2 of 3 specs differ across 8 models
| Spec | HAHarmonic Drive CSF-14 | HAHarmonic Drive CSF-17 | HAHarmonic Drive CSF-20 | HAHarmonic Drive CSF-25 | HAHarmonic Drive CSF-32 | HAHarmonic Drive CSF-40 | HAHarmonic Drive CSF-45 | HAHarmonic Drive CSF-50 |
|---|---|---|---|---|---|---|---|---|
| General | ||||||||
| Gear Ratio | 30:1 to 100:1 | 30:1 to 120:1 | 30:1 to 160:1 | 30:1 to 160:1 | 30:1 to 160:1 | 50:1 to 160:1 | 50:1 to 160:1 | 50:1 to 160:1 |
| Rated Torque | 7.8 Nm | 24 Nm | 40 Nm | 67 Nm | 137 Nm | 265 Nm | 353 Nm | 470 Nm |
| Backlash | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin |