CS-P Series

Lightweight cup-type harmonic reducer (component type), compact design for collaborative robots and light-load joints

Lightweight cup-type harmonic reducer (component type), compact design for collaborative robots and light-load joints

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	30	4.0	0.41	9.0	0.92	6.8	0.69	17	1.7	8500	3500
	50	5.4	0.55	18	1.8	6.9	0.70	35	3.6	8500	3500
	80	7.8	0.80	23	2.4	11	1.1	47	4.8	8500	3500
	100	7.8	0.80	28	2.9	11	1.1	54	5.5	8500	3500
17	30	8.8	0.90	16	1.6	12	1.2	30	3.1	7300	3500
	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500
	80	22	2.2	43	4.4	27	2.7	87	8.9	7300	3500
	100	24	2.4	54	5.5	39	4.0	108	11	7300	3500
	120	24	2.4	54	5.5	39	4.0	86	8.8	7300	3500
20	30	15	1.5	27	2.8	20	2.0	50	5.1	6500	3500
	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500
	80	34	3.5	74	7.5	47	4.8	127	13	6500	3500
	100	40	4.1	82	8.4	49	5.0	147	15	6500	3500
	120	40	4.1	87	8.9	49	5.0	147	15	6500	3500
	160	40	4.1	92	9.4	49	5.0	147	15	6500	3500
25	30	27	2.8	50	5.1	38	3.9	95	9.7	5600	3500
	50	39	4.0	98	10	55	5.6	186	19	5600	3500
	80	63	6.4	137	14	87	8.9	255	26	5600	3500
	100	67	6.8	157	16	108	11	284	29	5600	3500
	120	67	6.8	167	17	108	11	304	31	5600	3500
	160	67	6.8	176	18	108	11	314	32	5600	3500
32	30	54	5.5	100	10	75	7.7	200	20	4800	3500
	50	76	7.8	216	22	108	11	382	39	4800	3500
	80	118	12	304	31	167	17	568	58	4800	3500
	100	137	14	333	34	216	22	647	66	4800	3500
	120	137	14	353	36	216	22	686	70	4800	3500
	160	137	14	372	38	216	22	686	70	4800	3500
40	50	137	14	402	41	196	20	686	70	4000	3000
	80	206	21	519	53	284	29	980	100	4000	3000
	100	265	27	568	58	372	38	1080	110	4000	3000
	120	294	30	617	63	451	46	1180	120	4000	3000
	160	294	30	647	66	451	46	1180	120	4000	3000

ModelRatioRatio	14	17	20	25	32	40
30	6.4	9.3	15	25.00	54	—
50	4.1	6.1	7.8	15.00	31	55
80	2.8	4	4.9	9.20	19	35
100	2.5	3.4	4.3	8.00	18.0	31.0
120	—	3	3.8	7.30	15	28
160	—	—	3.3	6.3	14	24

ModelRatioRatio	14	17	20	25	32	40
30	2.4	3.8	6.2	11	23	—
50	1.6	3	4.7	9	18	33
80	2	3	4.8	9.1	19	33
100	1.8	3.3	5.1	9.8	20	36
120	—	3.5	5.5	11	22	39
160	—	—	6.4	13	26	46

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
30	2.4	3.8	6.2	11	23	—
50	1.6	3	4.7	9	18	33
80	2	3	4.8	9.1	19	33
100	1.8	3.3	5.1	9.8	20	36
120	—	3.5	5.5	11	22	39
160	—	—	6.4	13	26	46

ModelRatioRatio	14	17	20	25	32	40
30	2.4	3.8	6.2	11	23	—
50	1.6	3	4.7	9	18	33
80	2	3	4.8	9.1	19	33
100	1.8	3.3	5.1	9.8	20	36
120	—	3.5	5.5	11	22	39
160	—	—	6.4	13	26	46

ModelRatioRatio	14	17	20	25	32	40
30	2.4	3.8	6.2	11	23	—
50	1.6	3	4.7	9	18	33
80	2	3	4.8	9.1	19	33
100	1.8	3.3	5.1	9.8	20	36
120	—	3.5	5.5	11	22	39
160	—	—	6.4	13	26	46