous
continuous contact with the
contact with thetooth
toothprofile.
profile.
It also alleviates
It also alleviatesthetheconcentration
concentrationof of stress by widening
stress by wideningthethewidth
width
of the tooth
of the groove
tooth groove against
againstthethetooth
tooth thickness
thickness andandenlarging
enlargingthe
the
radius
radiusonon
thethe
bottom.
bottom.ThisThistooth
toothprofile
profile (the “S tooth”)
(the “S tooth”)enables
enablesupup
to 30%
to 30% of of
thethe
total number
total numberofofteeth
teeth to
to be
be engaged simultaneously.
engaged simultaneously.
Component Sets
Additionally
Additionally thethe largetooth
large toothroot
rootradius
radius increases
increases the
thetooth
toothstrength
strength
compared
compared with
with anan involutetooth.
involute tooth.This
This technological
technological innovation
innovation
results
results in high
in high torque,high
torque, hightorsional
torsional stiffness,
stiffness, long
long life
lifeand
andsmooth
smooth
rotation.
rotation.
*Patented
*Patented
Engaged route of teeth Fig. 009-1 Engaged area of teeth Fig. 009-2
Engaged route of teeth Fig. 009-1 Engaged area of teeth Fig. 009-2
Conventional tooth profile
Conventional tooth profile
Gear Units
S tooth profile
S tooth profile
Phase Adjusters
Beginning of Optimum engaged
engagement status
Beginning of Optimum engaged

engagement status
9
Engineering Data
Engineering Data
Rotational direction and reduction ratio
Cup Style
Series: CSG, CSF, CSD, CSF-mini
■ Rotational direction
Fig. 010-1
1 2 3
* R indicates the
Component Sets
reduction ratio value

from the ratings table.
FS WG
Input Output CS
(Note) Contact us if you use the product
as Accelerator (5) and (6).
(1) Reducer (2) Reducer (3) Reducer
Input: Wave Generator (WG) −1 Input: Wave Generator 1 Input: Flexspline R
Output: Flexspline (FS) i＝ー Output: Circular Spline i＝ー Output: Circular Spline i＝ー
R R＋1 R＋1
Fixed: Circular Spline (CS) Fixed: Flexspline Fixed: Wave Generator
4 5 6 7
Gear Units
(4) Overdrive (5) Overdrive (6) Overdrive (7) Differential

Input: Circular Spline Input: Flexspline Input: Circular Spline When all of the wave generator, the
Output: Flexspline R＋1 Output: Wave Generator Output: Wave Generator flexspline and the circular spline rotate,
i＝ー i＝−R i＝R＋1
Fixed: Wave Generator R Fixed: Circular Spline Fixed: Flexspline combinations (1) through (6) are
available.
Silk hat
Series: SHG, SHF, SHD
■ Rotational direction
Fig. 010-2
1 2 3
Phase Adjusters
* R indicates the
reduction ratio value
from the ratings. table
Input Output
as an overdrive of (5) or (6).
(1) Reducer (2) Reducer (3) Reducer
Input: Wave Generator −1 Input: Wave Generator 1 Input: Flexspline R
i＝ー i＝ー i＝ー
Output: Flexspline R Output: Circular Spline R＋1 Output: Circular Spline R＋1
Fixed: Circular Spline Fixed: Flexspline Fixed: Wave Generator
4 5 6 7
(4) Overdrive (5) Overdrive (6) Overdrive (7) Differential

Input: Circular Spline R＋1 Input: Flexspline Input: Circular Spline When all of the wave generator, the
Output: Flexspline i＝ー Output: Wave Generator i＝−R Output: Wave Generator i＝R＋1 flexspline and the circular spline rotate,
Fixed: Wave Generator R Fixed: Circular Spline Fixed: Flexspline Combinations (1) through (6) are
available.
10
Engineering Data
Engineering Data
Pancake
FB and FR
Fig. 11-1
1 2 3
Component Sets
Output Input Output Input Output Input
Input Output
as Accelerator (5) and (6). (1) Reducer (2) Reducer (3) Reducer
Input: Wave Generator −1 Input: Wave Generator 1 Input: Circular Spline D R
i＝ー i＝ー i＝ー
Output: Circular Spline D R Output: Circular Spline S R＋1 Output: Circular Spline S R＋1
Fixed: Circular Spline S Fixed: Circular Spline D Fixed: Wave Generator
4 5 6 7
Output Input Input Output

Input Output
Gear Units
(7) Differential
(4) Overdrive (5) Overdrive (6) Overdrive When all of the Wave Generator, the
Input: Circular Spline S R＋1 Input: Circular Spline S Input: Circular Spline D Circular Spline S and the Circular
Output: Circular Spline D i＝ー Output: Wave Generator i＝R＋1 Output: Wave Generator i＝−R
R Spline D rotate, Combinations (1)
Fixed: Wave Generator Fixed: Circular Spline D Fixed: Circular Spline S through (6) are available.
■ Reduction ratio
The reduction ratio is determined by the number of teeth of the
Flexspline and the Circular Spline
Phase Adjusters
Example
Number of teeth of the Flexspline: Zf Number of teeth of the Flexspline: 200
Number of teeth of the Circular Spline: Zc Number of teeth of the Circular Spline: 202
Input: Wave Generator Input: Wave Generator

Reduction 1 Zf-Zc Reduction 1 200-202 -1
Output: Flexspline i1 = = Output: Flexspline i1 = = =
ratio R1 Zf ratio R1 200 100
Fixed: Circular Spline Fixed: Circular Spline
Input: Wave Generator Reduction Input: Wave Generator Reduction

1 Zc-Zf 1 202-200 1
Output: Circular Spline ratio i2 = = Output: Circular Spline ratio i2 = = =
Fixed: Flexspline R2 Zc Fixed: Flexspline R2 202 101
■ R1 indicates the reduction ratio value from the ratings table.
11
Engineering Data
Engineering Data
Rating Table Definitions
See the corresponding pages of each series for values.
■ Rated torque
Rated torque indicates allowable continuous load torque at rated
input speed.
Example of application motion profile 012-1
■ Limit for Repeated Peak Torque
Graph
(see Graph 12-1)

During acceleration and deceleration the Harmonic Drive® gear
experiences a peak torque as a result of the moment of inertia of the Abnormal impact torque
output load. The table indicates the limit for repeated peak torque. ＋
Component Sets
Start
■ Limit for Average Torque

Steady
Load torque
In cases where load torque and input speed vary, it is necessary → Time
Load Torque
Repeated Peak Torque
Momentary Peak Torque

to calculate an average value of load torque. The table indicates Stop
the limit for average torque. The average torque calculated must
Start
not exceed this limit. (calculation formula: Page 14) −
＋ (Speed cycle)
■ Limit for Momentary Peak Torque
(see Graph 12-1)
Wave Generator
rotational speed
The gear may be subjected to momentary peak torques in the → Time
event of a collision or emergency stop. The magnitude and
frequency of occurrence of such peak torques must be kept to a −
minimum and they should, under no circumstance, occur during
normal operating cycle. The allowable number of occurrences of
the momentary peak torque may be calculated by using formula
13-1.
■ Maximum Average Input Speed

Gear Units
Maximum Input Speed

Do not exceed the allowable rating. (calculation formula of the
average input speed: Page 14).
■ Moment of Inertia
The rating indicates the moment of inertia reflected to the gear
input.
Life
Phase Adjusters
■ Life of the wave generator

The life of a gear is determined by the life of the wave Relative torque rating Graph 012-2
generator bearing. The life may be calculated by using the

17
input speed and the output load torque. Buckling torque
16
Table 012-1 10
Load torque (when the rated torque is 1)
Life 9 Racheting torque
8
Series name CSF, CSD, SHF, SHD, CSG, SHG
CSF-mini 7
Life of wave generator (L10)
L10 7,000 hours 10,000 hours 6
L50 (average life) 35,000 hours 50,000 hours
5 Fatigue strength of the flexspline
* Life is based on the input speed and output load torque from the rating table.
4
Momentary peak torque
3
Calculation formula for Rated Lifetime Formula 012-1
2
Repeated peak torque
Tr Nr
3
Lh＝Ln ・・
1
Rated torque
Tav Nav 0 10
10 5 10 6 10 7 10 8 10 9 10 　
Table 012-2 Total number of input rotations
Ln Life of L10 or L50
Tr Rated torque * Lubricant life not taken into consideration in the graph described above.
Nr Rated input speed * Use the graph above as reference values.
Tav Average load torque on the output side (calculation formula: Page 14)
Nav Average input speed (calculation formula: Page 14)
12
Engineering Data
Engineering Data
Torque Limits
■ Strength of flexspline ■ Ratcheting torque
The Flexspline is subjected to repeated deflections, and its strength When excessive torque (8 to 9 times rated torque) is applied
determines the torque capacity of the Harmonic Drive® gear. The while the gear is in motion, the teeth between the Circular Spline
values given for Rated Torque at Rated Speed and for the allowable and Flexspline may not engage properly.
Repeated Peak Torque are based on an infinite fatigue This phenomenon is called ratcheting and the torque at which
life for the Flexspline. this occurs is called ratcheting torque. Ratcheting may cause the
The torque that occurs during a collision must be below the Flexspline to become non-concentric with the Circular Spline.
momentary peak torque (impact torque). The maximum number of Operating in this condition may result in shortened life and a
occurrences is given by the equation below. Flexspline fatigue failure.
* See the corresponding pages of each series for ratcheting torque values.
Allowable limit of the bending cycles of the flexspline during * Ratcheting torque is affected by the stiffness of the housing to be used when
Component Sets
installing the circular spline. Contact us for details of the ratcheting torque.
rotation of the wave generator while the impact torque is
applied: 1.0 x 104 (cycles)
The torque that occurs during a collision must be below the

When ratcheting occurs, the teeth may not be correctly
momentary peak torque (impact torque). The maximum number
engaged and become out of alignment as shown in
of occurrences is given by the equation below.
Figure 013-1. Operating the drive in this condition will
Caution
cause vibration and damage the flexspline.
Calculation formula Formula 013-1
1.0×104
N＝
n
2× ×t Once ratcheting occurs, the teeth wear excessively
60
and the ratcheting torque may be lowered.
Caution
Allowable occurances N occurances
Time that impact torque is applied t sec
Rotational speed of the wave generator n rpm
The flexspline bends two times per one revolution of the wave generator.
Gear Units
Figure 013-1
If the number of occurances is exceeded, the Flexspline Circular Spline
Caution
may experience a fatigue failure.
■ Buckling torque
Flexspline
When a highly excessive torque (16 to 17 times rated torque) is
applied to the output with the input stationary, the flexspline may
experience plastic deformation. This is defined as buckling torque. "Dedoidal" condition.
* See the corresponding pages of each series for buckling torque values.
Phase Adjusters
When the flexspline buckles, early failure of the
HarmonicDrive® gear will occur.
Warning
13
Engineering Data
Engineering Data
Product Sizing & Selection
In general, a servo system rarely operates at a continuous load ■ Flowchart for selecting a size
and speed. The input rotational speed, load torque change and Please use the flowchart shown below for selecting a size.
comparatively large torque are applied at start and stop. Operating conditions must not exceed the performance
Unexpected impact torque may be applied. ratings.
These fluctuating load torques should be converted to the
average load torque when selecting a model number.
As an accurate cross roller bearing is built in the direct external
load support (output flange), the maximum moment load, life of
the cross roller bearing and the static safety coefficient should
also be checked.
Component Sets
Calculate the average load torque applied on the output side from the
application motion profile: Tav (Nm).
■ Checking the application motion profile
3 n　　　　　　　　　
1 ･t1 ･|T1 |3+n2 ･t2 ･|T2 |3+･･･nn ･tn ･|Tn |3
Review the application motion profile. Check the specifications Tav =
　　　　　　
shown in the figure below. n1 ･t1 +n2 ･t2 +･･･nn ･tn
Graph 14-1
+
　
T1 　 Make a preliminary model selection with the following conditions.
Tn Tav ≦ Limit for average torque torque
　 (See the rating table of each series).
T2
Load torque
　　　　　　
　 Calculate the average output n1 ･t1 +n2 ･t2 +･･･nn ･tn
T4 speed: no av (rpm) no av = ————　 ———　 —————— 　———
t1 + t2 +･･･ tn
Time Obtain the reduction ratio (R). ni max
—————— ≧ R
　 A limit is placed on “ni max” by no max
T3 motors.
　　　　　
t1 t2 t3 t4 tn
ー
　 Calculate the average input rotational
Output rotational
n2 speed from the average output

rotational speed (no av) and the ni av = no av･R
speed
　　　 reduction ratio (R): ni av (rpm)

n1 n3 nn
Gear Units
Calculate the maximum input

　 rotational speed from the max. output ni max = no max･R
n4 rotational speed (no max) and the
reduction ratio (R): ni max (rpm)
* n1, n2 and nn indicate the average values. Time
Check whether the preliminary Ni av ≦ Limit for average speed (rpm)
model number satisfies the
following condition from the Ni max ≦ Limit for maximum speed (rpm) NG
rating table.
OK
Obtain the value of each application motion
profile. Check whether T1 and T3 are less than the repeated peak torque
specification. NG
Load torque Tn (Nm)
Time tn (sec)
OK
Phase Adjusters
Output rotational speed nn (rpm)
Review the operation conditions and model number

Normal operation pattern Check whether Ts is less than the the momentary peak torque
Starting (acceleration) T1, t1, n1 specification. NG
Steady operation
(constant velocity) T2, t2, n2 OK
Stopping (deceleration) T3, t3, n3
Dwell T4, t4, n4 Calculate (Ns) the allowable
number of rotations during 　 104 　
Maximum rotational speed impact torque. NS =————— ･･････NS ≦ 1.0×104
　
nS ･R 　
2･————･t
NG
Max. output speed no max 60
Max. input rotational speed ni max
(Restricted by motors)
OK
Emergency stop torque

When impact torque is applied Ts, ts, ns
Required life
L10 = L (hours)
Calculate the lifetime.
(
Tr 3 nr
) (
L10 = 7000･ ——— ･ ——— (hours)
Tav ni av )
Check whether the calculated life is equal to or more than the life of
the wave generator (see Page 13). NG
OK
The model number is confirmed.
14
Engineering Data
Engineering Data
■ Example of model number selection
Value of each application motion profile Maximum rotational speed

Load torque T（Nm）
n
Max. output speed no max = 14 rpm
Time t（sec）
n
Max. input speed ni max = 1800 rpm
Output speed n（rpm）
n
(Restricted by motors)
Normal operation pattern Emergency stop torque

Starting (acceleration) T1 = 400 Nm, t1 = 0.3sec, n1 = 7rpm When impact torque is applied Ts = 500 Nm, ts = 0.15 sec,
Steady operation ns = 14 rpm
(constant velocity) T2 = 320 Nm, t2 = 3sec, n2 = 14rpm Required life
Stopping (deceleration) T3 = 200 Nm, t3 = 0.4sec, n3 = 7rpm L10 = 7000 (hours)
Dwell T4 = 0 Nm, t4 = 0.2 sec, n4 = 0 rpm
Component Sets
Calculate the average load torque to the output side based on the application motion profile: Tav (Nm).
　　　3 7 rpm･0.3 sec･|400Nm|3+14 rpm･3 sec･|320Nm|3+7 rpm･0.4 sec･|200Nm|3

Tav =
7 rpm･0.3 sec+14 rpm･3 sec+7 rpm･0.4 sec
Make a preliminary model selection with the following conditions. Tav = 319 Nm ≦ 620 Nm
(Limit for average torque for model number CSF-40-120-2A-GR: See the rating table on Page 39.)
Thus, CSF-40-120-2A-GR is tentatively selected.
Calculate the average output rotational speed: no av (rpm) 7 rpm･0.3 sec+14 rpm･3 sec+7 rpm･0.4 sec
no av = ————————————————————————————= 12 rpm
0.3 sec + 3 sec + 0.4 sec + 0.2 sec
Obtain the reduction ratio (R). 1800 rpm
———————= 128.6 ≧ 120
14 rpm
Calculate the average input rotational speed from the
Gear Units
average output rotational speed (no av) and the reduction ni av = 12 rpm･120 = 1440 rpm
ratio (R): ni av (rpm)
Calculate the maximum input rotational speed from the
maximum output rotational speed (no max) and the ni max = 14 rpm･120 = 1680 rpm
reduction ratio (R): ni max (rpm)
Check whether the preliminary selected model

Ni av = 1440 rpm ≦ 3600 rpm (Max average input speed of size 40)
number satisfies the following condition from the
Ni max = 1680 rpm ≦ 5600 rpm (Max input speed of size 40) NG
rating table.
OK
Check whether T1 and T3 are equal to or less

T1 = 400 Nm ≦ 617 Nm (Limit of repeated peak torque of size 40)
than the repeated peak torque specification.
T3 = 200 Nm ≦ 617 Nm (Limit of repeated peak torque of size 40) NG
OK
Phase Adjusters
Review the operation conditions, size and reduction ratio
Check whether Ts is equal to or less than the

momentary peak torque specification. Ts = 500 Nm ≦ 1180 Nm (Limit for momentary torque of size 40) NG
OK
Calculate the allowable number (Ns) rotation during impact

　 104
torque and confirm ≦ 1.0×104 NS =———————— = 1190 ≦ 1.0×104
14 rpm･120 NG
2･————————･0.15 sec　
60
OK
Calculate the lifetime.

(
294 Nm 3
319 Nm ) (
2000 rpm
L10 = 7000･ —————— ･ ————————— (hours)
1440 rpm )
Check whether the calculated life is equal to or more than the life of the wave generator (see Page 12).
L10 =7610 hours ≧ 7000 (life of the wave generator: L10) NG
OK
The selection of model number CSF-40-120-2A-GR is confirmed from the above calculations.
15
Engineering Data
Engineering Data
Lubrication
Component Sets: CSD-2A, CSF-2A, CSG-2A, FB-2, FB-0, FR-2,
SHF-2A, SHG-2A and SHD and SHG/SHF -2SO and -2SH gear units:
Grease lubricant and oil lubricant are available for lubricating the Name of lubricant Table 016-1
component sets and SHD gear unit. It is extremely important to Harmonic Grease® SK-1A
properly grease your component sets and SHD gear unit. Proper Grease Harmonic Grease® SK-2
lubrication is essential for high performance and reliability. Harmonic Harmonic Grease® 4B No.2
Drive® component sets are shipped with a rust- preventative oil. The Oil Industrial gear oil class-2 (extreme pressure) ISO VG68
characteristics of the lubricating grease and oil types approved by
Harmonic Drive are not changed by mixing with the preservation oil.
It is therefore not necessary to remove the preservation oil Temperature Table 016-2
completely from the gear components. However, the mating surfaces
SK-1A　0ºC to + 40ºC
must be degreased before the assembly. Grease SK-2　0ºC to + 40ºC
Component Sets
4B No.2　–10ºC to + 70ºC
Gear Units: CSG/CSF 2UH and 2UH-LW; CSD-2UF and -2UH;
Oil ISO VG68　0ºC to + 40ºC
SHG/SHF-2UH and 2UH- LW; SHG/SHF-2UJ; CSF Supermini, CSF
Mini, and CSF-2UP. * The hottest section should not be more than 40° above the ambient
temperature.
Grease lubricant is standard for lubricating the gear units. You do not
need to apply grease during assembly as the product is lubricated Note: The three basic components of the gear - the Flexspline, Wave Generator and
and shipped. Circular Spline - are matched and serialized in the factory. Depending on the product
See Page 19 for using lubricant beyond the temperature range in they are either greased or prepared with preservation oil. Then the individual
components are assembled. If you receive several units, please be careful not to mix
table 16-2. the matched components. This can be avoided by verifying that the serial numbers of
* Contact us if you want consistency zero (NLGI No.0) for maintenance reasons. the assembled gear components are identical.
Grease lubricant ■ Compatible grease by size

■ Types of lubricant Compatible grease varies depending on the size and reduction
ratio. See the following compatibility table. We recommend
Harmonic Grease® SK-1A SK-1A and SK-2 for general use.
This grease was developed for Harmonic Drive® gears and features good
durability and efficiency.
Ratios 30:1 Table 016-5
Gear Units
Harmonic Grease® SK-2 Size 8 11 14 17 20 25 32

This grease was developed for small sized Harmonic Drive® gears and SK-1A －－－－ ○ ○ ○
features smooth rotation of the Wave Generator since high pressure additive is SK-2 ○ ○ ○ ○ －－－
liquefied.
4B No.2 △ △ △ △ □ □ □
Harmonic Grease® 4B No.2
This has been developed exclusively for the CSF and CSG and features long
life and can be used over a wide range of temperature. Ratios 50:1* and above Table 016-6
Size 8 11 14 17 20 25 32
(Note) SK-1A －－－－ ○ ○ ○
1. Grease lubrication must have proper sealing, this is essential for 4B No.2.
SK-2 ○ ○ ○ ○ △ △ △
Rotating part: Oil seal with spring is needed.
Mating part: O ring or seal adhesive is needed. 4B No.2 －－ □ □ □ □ □
2. The grease has the highest deterioration rate in the region where the grease
is subjected to the greatest shear (near wave generator). Size 40 45 50 58 65 80 90 100
Phase Adjusters
Its viscosity is between JIS No.0 and No.00 depending on the operation.
SK-1A ○ ○ ○ ○ ○ ○ ○ ○
Table 016-3
SK-2 △ －－－－－－－
NLGI consistency No. Mixing consistency range 4BNo.2 □ □ □ □ □ □ □ □
0 355 to 385 ○: Standard grease
△: Semi-standard grease
00 400 to 430 □: Recommended grease for long life and high load
* Oil lubrication is required for component-sets size 50 or larger
with a reduction ratio of 50:1.
Grease specification Table 016-4 Grease characteristics Table 016-7
Grease SK-1A SK-2 4B No.2 Grease SK-1A SK-2 4B No.2

Composite Durability ○ ○ ◎
Base oil Refined oil Refined oil
hydrocarbon oil Fretting resistance ○ ○ ◎
Lithium soap Lithium soap Low-temperature performance △ △ ◎
Thickening agent Urea
base base Grease leakage ◎ ◎ △
Additive
Extreme-pressure Extreme-pressure Extreme-pressure Excellent ：◎
additive, others additive, others additive, others Good ：○
Use Caution：△
NLGI consistency
No. 2 No. 2 No. 1.5
No.
Viscosity cSt
265 to 295 265 to 295 290 to 320
(25ºC)
Dropping Point 197ºC 198ºC 247ºC
Appearance Yellow Green Light yellow
5 years in sealed 5 years in sealed 5 years in sealed

Storage life
condition condition condition
16
Engineering Data
Engineering Data
■ When to replace grease
The wear characteristics of the gear are strongly influenced by the
condition of the grease lubrication. The condition of the grease is
affected by the ambient temperature. The graph 017-1 shows the
maximum number of input rotations for various temperatures. This
graph applies to applications where the average load torque does
not exceed the rated torque.
Note: Recommended Grease: SK-1A or SK-2
When to replace grease: LGTn (when the average load
Component Sets
torque is equal to or less than the rated torque) Graph 017-1
10
10 　
Grease Life
4B No.2
Number of input rotations
109
SK-1A
SK-2
108
Gear Units
Wave Generator Life
107
20 40 60 80 100 120
Grease temperature (oC)
Formula Symbols Table 017-1
LGT Grease change (if average load input

torque exceeds rated torque) revolutions
Phase Adjusters
LGTn Grease change (if average load torque input
revolutions See the Graph 017-1.
Calculation formula when the average load torque is equal to or less than rated torque) (From Graph)
exceeds the rated torque Formula 017-1 See the "Ratings Table"
Tr Rated torque Nm
3 of each series.
Tr
LGT＝LGTn × –––––– Tav Average load torque Nm Calculation formula:
Tav See Page 014.
■ Other precautions
1. Avoid mixing different kinds of grease. The gear should be in
an individual case when installed.
2. Please contact us when you use HarmonicDrive® gears at

constant load or in one direction continuously, as it may cause
lubrication problems.
3. Grease leakage. A sealed structure is needed to maintain the high

durability of the gear and prevent grease leakage.
■ See the corresponding pages of the design guide of each series for “Recommended
minimum housing clearance,” Application guide” and “Application quantity.”
17
Engineering Data
Engineering Data
Precautions on using Harmonic Grease® 4B No.2
Harmonic Grease® 4B No.2 lubrication is ideally suited for Harmonic Drive® gears.
(1) Apply the grease to each contacting joint at the beginning of operation.
(2) Remove any contaminents created by abrasion during running-in period.
■ See the corresponding pages of the design guide of each series for “recommended minimum housing
clearance,” Application guide” and “Application quantity.”
■ Precautions
(1) Stir Grease
When storing Harmonic Grease 4B No.2 lubrication in the container, it is common for the oil to weep from the thickener.
Before greasing, stir the grease in the container to mix and soften.
Component Sets
(2) Aging (running-in)

The aging before the main operation softens the applied grease. More effective greasing performance can be realized when the
grease is distributed around each contact surface.
Therefore, the following aging methods are recommended.
• Keep the internal temperature at 80ºC or cooler. Do not start the aging at high temperature rapidly.
• Input rotational speed should be 1000rpm to 3000rpm. However, the lower rotational speed of 1000rpm is more effective.
Set the speed as low as possible within the indicated range.
• The time required for aging is 20 minutes or longer.
• Operation range for aging: Keep the output rotational angle as large as possible.
Contact us if you have any questions for handling Harmonic Grease 4B No.2 lubrication.
Note: Strict sealing is required to prevent grease leakage.
Oil lubricant
Gear Units
■ Types of oil
The specified standard lubricant is “Industrial gear oil class-2 (extreme pressure) ISO VG68.”
We recommend the following brands as a commercial lubricant.
Table 018-1
Idemitsu
Standard Mobil Oil Exxon Shell COSMO Oil Japan Energy NIPPON Oil General Oil Klüber
Kosan
Industrial gear oil Daphne super General Oil
class-2 Mobilgear Spartan Omala Oil Cosmo gear ES gear Bonock M68, gear SP gear Syntheso
(extreme pressure) 600XP68 EP68 68 SE68 G68 Bonock AX68 D-68EP
ISO VG68 LW68 roll 68
■ When to replace oil

First time 100 hours after starting operation
Phase Adjusters
Second time or after Every 1000 operation hours or every 6 months

Note that you should replace the oil earlier than specified if the operating
condition is demanding.
■ See the corresponding pages of the design guide of each series for specific
details.
■ Other precautions
1. Avoid mixing different kinds of oil. The gear should be in an
individual case when installed.
2. When you use size 50 or above at max allowable input speed,

please contact us as it may cause lubrication problems.
* Oil lubrication is required for component-sets size 50 or larger with a reduction ratio of 50:1.
18
Engineering Data
Engineering Data
Lubricant for special environments
When the ambient temperature is special (other than the
“temperature range of the operating environment” on Page 016-2),
you should select a lubricant appropriate for the operating
temperature range.
Harmonic Grease 4B No.2 Table 019-1 Harmonic Grease 4B No.2

Type of Available The operating temperature range of Harmonic Grease 4B No.2
Operating temperature range
lubricant temperature range lubrication is the temperature at the lubricating section with the
Grease –10˚C to + 110˚C –50˚C to + 130˚C performance and characteristics of the gear taken into
consideration. (It is not ambient temperature.)
As the available temperature range indicates the temperature
Component Sets
of the independent lubricant, restriction is added on operating
High temperature lubricant Table 019-2 conditions (such as load torque, rotational speed and operating
Type of
Lubricant and manufacturer
Available cycle) of the gear. When the ambient temperature is very high
lubricant temperature range or low, materials of the parts of the gear need to be reviewed
Grease Mobil grease 28: Mobil Oil ‒5˚C to + 160˚C for suitability. Contact us if operating in high temperature.
Oil Mobil SHC-626: Mobil Oil ‒5˚C to + 140˚C Harmonic Grease 4B No.2 can be used in the available
temperature range shown in table 019-1. However, input
running torque will increase at low temperatures, and grease
life will be decreased at high temperatures due to oxidation and
lubricant degradation.
Low temperature lubricant Table 019-3
Type of Available
Lubricant and manufacturer
lubricant temperature range
Multemp SH-KII: Kyodo Oil ‒30˚C to + 50˚C

Grease
Isoflex LDS-18 special A: ‒25˚C to + 80˚C
KLÜBER
Gear Units
SH-200-100CS: Toray Silicon ‒40˚C to + 140˚C
Oil
Syntheso D-32EP: ‒25˚C to + 90˚C
KLÜBER
Phase Adjusters
19
Engineering Data
Engineering Data
Torsional Stiffness
Stiffness and backlash of the drive system greatly affects the ■ Hysteresis loss
performance of the servo system. Please perform a detailed As shown in Figure 020-1, when the applied torque is increased to
review of these items before designing your equipment and the rated torque and is brought back to [zero], the torsional angle
selecting a model number. does not return exactly back to the zero point This small difference
(B – B') is called hysteresis loss.
■ See the corresponding page of each series for the hysteresis
■ Stiffness loss value.
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 shows the torsional
Component Sets
angle at the output side when the torque applied on the output Torque - torsion angle diagram Figure 20-1
side starts from zero, increases up to +T0 and decreases down to Torsion angle
–T0. This is called the “Torque – torsion angle diagram,” which A
normally draws a loop of 0 – A – B – Aʼ – Bʼ – A. The slope
described in the “Torque – torsion angle diagram” is represented
as the spring constant for the stiffness of the HarmonicDrive®
gear (unit: Nm/rad).
As shown in Figure 020-1, this “Torque – torsional angle diagram” Hysteresis loss
B
is divided into 3 regions, and the spring constants in the area are Torque
represented by K1, K2 and K3. −T　0 0 ＋T　
0
K1 ···· The spring constant when the torque changes from [zero] to [T1] B'
K2 ···· The spring constant when the torque changes from [T1] to [T2]
K3 ···· The spring constant when the torque changes from [T2] to [T3]
■ See the corresponding pages of each series for values of the

spring constants (K1, K2, K3) and the torque-torsional angles A'
(T1, T2, - θ1, θ2).
Gear Units
■ Example for calculating the torsion angle Spring constant diagram Figure 20-2
The torsion angle (θ) is calculated here using Torsion angle

CSF-25-100-2A-GR as an example.
When the applied torque is T1 or less, the torsion angle θL1 K　

3
is calculated as follows:
When the load torque TL1=2.9 Nm
θL1 ＝TL1/K1 K　2
＝2.9/3.1×104
＝9.4×10-5 rad（0.33 arc min） θ　2
θ　1 K　1
When the applied torque is between T1 and T2, the torsion
0 Torque
angle θL2 is calculated as follows:
When the load torque is TL2=39 Nm T　1 T　2
Phase Adjusters
θL2 ＝θ1＋(TL2−T1)/K2
＝4.4×10-4 ＋(39-14)/5.0×104
＝9.4×10-4 rad（3.2 arc min）
When a bidirectional load is applied, the total torsion angle will

be 2 x θLX plus hysteresis loss. ■ Backlash
Hysteresis loss is primarily caused by internal friction. It is a very
* The torsion angle calculation is for the gear component set only and does small value and will vary roughly in proportion to the applied load.
not include any torsional windup of the output shaft. Because HarmonicDrive® gears have zero backlash, the only true
backlash is due to the clearance in the Oldham coupling, a
Note: See p.120 for torsional stiffness for pancake gearing .
self-aligning mechanism used on the wave generator. Since the
Oldham coupling is used on the input, the backlash measured at
the output is extremely small (arc-seconds) since it is divided by
the gear reduction ratio.
20
Engineering Data
Engineering Data
Positional Accuracy
Table 021-1
Positional Accuracy values represent the difference between the θer Transmission accuracy
theoretical angle and the actual angle of output for any given input. θ1 Input angle
The values shown in the table are maximum values. θ2 Actual output angle
■ See the corresponding pages of each series for transmission R Reduction ratio
accuracy values. Formula 021-1
Example of measurement Graph 021-1
θ1
θer＝θ2 − ––––
R
θer
Component Sets
Vibration
The primary frequency of the transmission error of the How to the calculate resonant
HarmonicDrive® gear may cause a vibration of the load inertia. This frequency of the system Formula 021-3
can occur when the driving frequency of the servo system including
the HarmonicDrive® gear is at, or close to the resonant frequency of 1 K
f=
the system. Refer to the design guide of each series. 2π J
The primary component of the transmission error occurs twice per Formula variables Table 021-2
input revolution of the input. Therefore, the frequency generated by
The resonant frequency of the
the transmission error is 2x the input frequency (rev / sec). f system Hz
Ｋ Spring constant Nm/rad See pages of each series
Gear Units
If the resonant frequency of the entire system, including the kgm2
J Load inertia
HarmonicDrive® gear, is F=15 Hz, then the input speed (N) which
would generate that frequency could be calculated with the formula
below.
Formula 021-2
15
N = −−− ･ 60 = 450 rpm
2
The resonant frequency is generated at an input speed of 450 rpm.
Phase Adjusters
21
Engineering Data
Engineering Data
Starting Torque
Starting torque is the torque value applied to the input side at which
the output first starts to rotate. The values in the table of each series
indicate the maximum value, and the lower-limit value indicates
approximately 1/2 to 1/3 of the maximum value.
Measurement conditions:
No-load, ambient temperature: +20oC
■ See the corresponding pages of each series for starting
torque values.
* Use the values in the table of each series as reference values as they vary depending
Component Sets
on the usage conditions.
Backdriving Torque
Backdriving torque is the torque value applied to the output side at

which the input first starts to rotate. The values in the table are
maximum values, typical values are approximately 1/2 of the
maximum values.
Note: Never rely on these values as a margin in a system that must
hold an external load. A brake must be used where back driving is
Gear Units
not permissible.
Measurement conditions:
No-load, ambient temperature: +20oC
■ See the corresponding pages of each series for backdriving
torque values.
* Use the values in the table of each series as reference values as they vary depending
on the usage conditions.
Phase Adjusters
22
Engineering Data
Engineering Data
No-Load Running Torque
Measurement condition Table 023-1
No-load running torque is the torque which is required to rotate the Reduction ratio 100
input side (high speed side), when there is no load on the output
side (low speed side). The graph of the no-load running torque Harmonic Grease SK-1A
Grease Name
shown in this catalog depends on the measurement conditions Lubricant Harmonic Grease SK-2
lubrication
shown in Table 023-1. Quantity (See pages of each series)
Add the compensation values shown by each series to all reduction Torque value is measured after 2 hours at 2000 rpm input
ratios except 100:1. * Contact us for oil lubrication.
■ See the corresponding pages of each series for no-load running

torque values.
Component Sets
Efficiency
■ Reduction ratio
Installation Based on recommended tolerance
■ Input speed
■ Load torque Load The rated torque shown in the rating table (see the corresponding
torque
■ Temperature
pages on each series)
Gear Units
■ Lubrication (type and quantity) Name
Harmonic Grease SK-1A
Grease Harmonic Grease SK-2
The efficiency characteristics of each series shown in this catalog Lubricant lubrication
Recommended quantity
depends on the measurement condition shown in Table 023-2. Quantity
(see the pages on each series)
* Contact us for oil lubrication.

■ See the corresponding pages of each series for efficiency
values.
■ Efficiency compensation coefficient Efficiency compensation coefficient (CSF series) Graph 023-1
If load torque is below rated torque, a compensation factor must be

employed. Calculate the compensation coefficient Ke from the 1.0
efficiency compensation coefficient graph of each series and use
0.9
the following example for calculation.
0.8
Example of calculation η ＝Ke・η　 R
R ＝ Efficiency at rated torque

η　
Phase Adjusters
0.7
Efficiency η (%) under the following condition is obtained from the
example of CSF-20-80-2A-GR. 0.6
Load torque: 19.6 Nm 0.5
Lubrication method: Grease lubrication (Harmonic Grease SK-1A) 0.4
Lubricant temperature: 20oC Load torque
Torque ratio α ＝ ─
Rated torque
Since the rated torque of size 20 with a reduction ratio of 80 is 34 0.3
0
(α=19.6/34=0.58) 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0
Torque ratio
023-1.
■ Efficiency η at load torque 19.6 Nm: η=Ke・ηR=0.93 x 78=73%
* Efficiency compensation coefficient Ke=1 when the load torque is greater than the
rated torque.
23
Engineering Data
Engineering Data
Design Guidelines
Design guideline
The relative perpendicularity and concentricity of the three basic Harmonic Drive® elements have an important influence on accuracy
and service life.
Misalignments will adversely affect performance and reliability. Compliance with recommended assembly tolerances is essential in order
for the advantages of Harmonic Drive® gearing to be fully realized. Please consider the following when designing:
(1) Input shaft, Circular Spline and housing must be concentric.
(2) When operating, an axial force is generated on the wave generator. Input
Component Sets
bearings must be selected to accommodate this axial load. See page 27.
(3) Even though a HarmonicDrive® gear is compact, it transmits large torques.

Therefore, assure that all required bolts are used to fastened the circular
spline and flexspline and that they are tightened to the recommended
torque.
(4) As the flexspline is subject to elastic deformation, the A minimal clearance

between the flexspline and housing is required. Refer to "Minimum Housing
Clearance" on the drawing dimension tables.
(5) The input shaft and output shaft are supported by anti-friction bearings.
As the wave generator and flexspline elements are meant to transmit pure
torque only, the bearing arrangement needs to isolate the harmonic gearing
from external forces applied to either shaft. A common bearing
arrangement is depicted in the diagram.
(6) A clamping plate is recommended (item 6). Its purpose is to spread

Gear Units
fastening forces and to avoid any chance of making physical contact with
the thin section of the flexspline diaphragm. The clamping plate shall not
exceed the diaphragm's boss diameter and is to be designed in
accordance with catalog recommendations.
Fig. 024-1
(1) (4)
(5)
Phase Adjusters
(5)
(2)
(6) (3)
24
Engineering Data
Engineering Data
Bearing support for the input and output shafts
Fig. 025-1
For the component sets, both input and output shafts must be
supported by two adequately spaced bearings in order to withstand
Output Input
external radial and axial forces without excessive deflection. Output
Input
In order to avoid damage to the component set when limited
external loads are anticipated, both input and output shafts must be
axially fixed.
Bearings must be selected whose radial play does not exceed
ISO-standard C 2 class or “normal” class. The bearings should be
axially and radially preloaded to eliminate backlash. Output
Component Sets
Output Input
Examples of correct bearing arrangements are shown in fig 025-1.
Input
Output Input Input
Output
Output
Motor
Input
Gear Units
Phase Adjusters
25
Engineering Data
Engineering Data
Wave generator
■ Structure of the wave generator
The wave generator includes an Oldham's coupling type with a
self-aligning structure and an integrated solid wave generator
without a self-aligning structure, and which is used depends on
the series.
See the diagram of each series for details. The basic structure
of the wave generator and the shape are shown below.
Fig. 026-1
(1) Ball Separator
(1) (2) (3) (1) (2) (3)
(2) Wave generator bearing
(3) Wave generator plug
Component Sets
(4) Insert
(5) Rubwasher
(6) Snap ring
(7) Wave generator hub
Gear Units
(4) (5) (6) (7)

Oldham's coupling Solid wave generator
Structure of Oldham's coupling Fig. 026-2

Phase Adjusters
26
Engineering Data
Engineering Data
■ Maximum hole diameter of wave generator
Hole diameter of the wave generator Fig. 027-1
The standard hole dimension of the wave generator is shown for
each size. The dimension can be changed within a range up to the
maximum hole dimension. We recommend the dimension of keyway
based on JIS standard. It is necessary that the dimension of
keyways should sustain the transmission torque. H
* Tapered holes are also available.
In cases where a larger hole is required, use the wave generator

without the Oldham coupling. The maximum diameter of the hole
φV'
should be considered to prevent deformation of the Wave Generator
plug by load torque. The dimension is shown in the table below and
includes the dimension of depth of keyway.
(This is the value including the dimension of the depth of keyway.)
Component Sets
Table 027-1
Hole diameter of the wave generator hub with Oldham coupling Unit: mm
Size 8 11 14 17 20 25 32 40 45 50 58 65 80 90 100
Standard dim. (H7） 3 5 6 8 9 11 14 14 19 19 22 24 28 28 28
Minimum hole dim. — — 3 4 5 6 6 10 10 10 13 16 16 19 22
Maximum hole dim. — — 8 10 13 15 15 20 20 20 25 30 35 37 40
Table 027-2
Maximum hole diameter without Oldham Coupling Unit: mm
Size 8 11 14 17 20 25 32 40 45 50 58 65 80 90 100
Gear Units
Max. hole dia.φV' 10 14 17 20 23 28 36 42 47 52 60 67 72 84 95
0
Min. plug thick.H-0.1 5.7 6.7 7.2 7.6 11.3 11.3 13.7 15.9 17.8 19 21.4 23.5 28.5 31.3 34.9
■ Axial Force of Wave Generator

Axial force direction of the wave generator Fig. 027-2
When the gear is used to accelerate a load, the deflection of the
Flexspline leads to an axial force acting on the Wave Generator. This
axial force, which acts in the direction of the closed end of the
Flexspline, must be supported by the bearings of the input shaft
(motor shaft). When the gear is used to decelerate a load, an axial
force acts to push the Wave Generator out of the Flexspline cup.
Maximum axial force of the Wave Generator can be calculated by
Phase Adjusters
the equation shown below. The axial force may vary depending on
its operating condition. The value of axial force tends to be a larger F F
number when using high torque, extreme low speed and constant
operation. The force is calculated (approximately) by the equation. direction for direction for Axial
Axial force in force in deceleration
In all cases, the Wave Generator must be axially (in both acceleration
directions), as well as torsionally, fixed to the input shaft.
(Note)
Please contact us for further information on attaching the Wave
Generator to the input (motor) shaft.
Formula for Axial Force Table 027-3
Reduction ratio Calculation formula

Calculation example Formula 027-1
30 T
F＝2×—×0.07×tan 32°
D Model name: CSF series
50 T Size: 32
F＝2×—×0.07×tan 30°
D Reduction ratio: 50
80 or more T Output torque: 382 Nm
F＝2×—×0.07×tan 20°
D (maximum allowable momentary torque)
382
F＝2× ------------------------×0.07×tan 30°
Symbols for Formula Table 027-4 （32×0.00254）
F Axial force N See Figure 027-2
D Size m F＝380N
T Output torque Nm
27
Engineering Data
Engineering Data
Assembly Precautions
Sealing
Sealing is needed to maintain the high durability of the gear and Sealing recommendations for gear units Table 028-1
prevent grease leakage. Recommended for all mating surfaces, if
Area requiring sealing Recommended sealing method
the o-ring is not used. Flanges provided with o-ring grooves must
be sealed when a proper seal cannot be achieved using the o-ring
Holes which penetrate Use O-ring (supplied with the product)
alone. housing
Output
side Screw lock adhesive which has effective
• Rotating Parts Oil seal with spring is Installation screw / bolt seal (LOCTITE® 242 is recommended)
needed.
Flange surfaces Use O-ring (supplied with the product)
• Mating flange O-ring or seal adhesive is
Component Sets
needed.
Input
• Screw hole area Screws should have a thread side Motor output shaft
Please select a motor which has an oil
seal on the output shaft.
lock (LOCTITE® 242 is
recommended) or seal
adhesive.
(Note) If you use Harmonic Grease 4BNo.2, strict sealing is required.
Assembly precautions
The wave generator is installed after the flexspline and circular spline. If the wave generator is not inserted into the flexspline last, gear
teeth scuffing damage or improper eccentric gear mesh may result. Installation resulting in an eccentric tooth mesh (Dedoidal) will
cause noise and vibration, and can lead to early failure of the gear. For proper function, the teeth of the flexspline and Circular Spline
mesh symmetrically.
Gear Units
■ Precautions on the wave generator ■ Precautions on the flexspline

1. Avoid applying undue axial force to the wave generator during 1. Mounting surfaces need to have adequate flatness,
installation. Rotating the wave generator bearing while smoothness, and no distortion.
inserting it is recommended and will ease the process. 2. Especially in the area of the screw holes, burrs or foreign
2. If the wave generator does not have an Oldham coupling, matter should not be present.
extra care must be given to ensure that concentricity and 3. Adequate clearance with the housing is needed to ensure no
inclination are within the specified limits interference especially with the major axis of flexspline
4. Bolts should rotate freely when installing through the mounting
■ Precautions on the circular spline holes of the flexspline and should not have any irregularity due
to the shaft bolt holes being misaligned or oblique.
The circular Spline must not be deformed in any way during
the assembly. It is particularly important that the mounting 5. Do not tighten the bolts with the specified torque all at once.
surfaces are prepared correctly Tighten the bolts temporarily with about half the specified
torque, and then tighten them to the specified torque. Tighten
Phase Adjusters
them in an even, crisscross pattern.

1. Mounting surfaces need to have adequate flatness,
smoothness, and no distortion. 6. The flexspline and circular spline are concentric after
assembly. After installing the wave generator bearing, if it
2. Especially in the area of the screw holes, burrs or foreign
rotates in unbalanced way, check the mounting for dedoidal or
matter should not be present.
non-concentric installation.
3. Adequate relief in the housing corners is needed to prevent
7. Care should be taken not to damage the flexspline diaphragm
interference with the corner of the circular spline.
or gear teeth during assembly.
4. The circular spline should be rotatable within the housing. Be
Avoid hitting the tips of the flexpline teeth and circular spline
sure there is not interference and that it does not catch on
teeth. Avoid installing the CS from the open side of the
anything.
flexspline after the wave generator has been installed.
5. When a bolt is inserted into a bolt hole during installation,
make sure that the bolt fits securely and is not in an improper
position or inclination. ■ Rust prevention
6. Do not apply torque at recommended torque all at once. Although the Harmonic Drive® gears come with some corrosion
First, apply torque at about half of the recommended value protection, the gear can rust if exposed to the environment. The
to all bolts, then tighten at recommended torque. Order of gear external surfaces typically have only a temporary corrosion
tightening bolts must be diagonal. inhibitor and some oil applied. If an anti-rust product is needed,
7. Avoid pinning the circular spline if possible as it can reduce please contact us to review the options.
the rotational precision and smoothness of operation.
28
Engineering Data
Engineering Data
"Dedoidal" state
It is normal for the flexspline to engage with the circular spline Normal engagement status Fig. 029-1
symmetrically as shown in Figure 029-1. However, if the ratcheting
phenomenon, which is described on Page 013, is caused or if the
three parts are forcibly inserted and assembled, engagement of the
teeth may be out of alignment as shown in Figure 029-2. This is
called "dedoidal". Note: Early failure of the gear will occur.
Component Sets
■ How to check "dedoidal"
By performing the following methods, check whether the gear
engagement is "dedoidal".
"Dedoidal" status Fig. 029-2
(1) Judging by the irregular torque generated when the wave
generator turns
1) Slowly turn the input shaft with your hand in a no-load
condition. If you can turn it with average force, it is normal. If
it turns irregularly, it may be "dedoidal".
2) Turn the wave generator in a no-load condition if it is

attached to a motor. If the average current value of the motor
is about 2 to 3 times the normal value, it may be "dedoidal".
Gear Units
(2) Judging by measuring vibration on the body of the flexspline
The scale deflection of the dial gauge draws a sine wave as Deflection of the dial gauge Graph 029-3
shown by the solid line in Graph 029-3 when it is normally
assembled. When "dedoidal" occurs, the gauge draws a
deflected wave shown by the dotted line as the flexspline is out
of alignment. Dedoidal
+
Normal
Deflection of the
dial gauge
Rotational angle of
o
the wave generator
180 rotation
−
Phase Adjusters
360o rotation
Measuring the deflection on the body of the flexspline Fig. 029-4
Dial gauge
29
Engineering Data
Engineering Data
Checking Output Bearing
A precision cross roller bearing is built in the unit type and the gear head
type to directly support the external load (output flange) (precision 4-point
contact ball bearing for the CSF-mini series).
Please calculate maximum moment load, life of cross roller bearing, and
static safety factor to fully maximize the performance of a housed unit
(gearhead).
■ See the corresponding pages on each series for main bearing

specifications.
Checking procedure
Component Sets
(1) Checking the maximum moment load (Mmax)
Calculate maximum moment load Maximum moment load (Mmax) ≦ allowable

(Mmax). moment (Mc)
(2) Checking the life

Calculate the radial load (Frav) and the average Calculate the radial load coefficient (x) Calculate
axial load (Faav). and the axial load coefficient (y). lifetime
(3) Checking the static safety coefficient

Calculate the static equivalent Check the static
radial load coefficient (Po). safety coefficient. (fs)
Gear Units
How to calculate the maximum moment load

Maximum moment load (Mmax) is obtained as follows.
Make sure that Mmax ≦ Mc.
Formula 030-1 External load influence diagram Fig. 030-1
max = Fr　　
M　　 max・La
max (Lr+R) +Fa　　
Symbols for Formula 030-1 Table 030-1

Load Fixed
Frmax Max. radial load N(kgf) See Fig. 030-1.
Radial load
Fr
Famax Max. axial load N(kgf) See Fig. 030-1.
Phase Adjusters
dp
Lr, La — m See Fig. 030-1.
See Fig. 030-1 and "Specification of

R Offset amount m
the output bearing" of each series.
La
Axial load
Fa
Lr R
30
Engineering Data
Engineering Data
How to calculate the average load
(Average radial load, average axial load, average output speed)
When the radial load and axial load vary, the life of cross roller bearing can be
determined by converting to an average load.
How to calculate the average radial load (Frav) Formula 031-1 Graph 031-1
(Cross roller bearing)
av
Component Sets
Fr　1
＋
(4-point contact ball bearing) Fr　2
Radial load
av Time
−
Note that the maximum radial load in t1 is Fr1 and the maximum radial
load in t3 is Fr3. Fr　3
＋
Fa　1
Fa　2
Axial load
How to calculate the average axial load (Faav) Formula 031-2
Time
−
av Fa　3
t　1 t　2 t　3
+
n　2
Gear Units
(4-point contact ball bearing) 　
Output speed
n 1
n　3
av
Time
−
Note that the maximum axial load in t1 is Fa1 and the maximum axial load
in t3 is Fa3.
How to calculate the average output speed

(Nav) Formula 031-3
n1t1 + n2t2 …+ nntn

Nav　 = –––––––––––––––––––
t1 + t2 …+ tn
Phase Adjusters
How to calculate the radial load coefficient (X) and axial load coefficient (Y)
Formula 031-4
How to calculate the load coefficient X Y
Faav
<=1.5 1 0.45
Frav+2 (Frav (Lr+R) + Frav • La) /dp
Faav
>1.5 0.67 0.67
Frav+2 (Frav (Lr+R) + Frav • La) /dp
Symbols for Formula 031-4

Table 031-1
Frav See "How to calculate the average

Average radial load N(kgf) load." See Formula 031-1.
Faav See "How to calculate the average

Average axial load N(kgf)
load." See Formula 031-2.
Lr, La __________ m See fig. 030-1
R Offset amount See Fig. 030-1 and "Main roller

m
bearing specifications" of each series
dp Pitch circle diameter See Fig. 030-1 and "Specification of

m
of a roller the output bearing" of each series.
31
Engineering Data
Engineering Data
Life of the output bearing
Calculate life of the output bearing by Formula 032-1.
You can calculate the dynamic equivalent radial load (Pc) by Formula 032-2.
Formula 032-1 Formula 032-2
(Cross roller bearing) 2(Frav (Lr+R) + Frav • La)

Pc = X • Frav + ––––––––––––––––––––– +Y・Faav
10
6
C 10/3 dp
L10 = –––––––––––– × ––––––––
60 × N av fw•Pc
(4-point contact ball bearing) Symbols for Formula 032-2 Table 032-2
See "How to calculate the average
Frav Average radial load N（kgf）
Component Sets
10
6
C 3
L10 = –––––––––––– × ––––––––
60 × N av fw•Pc See "How to calculate the average
Faav Average axial load N（kgf）
Pitch circle See Fig. 030-1 and "Specification of the
dp m
Symbols for Formula 032-1 Table 032-1 diameter output bearing" of each series.
L10 Life hour ——— X Radial load coefficient —— See Formula 031-4.
Average output rated See "How to calculate the

Nav load speed rpm Y Axial load coefficient —— See Formula 031-4.
average load."
Basic dynamic See "Specification of the output
C rated load N（kgf） Lr, La ——— m See Figure 030-1.
bearing" of each series.
See Fig. 030-1 and "Specification of the
Pc Dynamic equivalent N（kgf） See Formula 032-2. R Offset m
output bearing" of each series.
fw Load coefficient —— See Table 032-3. M ave Average moment load Nm

Gear Units
Load coefficient Table 032-3
Load status fw
Steady operation without impact and vibration 1 to 1.2
Normal operation 1.2 to 1.5
Operation with impact and vibration 1.5 to 3
Phase Adjusters
32
Engineering Data
Engineering Data
How to calculate life during oscillating motion
Fig. 033-1
Calculate the life of the cross roller bearing during oscillating
motion by Formula 033-1.
Formula 033-1
10
6
90 C 10/3
Loc = –––––––––––– × –––––––– × ––––––––
60 × n1 θ fw・Pc
(4-point contact ball bearing)
Component Sets
10
6
90 C 3
Loc = –––––––––––– × –––––––– × –––––––– θ
60 × n1 θ fw・Pc
Symbols for Formula 033-1 Table 033-1

Rated life for Oscillating angle
Loc oscillating motion hour ———
Round trip oscillation

n1 cpm ———
each minute
(Note) A small angle of oscillation (less than 5 degrees) may cause
Basic dynamic rated
C N（kgf） ——— fretting corrosion to occur since lubrication may not circulate
load
properly. Contact us if this happens.
Dynamic equivalent
Pc radial load N（kgf） See Formula 032-2.
fw Load coefficient —— See Table 032-3.
θ Oscillating angle /2 Degree See Fig. 033-1.
Gear Units
Phase Adjusters
33
Engineering Data
Engineering Data
How to calculate the static safety coefficient

Basic static rated load is an allowable limit for static load,
but its limit is determined by usage. In this case, static safety
coefficient of the cross roller bearing can be calculated by
Formula 034-2.
Formula 034-1 Formula 034-2
Co 2M max
fs= —————— Po = Fr max + ——————–––––– +0.44Fa max
Po dp
Component Sets
Symbols for Formula 034-1 Table 034-1 Symbols for Formula 034-2 Table 034-2
Basic static See "Specification of the
Co N(kgf) Frmax Max. radial load N(kgf)
rated load output bearing" of each series.
See "How to calculate
Static equivalent
Po N(kgf) See Formula 034-2. Famax Max. axial load N(kgf) the maximum moment
radial load
load" on Page 030.
Mmax Max. moment load Nm(kgfm)
Static Safety Coefficient Table 034-3
Pitch circle diameter See Fig. 030-1 and
Operating condition of the roller bearing fs dp m "Specification of the output
of a roller bearing" of each series.
When high rotation precision is required ≧3
When shock and vibration are expected ≧2
Under normal operating condition ≧1.5
Gear Units
Phase Adjusters
■ Disclaimer
All efforts have been made to assure that the information in this catalog is complete and accurate.
However, Harmonic Drive LLC is not liable for any errors, omissions or inaccuracies in the reported data.
Harmonic Drive LLC reserves the right to change the product specifications, for any reason, without
prior notice.
34
Harmonic Drive LLC
Boston US Headquarters
247 Lynnfield Street
Peabody, MA 01960
New York Sales Office

100 Motor Parkway
Suite 116
Hauppauge, NY 11788
California Sales Office

333 W. San Carlos Street
Suite 1070 Group Companies
San Jose, CA 95110 Harmonic Drive Systems, Inc.
6-25-3 Minami-Ohi, Shinagawa-ku
Chicago Sales Office Tokyo 141-0013, Japan
137 N. Oak Park Ave., Suite 410
Oak Park, IL 60301 Harmonic Drive AG
Hoenbergstrasse, 14, D-65555
T: 800.921.3332 Limburg/Lahn Germany
T: 978.532.1800
F: 978.532.9406 Harmonic Drive, Harmonic Planetary, Infinit-Indexer,
Quick Connect and the HD logo are registered trade-
marks of Harmonic Drive LLC. All other trademarks are
www.HarmonicDrive.net property of their respective owners.
Rev 20170615
328

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Speed Reducers for Precision Motion Control

Harmonic Drive® Reducers

Wave Generator Flexspline Circular Spline

0° 90° 180° 360°

■ Development of HarmonicDrive® Speed Reducers

Gear Head Type

CSF - 14 - 100 - 2XH - F - SP

Series Size Ratio*1 Model Special speciﬁcation

1U= Input shaft, shaft output SP= Special speciﬁcation

Gear Head Type

*1 The reduction ratio value is based on the following conﬁguration:

Nm Nm Nm Nm rpm rpm kgcm

30 0.25 0.5 0.38 0.9

Input shaft version

Shaft output: 1U Flange output: 1U-F

Four-point contact ball bearing Circular spline Output ﬂange

1U shaft output: 1U-CC 1U ﬂange output: 1U-CC-F

Four-point contact ball bearing Circular spline

Output Wave generator

Hysteresis See "Engineering data" for a description of terms.

×10-4rad 8.7 8.7 8.7 8.7

Max. backlash See "Engineering data" for a description of terms.

See "Engineering data" for a description of terms. Table 172-6

(1) Checking the maximum moment load (Mmax)

(2) Checking the life

(3) Checking the static safety coefﬁcient

■ Output bearing speciﬁcations

Gear Head Type

Thickening agent Lithium soap Lithium soap

Viscosity cSt (25oC) 295 280

Melting point 198oC 210oC

Appearance Green White

Gearheads & Actuators

Max. dia. of motor

Dimensions Table 174-1

Gear Head Type

H 0.8 2.6 3.9 8.4

W M2×3 M3×4 M3×5 M4×6

X-Y equally spaced

Y M2×3 M3×6 M4×8 M5×10

×104Nm/rad 0.018 0.027 0.080 0.104 0.243 0.333 0.460 0.601

The CSF-mini series gearheads have 4-point contact bearings on

Runout on the edge of the

b Concentricity 0.040 0.040 0.055 0.055

c Perpendicularity 0.020 0.020 0.025 0.025

d Runout 0.005 0.005 0.005 0.005

e Parallelism 0.015 0.020 0.030 0.030

■ Efficiency compensation coefficient Efficiency compensation coefficient Graph 177-1

Gear Head Type

Gearheads & Actuators

Ratio 30 Ratio 50 Ratio 100

Graph 178-10 Graph 178-11 Graph 178-12

■ Compensation Value in Each Ratio

■ No-load running torque for a reduction ratio of 100

Input speed: 500rpm Input speed: 1000rpm

Graph 179-1 Graph 179-2

No-load running torque (Ncm)

Gear Head Type

Graph 179-3 Graph 179-4

No-load running torque (Ncm)

■ Performance data for the input bearing

the value of the maximum allowable radial load (Fr) is 20 N.

Speciﬁcation for Input Bearing Table 180-1

Bearing A Bearing B Distance Overhang