Brand overview
Harmonic Drive
Originator of the strain-wave gear, with CSF, CSG, CSD and SHG/SHF gear units and FHA and SHA hollow-shaft actuators.
Harmonic Drive is a brand of Harmonic Drive SE / Harmonic Drive LLC (Germany / Japan / USA). Specify Motion is not affiliated with Harmonic Drive SE / Harmonic Drive LLC. This overview is written from the manufacturer's published information. We can help source parts or propose an equivalent solution.
Gearboxes
CSF-2A component sets
Harmonic Drive's general-purpose cup-type strain wave gear component set. It covers sizes from tiny instrument gears to very large robot-joint units, with zero backlash.
CSG-2A component sets
A high-torque version of the cup-type strain wave gear set. It carries more torque and lasts longer than CSF in the same size, with zero backlash.
CSD-2A component sets
A very flat cup-type strain wave gear set, about half the axial length of standard sets. It has a hollow through-bore for cables or shafts.
SHF-2A component sets
A silk-hat (top-hat) strain wave gear set with a large hollow centre, for designs that need cables or shafts passing through the gear.
SHG-2A component sets
A high-torque silk-hat strain wave gear set that pairs CSG-level torque with a large hollow centre. It is also sold as SHG-2UH/2SH/2SO gear units.
SHD-2SH gear units
A short, flat hollow-shaft strain wave gear unit with an output bearing. It is about half the length of SHG/HFUS units, for slim rotary axes.
CPU-M / CPU-H / CPU-S gear units
A strain wave gear unit with an integrated tilt-resistant output bearing. It comes in motor-mount (M), hollow-shaft (H) and input-shaft (S) versions.
CPL-2A component sets
A lightweight hollow-shaft gear component set with low inertia and a small outer diameter, for designs that supply their own output bearing. It is also offered with Harmonic Drive's Triangle tooth technology.
HPG Harmonic Planetary gearheads
A precision planetary gearhead for servo motors. It uses a flexible internal gear to keep backlash low over its life, with an optional reduced-backlash grade.
HPN Harmonic Planetary value series
A lower-cost inline planetary gearhead range from Harmonic Drive for general servo applications. It has wider backlash limits than HPG.
Harmonic actuators
FHA-C hollow-shaft servo actuators
A slim hollow-shaft servo actuator that combines a strain wave gear, AC servo motor and encoder in one flat unit, for direct-drive-style rotary positioning.
SHA-SG hollow-shaft servo actuators
A hollow-shaft servo actuator built on SHG high-torque gearing with a 17-bit absolute encoder option, offered from small to large robot-joint sizes.
SHA-CG hollow-shaft servo actuators
A hollow-shaft servo actuator variant using CSG-based gearing. It is available in 200 VAC and low-voltage 48 VDC versions in the smaller sizes.
RSF servo actuators (17A/20A/25A/32A)
A compact solid-shaft servo actuator that pairs a strain wave gear with an AC servo motor and incremental encoder, for precise rotary motion without a hollow shaft.
LPA low-profile actuator with integrated servo drive
A flat rotary actuator with zero-backlash strain wave gearing, a motor, dual absolute encoders and a 48 VDC servo drive built into one unit. It is controlled over CANopen or EtherCAT.
Sources
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