2 of 3 specs differ across 6 models
| Spec | HAHarmonic Drive SHG-14 | HAHarmonic Drive SHG-17 | HAHarmonic Drive SHG-20 | HAHarmonic Drive SHG-25 | HAHarmonic Drive SHG-32 | HAHarmonic Drive SHG-40 |
|---|---|---|---|---|---|---|
| General | ||||||
| Gear Ratio | 50:1 to 100:1 | 50:1 to 120:1 | 50:1 to 160:1 | 50:1 to 160:1 | 50:1 to 160:1 | 50:1 to 160:1 |
| Rated Torque | 10 Nm | 31 Nm | 52 Nm | 87 Nm | 178 Nm | 345 Nm |
| Backlash | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin | 1 arcmin |