CSG-P Series

Standard cup-type harmonic reducer (component type), high torque capacity for industrial robot joints and heavy-duty applications

Standard cup-type harmonic reducer (component type), high torque capacity for industrial robot joints and heavy-duty applications

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	7.0	0.7	23	2.3	9	0.9	46	4.7	8500	3500
	80	10	1.0	30	3.1	14	1.4	58	5.9	8500	3500
	100	10	1.0	36	3.7	14	1.4	58	5.9	8500	3500
17	50	21	2.1	44	4.5	34	3.4	91	9	7300	3500
	80	29	2.9	56	5.7	35	3.6	109	11	7300	3500
	100	31	3.2	70	7.2	51	5.2	109	11	7300	3500
	120	31	3.2	70	7.2	51	5.2	109	11	7300	3500
20	50	33	3.3	73	7.4	44	4.5	127	13	6500	3500
	80	44	4.5	96	9.8	61	6.2	165	17	6500	3500
	100	52	5.3	107	10.9	64	6.5	191	20	6500	3500
	120	52	5.3	113	11.5	64	6.5	191	20	6500	3500
	160	52	5.3	120	12.2	64	6.5	191	20	6500	3500
25	50	51	5.2	127	13	72	7.3	242	25	5600	3500
	80	82	8.4	178	18	113	12	332	34	5600	3500
	100	87	8.9	204	21	140	14	369	38	5600	3500
	120	87	8.9	217	22	140	14	395	40	5600	3500
	160	87	8.9	229	23	140	14	408	42	5600	3500
32	50	99	10	281	29	140	14	497	51	4800	3500
	80	153	16	395	40	217	22	738	75	4800	3500
	100	178	18	433	44	281	29	841	86	4800	3500
	120	178	18	459	47	281	29	842	86	4800	3500
	160	178	18	484	49	281	29	842	86	4800	3500
40	50	178	18	523	53	255	26	892	91	4000	3000
	80	268	27	675	69	369	38	1270	130	4000	3000
	100	345	35	738	75	484	49	1400	143	4000	3000
	120	382	39	802	82	586	60	1510	154	4000	3000
	160	382	39	841	86	586	60	1510	154	4000	3000

ModelRatioRatio	14	17	20	25	32	40
50	4.50	6.7	8.6	17	34.0	61
80	3.10	4.4	5.4	10	21.0	39
100	2.80	3.7	4.7	8.8	20.0	34
120	—	3.4	4.2	8.0	17.0	31.0
160	—	—	3.6	6.9	15.0	26

ModelRatioRatio	14	17	20	25	32	40
50	1.8	3.3	5.2	9.9	20	36
80	1.8	3.3	5.3	10.0	21	36
100	2.0	3.6	5.6	11.0	22.0	40
120	—	3.9	6.1	12.0	24	43
160	—	—	7	14.0	29	51

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