CD-P Series

CD series cup-type harmonic reducer (component type) for industrial robot joints and precision transmission

CD series cup-type harmonic reducer (component type) for industrial robot joints and precision transmission

Industrial Robots

6-axis robot joint drive

Collaborative Robots

Lightweight joint modules

CNC Machines

Precision rotary tables & feed axes

Medical Devices

Surgical robots & imaging equipment

Torque & Speed

Model	Ratio	Rated Torque at 2000 r/min Input		Max Torque at Start/Stop		Max Avg Load Torque		Max Instantaneous Torque		Max Input Speed (r/min)	Avg Input Speed (r/min)
Model	Ratio	N·m	kgf·m	N·m	kgf·m	N·m	kgf·m	N·m	kgf·m	Max Input Speed (r/min)	Avg Input Speed (r/min)
14	50	3.7	0.38	12	1.2	4.8	0.49	24	2.4	8500	3500
	80	5	0.55	16	1.6	7.7	0.79	31	3.2	8500	3500
	100	5	0.55	19	1.9	7.7	0.79	31	3.2	8500	3500
17	50	11	1.1	23	2.3	18	1.8	48	4.9	7300	3500
	80	15	1.5	29	3.0	19	1.9	55	5.6	7300	3500
	100	16	1.6	37	3.8	27	2.8	55	5.6	7300	3500
	120	16	1.6	37	3.8	27	2.8	55	5.6	7300	3500
20	50	17	1.7	39	4.0	24	2.4	69	7	6500	3500
	80	24	2.4	51	5.2	33	3.4	76	7.7	6500	3500
	100	28	2.9	57	5.8	34	3.5	76	7.7	6500	3500
	120	28	2.9	60	6.1	34	3.5	76	7.7	6500	3500
	160	28	2.9	64	6.5	34	3.5	76	7.7	6500	3500
25	50	27	2.8	69	7.0	38	3.9	127	13	5600	3500
	80	44	4.5	96	9.8	60	6.1	152	15	5600	3500
	100	47	4.8	110	11	75	7.6	152	15	5600	3500
	120	47	4.8	117	12	75	7.6	152	15	5600	3500
	160	47	4.8	123	13	75	7.6	152	15	5600	3500
32	50	53	5.4	151	15	75	7.6	268	27	4800	3500
	80	83	8.5	213	22	117	12	359	37	4800	3500
	100	96	9.8	233	24	151	15	359	37	4800	3500
	120	96	9.8	247	25	151	15	359	37	4800	3500
	160	96	9.8	261	27	151	15	359	37	4800	3500
40	50	96	9.8	281	29	137	14	480	49	4000	3000
	80	144	15	364	37	198	20	685	70	4000	3000
	100	185	19	398	41	260	27	694	71	4000	3000
	120	205	21	432	44	315	32	694	71	4000	3000
	160	206	21	453	46	316	32	694	71	4000	3000

ModelRatioRatio	14	17	20	25	32	40
50	3.7	5.7	7.3	14	28	50
80	2.7	3.8	4.8	8.8	19	32
100	2.4	3.3	4.3	7.9	18	29
120	—	3.1	3.8	7.2	16	27
160	—	—	3.4	6.4	14	24

ModelRatioRatio	14	17	20	25	32	40
50	2.5	3.8	4.4	8.3	17	30
80	2.6	3.7	4.9	8.8	19	32
100	3.1	4.1	5.2	9.6	21	35
120	—	4.5	5.7	11.0	22	38
160	—	—	6.6	12.0	28	45

Grade	UnitModelModel	14	17	20	25	32	40
30	×10-4rad	5.8	4.4	2.9	2.9	2.9	—
30	arc-min	2	1.5	1	1	1	—
50 or above	×10-4rad	2.9	2.9	1.5	1.5	1.5	1.5
50 or above	arc-min	1	1	0.5	0.5	0.5	0.5

Ratio	UnitModelModel	14	17	20	25	32	40
30	×10-4rad	8.7	8.7	8.7	8.7	8.7	—
30	arc-min	3	3	3	3	3	—
50	×10-4rad	5.8	5.8	5.8	5.8	5.8	5.8
50	arc-min	2	2	2	2	2	2
80 or above	×10-4rad	2.9	2.9	2.9	2.9	2.9	2.9
80 or above	arc-min	1	1	1	1	1	1

Ratio	UnitModelModel	14	17	20	25	32	40
30	×10-5rad	29.1	16.0	13.6	13.6	11.2	—
30	arc-sec	60	33	28	28	23	—
50	×10-5rad	17.5	9.7	8.2	8.2	6.8	6.8
50	arc-sec	36	20	17	17	14	14
80	×10-5rad	11.2	6.3	5.3	5.3	4.4	4.4
80	arc-sec	23	13	11	11	9	9
100	×10-5rad	8.700	4.8	4.400	4.400	3.400	3.400
100	arc-sec	18	10	9	9	7	7
120	×10-5rad	—	3.9	3.9	3.9	2.9	2.9
120	arc-sec	—	8	8	8	6	6
160	×10-5rad	—	—	2.9	2.9	2.4	2.4
160	arc-sec	—	—	6	6	5	5

Ratio	UnitModelModel	14	17	20	25	32	40
30	×104N·m/rad	0.34	0.67	1.1	2.1	4.9	—
30	kgf·m/arc-min	0.10	0.2	0.32	0.62	1.5	—
50	×104N·m/rad	0.57	1.3	2.3	4.4	9.8	18
50	kgf·m/arc-min	0.17	0.4	0.7	1.3	2.9	5.3
80 or above	×104N·m/rad	0.71	1.6	2.9	5.7	12.0	23
80 or above	kgf·m/arc-min	0.21	0.5	0.9	1.7	3.7	6.8

ModelRatioRatio	14	17	20	25	32	40
50	3.7	5.7	7.3	14	28	50
80	2.7	3.8	4.8	8.8	19	32
100	2.4	3.3	4.3	7.9	18	29
120	—	3.1	3.8	7.2	16	27
160	—	—	3.4	6.4	14	24

ModelRatioRatio	14	17	20	25	32	40
50	3.7	5.7	7.3	14	28	50
80	2.7	3.8	4.8	8.8	19	32
100	2.4	3.3	4.3	7.9	18	29
120	—	3.1	3.8	7.2	16	27
160	—	—	3.4	6.4	14	24

ModelRatioRatio	14	17	20	25	32	40
50	3.7	5.7	7.3	14	28	50
80	2.7	3.8	4.8	8.8	19	32
100	2.4	3.3	4.3	7.9	18	29
120	—	3.1	3.8	7.2	16	27
160	—	—	3.4	6.4	14	24