Gearhead Catalog

High Performance Gearheads for Servo and Stepper Motors
NEW
HPGP / HPG /
NEW
CSG-GH / CSF-GH
NEW
HPN / HPF
Gearheads
Revolutionary Technology for

Evolving Industries
Harmonic Drive LLC engineers and manufactures precision servo actuators, gearheads
and gear component sets. We work with industry-leading customers and companies of
all sizes to provide both standard product and custom-engineered solutions to meet
their mission critical application requirements. The majority of the products sold by
HDLLC are proudly made at our US headquarters and manufacturing facility in
Massachusetts. Afliated companies in, Japan (Harmonic Drive Systems, Inc.) and
Germany (Harmonic Drive AG) provide additional manufacturing capabilities.
Photo credit: NASA
1955
Walt Musser's
Patent
Application for
Strain Wave
Gearing
1963
1971
1977
1986
1988
Harmonic Drive
components
used in inertial
damping system
for an unmanned
helicopter
Lunar Rover was

rst driven on
the moon by
Dave Scott. Each
of the Rover's
wheels were
driven by a
Hermetically
Sealed Harmonic
Drive actuator
Developed rst
mechatronic
products
(Servo Actuators)
combining
Harmonic Drive
gearing with
servo motors
and feedback
sensors
First use of
Harmonic Drive
gear used in
semiconductor
wafer handling
robot
"S" Tooth Prole

was Patented
providing double
the torque,
double the life
and double the
stiffness
Gearheads
1990
Began
production of
planetary gears
With over 50 years of experience, our expert engineering and production teams
continually develop enabling technologies for the evolving motion control market. We are
proud of our outstanding engineering capabilities and successful history of providing
customer specic solutions to meet their application requirements.
Our high-precision, zero-backlash Harmonic Drive gears and Harmonic Planetary

gears play critical roles in robotics, spaceight applications, semiconductor
manufacturing equipment, factory automation equipment, medical diagnostics and
surgical robotics.
1998
1999
2004
2004
Market
introduction of
high precision
HPG Harmonic
Planetary
gearheads with
low backlash for
life
Ultra-at
Harmonic Drive
gearing
developed.
Mars Exploration
Rover Opportunity
began a 90 day
mission to
explore the
surface of Mars.
10 years later it is
still operating and
making new
discoveries
Market
introduction of
the CSG High
Torque Harmonic
Drive gear with
increased torque
capacity and life
2011
Robonaut 2
launches on
STS-133 and
becomes the
rst permanent
robotic crew
member of the
International
Space Station
2011
Introduction of
Hollow Shaft
Harmonic
Planetary
gear unit
2013
Harmonic Drive
products used by
multiple teams
competing in the
DARPA Robotics
Challenge
Photo credit: NASA
Gearheads
Innovative High Performance

Gearheads for Servomotors
High Accuracy, High Torsional Stiffness, Long Life
Precision Harmonic Planetary gearheads and Harmonic Drive gearheads
offer high performance for servomotors with a wide range of available gear ratios
and torque capacities.
Building a high precision actuator can be easily achieved by coupling a
servomotor to one of our precision Quick Connect gearheads.
You can create a high precision actuator by

connecting any manufacturer's servomotor
to our precision gearhead with
our Quick Connect coupling.
Gearheads
CONTENTS
Overview
2-3
Product Lines
6-7
Operating Principles
8-9
Quick Connect Gearheads

(Ratios 3:1 to 50:1)
HPGP High Torque Series
18-29
HPG Standard Series
30-41
Right Angle HPG Series
42-51
HPN Value Series
54-61
(Ratios 50:1 to 160:1)

CSG-GH High Torque Series
66-75
CSF-GH Standard Series
76-85
Planetary Gear Units

(Ratios 3:1 to 50:1)
Hollow Shaft HPF Series
94-99
Input Shaft HPG Series
100-109
Technical Information
Efciency
112-127
Output Bearing Specications
128-132
Input Bearing Specications
133-134
Assembly
135-137
Mechanical Tolerances
138
Lubrication
139
Safety
142
Major Applications of Our Products
146
Gearheads
Product Lines
NEW
CSG-GH Series
NEW
Price
HPGP Series
HPG Series
High Precision
Low Backlash
Standard Torque
NEW
HPN Series
High Precision
Zero- Backlash
High Torque
CSF-GH Series
High Precision
Zero-Backlash
Standard Torque
High Precision
Low Backlash
High Torque
Exceptional Price
for Performance
Quiet
Quick Delivery
Low Cost
Performance
Product Line
Quick Connect Gearheads

Size
Peak torque 12Nm to 3940Nm
11
14,20,32
50
65
Outline Dimension
mm
40
60,90,120
170
230
Reduction ratio
5,21,37,45
5,11,15,21,33,45
4,5,12,15,20,25
Backlash*1
Standard
Reduced
3 arc-min
n/a
3 arc-min
1 arc-min
3 arc-min
1 arc-min
3 arc-min
1 arc-min
Motor power
10W200W
30W4kW
500W10kW
1.3kW15kW
*1 For details of repeatability and transmission accuracy, refer to HPGP performance table on page 20.
NEW
HPG Standard Series
Size
11
14,20,32
50
65
Outline Dimension
mm
40
60,90,120
170
230
Reduction ratio
5,9,21,37,45
3,5,11,15,21,33,45
4,5,12,15,20,25,40,50
Backlash*1
Standard
Reduced
3 arc-min
n/a
3 arc-min
1 arc-min
3 arc-min
1 arc-min
3 arc-min
1 arc-min
Motor power
10W100W
30W3.5kW
500W10kW
1.3kW15kW
*1 For details of repeatability and transmission accuracy, refer to HPG Performance table on page 32.
HPG Right Angle Series
Size
32,50
65
Outline Dimension
mm
120,170
230
Reduction ratio
5,11,15,21,33,45
5,12,15,20,25,40,50
Backlash*1
Standard
3 arc-min
3 arc-min
Motor power
500W8kW
2kW8kW
*1 For details of repeatability and transmission accuracy, refer to HPG Right Angle performance table on page 44.
HPN Standard Series
Size
NEW
6
11
14
20
32
40
Outline Dimension
mm
42
60
90
115
142
Reduction ratio *1
4,5,7,10,16,20,30
3,4,5,7,10,13,21,31
*1 One stage reduction ratio-3,4,5,7,10, two stage reduction ratio-13,16,20,21,30,31.
Gearheads
Backlash
Two stage
One stage
5 arc-min
7 arc-min
Motor power
30W 150W
100W 600W
200W 2kW
400W 7kW
500W 7.5kW
Gearhead Models
Size Size (mm)
HPGP Series
HPG Series
HPN Series
CSG/CSF-GH Series
Gear Ratio
11 40
(HPN42)
5,21,37,45
5,9,21,37,45
4,5,7,10,16,20,30
14 60
5,11,15,21,33,45
3,5,11,15,21,33,45
3,4,5,7,10,13,21,31
50,80,100
20 90
5,11,15,21,33,45
3,5,11,15,21,33,45
3,4,5,7,10,13,21,31
50,80,100,120,160
32 120
HPN115
5,11,15,21,33,45
3,5,11,15,21,33,45
3,4,5,7,10,13,21,31
50,80,100,120,160
40 142
HPG/HPGP50 170
CSG/CSF45 170
3,4,5,7,10,13,21,31
5,11,15,21,33,45
3,5,11,15,21,33,45
50,80,100,120,160
65 230
4,5,12,15,20,25
4,5,12,15,20,25,40,50
80,100,120,160

Zero-Backlash
NEW

Zero-Backlash
Size
14
20
32
45
65
Outline Dimension
mm
60
90
120
170
230
Reduction ratio
50,80,100
50,80,100,120,160
80,100,120,160
Repeatability
(arc sec)*1
10
8
6
5
4
Transmission
Accuracy (arc min)*1
1.5
1.0
Motor power
30W100W
100W400W
300W1.5kW
450W2kW
850W5kW
*1 For details of repeatability and transmission accuracy, refer to CSG-GH performance table on page 68.
Size
14
20
32
45
65
Outline Dimension
mm
60
90
120
170
230
Reduction ratio
50,80,100
50,80,100,120,160
80,100,120,160
Repeatability
(arc sec)*1
10
8
6
5
4
Transmission
Accuracy (arc min)*1
Motor power
30W100W
100W200W
300W1kW
450W2kW
850W5kW
1.5
1.0
*1 For details of repeatability and transmission accuracy, refer to CSF-GH performance table on page 78.
Gear Units
HPF Hollow Shaft Series
Size
25
32
Outline Dimension
mm
136
167
Hollow shaft diameter

25
30
Reduction ratio
Backlash*1
11
3 arc-min
*1 For details of repeatability and transmission accuracy, refer to HPF Hollw shaft performance table on page 95.
NEW
HPG Input Shaft Series
Peak torque 3.9Nm to 2200Nm
Size
11
14,20,32
50
65
Outline Dimension
mm
40
60,90,120
170
230
Reduction ratio
Backlash*1
Standard
Reduced
5,9,21,37,45
3 arc-min
n/a
3,5,11,15,21,33,45
3 arc-min
1 arc-min
3 arc-min
1 arc-min
4,5,12,15,20,25,40,50
3 arc-min
1 arc-min
*1 For details of repeatability and transmission accuracy, refer to HPG Input shaft performance table on page 102.
Gearheads
7
Operating Principles
Operating
Principles
Operating Principle
Gearheads
Example of a two-stage planetary speed reducer (reduction ratios 11 and higher) is illustrated.
A single-stage planetary speed reducer (reduction ratios 10 and below) utilizes the second-stage only.
Second-stage planet gear
Output
Second-stage
carrier
Thin-wall
elastic internal gear
First-stage carrier + Second-stage pinion
Input pinion
First-stage planet gear
Second-stage First-stage
speed reducer speed reducer
First-stage
A planetary speed reducer with

three planet gears.
Rotation of the input pinion transfers revolution motion to the first-stage

planet gears that mesh with it. The revolution motion is then transferred to
the first-stage carrier through the planetary shaft to the second-stage
pinion.
The direction of rotation is the same as the input pinion.
Second-stage
A planetary speed reducer

with three or four planet gears.
The second-stage pinion gear is driven by the first-stage carrier and

provides the input to the second-stage planet gears. Similar to the case of
the first-stage speed reducer, the rotation is then transferred to the
second-stage carrier. The internal ring of the cross roller bearing serves as
both the second stage carrier and as the gear output flange.
The direction of rotation is the same as the input of the first stage.
006
Gearheads
Operating
OperatingPrinciples
Principle
Gearheads
Operating Principle
A simple three element construction combined with the unique operating principle puts extremely high
reduction ratio capabilities into a very compact and lightweight package. The high performance attributes
of this gearing technology including zero backlash, high torque, compact size, and excellent positional
accuracy are a direct result of the unique operating principles.
Wave Generator
The Wave Generator is a thin
raced ball bearing tted onto an
elliptical hub. This serves as a
high efciency torque converter
and is generally mounted onto
the input or motor shaft.
Flexspline
The Flexspline is a non-rigid,
thin cylindrical cup with external
teeth on the open end of the cup.
The Flexspline ts over the Wave
Generator and takes on its
elliptical shape. The Flexspline
is generally used as the output
of the gear.
90
Circular Spline
The Circular Spline is a rigid ring
with internal teeth. It engages the
teeth of the Flexspline across the
major axis of the Wave Generator
ellipse. The Circular Spline has
two more teeth than the Flexspline
and is generally mounted onto a
housing.
180
360
Circular Spline
Wave Generator
Flexspline
The Flexspline is slightly smaller in

diameter than the Circular Spline
and usually has two fewer teeth than
the Circular Spline. The elliptical
shape of the Wave Generator causes
the teeth of the Flexspline to engage
the Circular Spline at two opposite
regions across the major axis of the
ellipse.
As the Wave Generator

rotates the teeth of the
Flexspline engage with the
Circular Spline at the major
axis.
Direction of Rotation
The output rotational direction of CSG/CSF-GH
series is reverse of the input rotational direction.
Input:
Fixed:
Wave Generator (Motor shaft mounting)
Circular Spline (Casing)
Output: Flexspline (Cross roller bearing)
For every 180 degree

clockwise movement of the
Wave Generator the Flexspline
rotates counterclockwise by
one tooth in relation to the
Circular Spline.
Each complete clockwise

rotation of the Wave Generator
results in the Flexspline moving
counter-clockwise by two teeth
from its original position relative
to the Circular Spline. Normally,
this motion is taken out as
output.
Tooth behavior and engagement

The Harmonic Drive gear
utilizes a unique gear tooth
prole for optimized tooth
engagement. Unlike an involute
tooth prole, this tooth prole
(S tooth) enables about 30% of
the total number of teeth to be
engaged simultaneously. This
technological innovation results
in high torque, high torsional
stiffness, long life and smooth
rotation.
Circular Spline
Flexspline
Gearheads
Model &
& Code
Code
Model
Model & Code

Harmonic Planetary Gearheads
HPGP - 11 A - 05 - BL3 - D - F0 Model Name
Size
Design Revision
14
20
32
50
65
High Torque
BL1: Backlash
less than 1
arc-min (Sizes
14 to 65)
5, 21, 37, 45
11
HPGP
Backlash
Reduction Ratio
BL3: Backlash
less than 3
arc-min
5, 11, 15, 21, 33, 45
Input Side Bearing

D: Input side contact
sealed bearing (DDU)
Z: Input side bearing
with double noncontact shields
4, 5, 12, 15, 20, 25
Motor Code
Output Configuration
Input Configuration & Options
F0: Flange output

J20: Shaft output without key
J60: Shaft output with key and
center tapped hole
F0: Flange output
center tapped hole (J2, J6
for Size 65 is also available)
This code represents the

motor mounting configuration.
Please contact us for a unique
part number based on the
motor you are using.
HPG - 20 A - 05 - BL3 - D - F0 - Motor Code

Model Name
Size
Design Revision
11
14
20
32
50
65
HPG
Standard
Backlash
Reduction Ratio
BL1: Backlash
less than 1
arc-min (Sizes
14 to 65)
5, 9, 21, 37, 45
BL3: Backlash
less than 3
arc-min
3, 5, 11, 15, 21, 33, 45
Input Side Bearing

4, 5, 12, 15, 20, 25, 40, 50
F0: Flange output

center tapped hole (J2, J6
for Size 65 is also available)
HPG - 32 A - 05 - J2 - RA3 -
Model Name
Size
Design Revision
Reduction Ratio
32
5, 11, 15, 21, 33, 45
HPG
50
Right Angle
65
5, 12, 15, 20, 25, 40, 50
F0: Flange output
J2: Shaft output
without key
J6: Shaft output with
key and center
tapped hole
(J2, J6 for
Size 65 is also
available)
Model Name
Size
Design Revision
HPN
Reduction Ratio
4, 5, 7, 10, 16, 20, 30
11
14
High Torque
20
32
3, 4, 5, 7,1 0, 13, 21, 31

Motor Code
Right Angle Type
Input Configuration
Right angle specification,

RA3 or RA5.
This code represents the motor

mounting configuration. Please contact
us for a unique part number based on
the motor you are using.
HPN - 14 A - 05 - J6 -
as
F0: Flange output

center tapped hole
center tapped hole
J8: Shaft output with center
tapped hole
Motor Code
Input Configuration
mounting configuration. Please
contact us for a unique part
number based on the motor you
are using.
40
007
10
Gearheads
Model &
& Code
Code
Model
Model & Code

Harmonic Drive Gearheads
CSG - 20 - 100 - GH - F0 Model Name
Size
Reduction Ratio
50, 80, 100
CSG
14
20
32
45
65
High Torque
Model
Input Configuration
F0: Flange output

J6: Shaft output with key
and center tapped hole
GH
Gearhead
50, 80, 100, 120, 160
This code represents the motor mounting

configuration. Please contact us for a
unique part number based on the motor
you are using.
80, 100, 120, 160
CSF - 20 - 100 - GH - F0 Model Name
Size
Reduction Ratio
50, 80, 100
CSF
14
20
32
45
65
Standard
Motor Code
Model
Input Configuration
F0: Flange output
GH
Gearhead
50, 80, 100, 120, 160
Motor Code
This code represents the motor mounting

configuration. Please contact us for a
unique part number based on the motor
you are using.
80, 100, 120, 160
Harmonic Planetary Gear Units
HPF - 25 A - 11 - F0 U1 - SP1
Model Name
HPF
Hollow Shaft
Size
25
32
Design Revision
A
Reduction Ratio
11
F0: Flange output
Input Configuration
Options
U1: Hollow input shaft
None Standard item

SP Special specification
HPG - 20 A - 05 - BL3 - J2 U1 - SP1

Model Name
Size
11
HPG
Input Shaft
14
20
32
50
65
Design Revision
B
Reduction Ratio
5, 9, 21, 37, 45
3, 5, 11, 15, 21, 33, 45

4, 5, 12, 15, 20, 25, 40, 50
Backlash
BL1: Backlash
less than 1
arc-min (Sizes
14 to 65)
BL3: Backlash
less than 3
arc-min
Input Configuration
Options
F0: Flange output

center tapped hole
U1: Input shaft (with key;

no center tapped hole)
None Standard item

F0: Flange output

center tapped hole
(J2, J6 for Size 65 is also
available)
U1: Input shaft

(with key and center
tapped hole)
008
Gearheads
11
Applications
Application
Application Examples for Harmonic Planetary Gearheads

The Harmonic Planetary gearheads are especially suitable for a wide range of high technology fields requiring precision motion control such as
semiconductor or LCD manufacturing equipment, robot and machine tools.
Linear axis for robots (Racks and pinion)
Gantry Robots
Primary axes of SCARA robots
Harmonic
Planetary
Gearhead
Rack and pinion

Chain
Belt
Harmonic Planetary
Gearhead
Harmonic
Planetary
Gearhead
Wafer transfer robots
Electric presses
Pipe benders
Harmonic
Planetary
Gearhead
HPGP/HPG
Harmonic
Planetary
Gearhead
Injection molding unloading robots
Harmonic
Planetary
Gearhead
Machine tool turrets
X-Y axes of machine tools
Harmonic
Planetary
Gearhead
Rack and pinion

Arm positioning
Harmonic
Planetary
Gearhead
Harmonic
Planetary
Gearhead
12
Gearheads
009
Applications
Application
Application Examples for Harmonic Planetary Gearheads

Index Tables
Roller Drive
Harmonic Planetary
Right Angle Gearhead
Input shaft with belt drive
The H
contr
Linear Axis Drive
Harmonic Planetary
Right Angle
Gearhead
Harmonic Planetary
LCD transfer robots
Tensile strength testers
Harmonic
Planetary
Gearhead
Harmonic
Planetary
Gearhead
Harmonic Planetary
Gearhead with
Input Shaft
Harmonic
Planetary Gearhead
Overhead transport system

Harmonic
Planetary
Gearhead
Automated guided vehicle
High-speed articulated robots
Wheel
The H
allow
with a
beari
Rail
Harmonic
Planetary
Gearhead
Wheel
Harmonic
Planetary
Gearhead
010
Gearheads
13
Applications
Application
Application Examples for Harmonic Drive Gearheads
The Harmonic Drive gearheads series is especially suitable for a wide range of high technology applications requiring precision motion
control such as semiconductor or LCD manufacturing equipment, robots and machine tools.
X-Y axes of machine tools
Linear Drive (XY table)
Rack and pinion
CSG-GH/CSF-GH
CSG-GH/
CSF-GH
Rotation
Transfer Robot
CSG-GH/CSF-GH
CSG-GH/CSF-GH
Index table positioning
Roller drive
CSG-GH/CSF-GH
CSG-GH/CSF-GH
Application Examples for HPF Series Gearheads
The HPF Precision Hollow Shaft Planetary Gear is based on the HPG Harmonic Planetary gearhead. The large coaxial hollow shaft
allows cables, shafts, ball screws or lasers to pass directly through the axis of rotation. The HPF also incorporates a large output ange
with an integrated Cross-Roller Bearing which can support high axial, radial and moment loads without the need for additional support
bearings.
Pipe benders
Electric presses
Printed circuit board inspection
HPF
HPF
HPF
HPGP/HPG
14
Gearheads
011

HPG Standard Series
HPN Value Series
Gearheads
15
HPGP HPG Series

The thin wall flexible gear technology used for HarmonicDrive gearing is applied to the
internal gear of our planetary gear speed reducers. It allows the internal gear to deform
elastically thus maintaining low backlash for the life of the gearhead, without the need for
adjustment.
Planetary gears have simultaneous meshing between the sun gear and planet gears and
between the planet gears and the internal gear. Some manufacturers try to reduce the
backlash by controlling the dimensional precision of the parts, however this causes
interference of meshing parts due to dimensional errors, resulting in uneven input torque
and noise. Harmonic Planetary gears use a thin wall elastic internal gear which allows a
preload of the gear and compensates for interference between meshing parts. The
Harmonic Planetary gear series incorporates this internal gear which maintains low
backlash for the life of the speed reducer.
Low backlash: Less than 3 arc-min (Less than 1 arc-min also available)
Low gear ratios, 3:1 to 50:1
High efciency
High load capacity by integrating structure with cross roller bearing

High-torque capacity
2
16
Gearheads
Robust cross roller bearing and output

flange are integrated to provide high moment
stiffness, high load capacity and precise
positioning accuracy.
The cross roller

bearing output flange
serves as the second
stage carrier for a rugged,
compact design.
Shielded or sealed
input bearing
Motor mounting flange
Backlash compensating
internal gear
Quick Connect coupling for
easy mounting of any servomotor
Gearheads 3 17
HPGP Series
High-Performance Gearhead for Servomotors
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Torque
Series
Backlash
andHigh
Torsional
Stiffness
6
Size
Gearhead 11,
- Standard
14, 20, 32,backlash
50, 65 (BL3)
( 3 arc-min)
Size Ratio
11
14
20
32
50
65
5
21
37
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
4
5
12
15
20
25
Peak
Torque
Torsion angle on one side
Backlash
at TR X 0.15 D
-4
3940Nm
arc12Nm
min 10
rad arc min
2.5
10-4rad
7.3
8.7
Reduction
Ratio8.7
3.0
3.0
Sizes
Table 21-1
Torsional stiffness
A/B
kgfm/arc min 100Nm/rad
0.065
22
Gearhead - Reduced backlash (BL1)

( 1 arc-min)
Size Ratio
8.7
Low Backlash
2.7
7.9
0.14
47
14
Innovative ring gear automatically adjusts for backlash, ensuring

180The ring 20
0.55
consistent,
gearhead.
gear
8.7low backlash for the life of the
3.0
2.0
5.8
design automatically provides the optimum backlash in the
planetary gear train and maintains the same low backlash for the
3.8
life of the gearhead.1.3
1.7
High 8.7
Efciency
Up to 95%
4.9
1.3
3.8
1.7
4.9
2.2
740
High Load
Capacity Output14Bearing
4700
8.7
3.0
32
50
A Cross Roller bearing is integrated with the output ange to provide

high moment stiffness, high load capacity and precise positioning
accuracy.
1.3
3.8
3.0
38
8.7
13000
10-4rad
arc min
10-4rad
Table 021-2
Torsional stiffness
A/B
not available
Standard: <3 arc-min Optional: <1 arc-min

1.5Life
4.4
Low Backlash for
3.0
arc min
11
Single Stage: 4:12.2to 5:1, Two

6.4 Stage: 11:1 to 45:1
3.0

at TR X 0.15 D
Backlash
65
4.9 variety of servomotors

Easy mounting1.7to a wide
Quick Connect coupling
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
4
5
12
15
20
25
1.0
1.0
2.9
2.9
1.1
3.2
1.7
4.9
0.6
1.7
1.1
3.2
0.5
1.5
0.14
47
0.55
180
CONTENTS
1.0
2.9
1.0
2.9
0.5
1.5
740
2.2
Rating
Table
2.9
1.0
14
1.0
2.9
Performance
Backlash and Torsional
0.5
1.5Stiffness
2.9
1.0
38
Outline
Dimensions
1.0
2.9
Product Sizing & Selection
- (Hysteresis
- F0 loss)
HPGP - 11 A - 05 - BL3
BacklashD
4700
13000
19
20
21
2 2-27
28-29
Motor Code
Torsional stiffness curve
The vertical distance between points (2) & (4) in Fig. 021-1 is called a
With the input of the gear locked in place, a torque applied to the
hysteresis loss. The hysteresis loss between Clockwise load torque
output ange will torsionally deect in proportion to the applied
TRand Counter
load
torque
- TR is dened
as the & Options
torque. We generate
a Name
torsional
stiffness
curve by Reduction
slowly applying
Backlash
Input SideClockwise
Bearing
Output
Configuration
Model
Size
Design Revision
Ratio
Input Configuration
backlash of the HPGP series.F0: Backlash
Flange output of the HPGP series is less
torque to the output in the following sequence:
D:
Input
side
contact
BL1: Backlash less
5, 21,Zero,
37, 45
(1bearing
arc-min
(3) than 1than
(1) Clockwise torque to 11
TR, (2) Return to
J60: available).
Shaft output with key and
sealed
(DDU)is also
arc-min3 arc-min
center tapped hole
Counter-Clockwise torque to -T14R, (4) Return to Zero and (5) again (Sizes 14 to 65)
HPGP
F0: Flange output
A
Clockwise torque to
TRTorque
.
20
with double nonHigh
BL3: Backlash less
5, 11, 15, 21, 33, 45
Figure
motor
you 021-1
are using.
Torque-torsion
angle diagram
contact shields
than 3 arc-min
A loop of (1) > (2) > (3) > (4) > (5)32will be drawn as in Fig. 021-1.
50
The torsional stiffness in the region
from 0.15 x TR to TR is is
4, 5, 12, 15, 20, 25
65
calculated using the average value of this slope. The torsional
stiffness in the region
from zero
torque to 0.15 x TR is lower.
Gearhead
Construction
This is caused by the small amount of backlash plus engagement
pilot
of the mating parts and loading of the planet gears underMounting
the initial
torque applied.
Output flange
B
D
TR
Total torsion angle

See Fig. 021-1,
at output torque x 0.15 torque Table 021-1, Table 021-2
Load torque
Cross roller bearing
Gearheads
Output torque
x 0.15 torque See Fig. 021-1
(=TRX0.15)
See Fig. 021-1, Table 021-1 to 2
Torque
Hysteresis loss
Input rotational
direction
= Backlash
TR0.15
(4)
Output side oil seal
TL
TR: Rated output torque

A/B: Torsional stiffness
D: Torsion on one side at TRX0.15
(3)
T
18
TTL
A
B
-TR0.15
Calculation formula
D
Figure 018-1
Rubber cap
(2)
The method to calculate the total torsion angle (average value) on

one side when the speed reducer applies a load in a no-load state.
Output rotational direction
Formula 021-1
(1) (5)
Shielded bearing
-TR
Calculation of total torsion angle
center tapped hole (J2, J6 for Size

65 is also available)
Torsion angle

Mounting bolt hole
Rated
Torque *1
20
13
3000
Flange
kg
kg
2-Hexagon
socket
head
locking screw
0.14
0.18
10000
0.24
0.20
0.54
0.42
21
21
23
33
27
0.63
0.51
45
29
50
1.6
1.2
1.9
1.5E*4
2.0
1.6
1.9
1.5
39
4-M46
59
21
78
33
72
156
45
98
142
160
15
220
21
240
33
200
45
280
380
11
450
15
460
2.2
15
6000
3000
63
217
142
3000
27
20
400
15
440
400
1460
C0.5
1500
490
M36
Output ange
6000 part
Customer's
3000
650
400
6000
440
10 h7
150
156
70
5 4 h9
C0.6
133
15
11
4.4
3.0
C0.5
38
R0.4
4500
2000
2180
Clearance
0.5 or more
620
33
(Note) The dimension45tolerances that
are not specied
vary depending on the manufacturing
640
1360
method. Please check the conrmation drawing or contact us for dimension tolerances not
1150
3520
4
shown on the drawing above.
1190
5
3790
1350
12
4500
65
2000
1670
15
3940
20
1520
3790
25
1900
3840
5.1
5.4
5.1
13
0.4 (Min.0.2)
1850
1460
Dimension Table
F H7
15
56
39
40 h7
39.5
18
20
21
2-Screw with gasket
2500
3000
Figure 022-1
Shaft
13
29
4 h9
0
-0.1
rpm
15
4-3.4
7.5
HPG series
High-performance Gear Heads for Servo Motors series
CSG-GH series
CSF-GH series

rpm
12
11
11
50
Nm
12
A H7
45
32
Nm
1-2.5H7X4
6.6
10 PCD18
24
2837.5
20
Max. Input
Speed *5
40
21 40
14
Max. Average
Input Speed *4
Nm
11
Limit for Momentary

Torque *3
24
5 H7
Ratio
Size
Limit for Repeated

Peak Torque *2
15
32 7
47* 7
(Unit: mm)
4-D*3
HPGP Series
Table 019-1
Only primary dimensions are shown in the drawings below. Refer to the conrmation drawing for detailedMass
dimensions.
*6
HPG series (Orthogonal Shaft Type)
Rating
Table
HPGP-11
Outline Dimensions
4
6
HPGP series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
Detail P
3.7
Recommended
clearance
dimension for customer's part
mounted to the output ange
4.0
(Note)
3.7 using a gearhead with an
When
output
10 ange, it is recommended
for the customer to design
clearance between the part
mounted on the output ange and
the housing face as shown in the
12 on the left. The clearance is
gure
needed because the distance
between the output ange and the
oil seal (non-rotating) is small (min.
0.2mm).
22
*1: A
t
37
Moment of Inertia
Ratio
*2: T
s
p
c
p
"
Refer to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
suitable for your particular motor.
*1 May vary depending on motor interface dimensions.
*2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling.
*3 Tapped hole for motor mounting screw.
*4 E dimension is dependent on motor selection.
Coupling
(Unit: mm) Table 022-1

*1: Rated torque is based on L50 life of 20,000 hours at rated input speed.
*2: The limit for torque during start and stop cycles.
H *1
A (H7)
B
C
F (H7)
G
Mass (kg) *2
*3: The limit forFlange
torque during
emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events
Coupling
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
Shaft
Flange
to ensure it meets required operating conditions.
*4: Single
Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of
TypeThe
I actual1limit for average
54.5
20
4
28operating 70
5
8
17.5
26
0.34
0.30
a motion prole.
input50
speed depends
on the
environment.
Stage
*5: Maximum instantaneous input speed.
*6: The
Twomass is for the gearhead only (without input shaft coupling & motor ange). Please contact us for the mass of your specic conguration.
Type
I
1 the size 20
50Shaft type4 (J2 & J6) 28
70
5
8
17.5
26
63.5
0.40
0.36
*7: Stage
Flange output
is standard
for
65 gearhead.
is also available.
HPGP 11
Siz
(10-4 kgm2) Table 022-2

5
21
37
45
0.006
0.004
0.0027
0.0025
016
Gearheads
19
32
50
65
6.4
11.6
2.7
7.9
1.5
4.4
11.6
2.0
5.8
1.3
3.8
1.7
4.9
1.3
3.8
1.7
8.7
4.9
1.3
3.8
3 1.7
8.7
4.9
11
20
0.14
47
14
15
0.55
11.6
22
180
15
740
2.2
20
32
14
15
4700
50
38
13000
15
65
0.20
0.020
0.061
0.60 at TR X 0.15 D
0.1710-4rad arc min 0.062
arc min
10-4rad
0.15
0.066
0.64
0.88
0.43available 0.044
not
0.82
0.092
0.90
0.75
0.11
1.1
3.2
0.53
1.1
0.34
0.12
1.0 0.25 2.9
1.7
4.9
1.0
1.0
1.0
1.0
1.9
1.6
1.2
0.95
0.65
0.48
3.4
2.7
2.5
2.3
1.5
1.2
8.2
4.6
4.1
3.7
2.4
2.0
29
24
13
11
10
8.6
2.9
2.9
2.9
2.9
0.93
1.7
1.8 0.6
0.095
0.17
1.7
0.18
2.1 1.1
3.2
0.22
1.7
2.9 0.5
3.7
4.7
4.8 1.0
0.17
0.30
1.5
0.38
0.48
2.9
0.49
15
17 1.0
19
21
1.5
2.9
1.7
1.9
2.1
0.20
2.0
0.52
0.41
1.5
0.51
0.61
0.78
2.9
0.80
0.91
1.5
1.2
5.1
4.0 0.5
5.0
6.0
7.6 1.0
7.8
8.9
0.5
12
2.9
0.30
2.0
0.14
47 0.20
28
15
11
8.8
5.9
0.55
4.9
73
38
29
24
2.2
14
13
130
60
47
1440
24
20
420
360
38
190
160
130
110
2.9
1.5
1.1
0.90
180 0.60
0.50
7.4
3.9
3.0
740 2.4
1.4
1.3
13
6.1
4.8
4700 4.1
2.5
2.0
43
37
1300019
16
13
11
*1: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. The values shown in the
table are maximum values.
Figure 020-1
Backlash
(Hysteresis loss)
er Accuracy
1 is called a
Input anglebetween points (2) & (4) in Fig. 021-1
1 distance
The vertical
With the inputerof the gear locked in place, a torque applied to the
er 2
output
angle
Actual
R load torque
hysteresis2loss.
The
hysteresis
loss between Clockwise
ratio load torque - TR is dened as the
R Gear reduction
TRand Counter
Clockwise
torque. We generate2a torsional stiffness curve by slowly applying
backlash of the HPGP series. Backlash of the HPGP series is less
*2: The repeatability
is measured
by moving
to a given
position
than 3*3:arc-min
(1torque
arc-min
is also
available).
Starting
is the
torque
value applied to the input side at which
Return
to theoretical
Zero, (3)
(1) Clockwise
torque to
TR, (2)
seven times,
each
same
direction.
The actual
the output rst starts to rotate. The values in the table are maximum
Counter-Clockwise
torque
totime
-TRapproaching
, (4) Returnfrom
to the
Zero
and
(5) again
position of the output shaft is measured each time and repeatability is
values.
Clockwise torque
to TRas
. the 1/2 of the maximum difference of the seven data
Table 020-2
calculated
Figure 021-1
Loaddiagram
No load
A loop of (1) >points.
(2) > (3)
> (4) >values
(5) will
drawninasangles
in Fig.
021-1.prexed with Torque-torsion angle
Measured
arebe
indicated
(arc-sec)
of
HPGP speed reducer surface temperature
The values
in the
table are
maximum
The torsional "".
stiffness
in the
region
from
0.15 values.
x TR to TR is is
Figure 020-2
stiffness in the region from zero torque to 0.15 x TR is lower.
1
of the mating parts and loading of the planet gears under the initial
torque applied.
2
Torsion angle
*4: Backdriving torque is the torque value applied to the output side at
which the input rst starts to rotate. The values in the table are
maximum values.
Note: Never rely on these values as a margin in a system
A that must hold
an external load. A brake must
(2)be used where back driving is not permissible.
-TR
D
Calculation formula
Formula 021-1
TTL
A
B
Total torsion angle

See Fig. 021-1,
Load torque
TL
Gearheads
Output torque
(=TRX0.15)
T
20
-TR0.15
Load 0
(4)
Table 020-3
No load
25C
T
R
Torque
Hysteresis loss
A running torque is the torque required at the input to operate

*5: No-load
= Backlash
TR0.15
the gearhead at a given speed under
a no-load condition. The values
in the table are average values.
The method to calculate the total torsion angle (average

value) on
X
one side when the speed reducer applies a load in Xa no-load
state.
X
Repeatability = X
2
25C
(1) (5)
(3)
Input speed
3000 rpm
Load
No load
A/B: Torsional stiffness25C
D:
Table 020-4
Torsion on one side at TRX0.15
HPGP series
4 2.2
0.065
1.6
1.4
8.6
8.0
7.4
5
5.2
11
3.3
15
2.4
21
19
33
45
15
5
12
11
9.3
15
6.4
21
4.7
33
33
45
27
5
25
11
15
22
21
15
33
11
45
80
5
45
11
40
15
36
21
33
24
45
20
4
288
5
240
12
125
15
110
20
95
25
84
0.41
Backlash
0.29
8.7
4.0
2.9
Size Ratio
HPG series
20
3.0
A/B30
14
arc min 37 10-4rad

45
5
8.7
3.0
11
15
21
33
3.0 45 8.7
5
11
15
21
3.0 33 8.7
45
5
11
15
21
8.7
3.0
33
45
5
11
15
3.0 21 8.7
33
45
4
5
3.0 12 8.7
15
20
25
14.5
10-4rad
7.3
CSG-GH series
11
5
21
37
45
5 14
11
15
21
33
45
5
11 20
15
21
33
45
5
11
15 32
21
33
45
5
11
15 50
21
33
45
4
5
12
15 65
20
25
5
arc min
2.5
Table 21-1
Torsional stiffness
Table 020-1
No-load running torque *5

Ncm
kgfcm
Table 021-2
5.0
0.51
Torsional stiffness
1.3 A/B
0.13
0.90
0.092
kgfm/arc
min 100Nm/rad
0.80
0.082
9.8
1.0
4.9
0.50
Size Ratio11

at TR X 0.15 D
Gearhead
- Reduced
backlash
(BL1)
Starting torque
*3
Backdriving
torque
*4
kgfcm
Nm
kgfm
( Ncm
1 arc-min)
CSF-GH series
Backlash
21
Repeatability *2
arc sec
1
Gearhead - Standard backlash
Accuracy *(BL3)
Size
Ratio
arc min
10-4rad
( 3 arc-min)
Performance
Table Stiffness
Backlash
and Torsional
HPGP Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
017

Gearhead - Standard backlash (BL3)
Only primary
dimensions are shown in the drawings below. Refer to the
( 1conrmation
arc-min) drawing for detailed dimensions.
( 3 arc-min)
32
29
7.5
0
-0.1
65
4 h9
50
5.8
11
3.8
3.8
4.9
47
27
20
15
180
2.2
740
2.2
4.9
15
4700
14
3.8
4.9
C0.5
13000
38
head locking screw
R0.4
not available
5
11
15
14
21
33
45
5
11
15
20
21
33
45
5
11
15
32
21
33
45
H 5
11
15
50
21
33
45
4
5
12
65
15
20
25
0.6
1.7
1.1
3.2
0.5
1.5
1.0
2.9
0.5
1.5
2.9
Output ange1.0
2.9
2.9
1.0
0.55
180
0.5
2.9
1.0
2.2
740
14
4700
Detail P
Recommended clearance
(Note)
When
a gearhead with an
38 using13000
output ange, it is recommended
gure on the left. The clearance is
0.2mm).
Customer's part
1.0
47
E*4
2.9
1.0
0.14
1.5
2.9
0.4 (Min.0.2)
Clearance
0.5 or more
Backlash (Hysteresis loss)
TRand Counter Clockwise load torque - TR is dened as the
than 3 arc-min (1 arc-min is also available).
(Unit: mm)
C Torque-torsion angle
F (H7) diagram
Max.
70
Min.
Max.
Torsion angle
70
Max.
17.5
17.5
(2)
Sin
Sta
Table 022-1
H *1 Figure 021-1
Mass (kg) *2
G
Min.
(Note
meth
show
26
Typical
(1) (5)
54.5
Shaft
Flange
0.34
0.30
0.40
0.36
Dimension Table
4.9
(Note) The dimension tolerances that are not specied vary depending on the manufacturing
1.7
C0.5
M36
torque. We generate a torsional stiffness curve by slowly applying
(1) Clockwise torque to TR, (2) Return to Zero, (3)
Counter-Clockwise torque to -TR, (4) Return to Zero and (5) again
Clockwise torque to TR.
A (H7)
B
A loop of (1) >Flange
(2) > (3) Coupling
> (4) > (5) will be drawn as in Fig. 021-1.
Min.
Max.
Max.
Min.
The torsional stiffness in the region from 0.15 x TR to TR is is
calculated
the
average
value
of
this
slope.
The
torsional
Single using
Type I
1
20
50
4
28
Stage in the region from zero torque to 0.15 x TR is lower.
stiffness
Two
of the
mating Type
partsI and loading
of the
gears under
1
20 planet 50
4 the initial
28
Stage
torque applied.
3.2
2.9
1.0
4-D*3
1.1
1.0
(Unit: mm)
HPGP Series
3 22
C0.6
0.55
arc min
F H7
4.4
10 h7
20
0.14
10-4rad
2-Screw with gasket
6.4
7.9
arc min
Figure 022-1
Torsional stiffness
A/B
socket
10-4rad 2-Hexagon
A H7
8.7
40 h7
39.5
14
0.065
Size Ratio
24
11
10-4rad
7.3
A/B

at TR X 0.15 D
Backlash
40
arc min 10-4rad arc min

1-2.5H7X4
5
2.5
21
40 8.7
PCD18
3.0
37
3.0
45
28.5
5
2.2
11
15
8
8.7
3.0
12.7
21
33
45
5
1.5
11
15
8.7
3.0
21
2.0
33
45
4-M46 1.3
5
4-3.4
11
15
8.7
3.0
21
1.7
33
45
5
1.3
11
4 h9
15
8.7
3.0
21
1.7
33
45
4
1.3
5
12
8.7
3.0
15
1.7
20
25
Torsional stiffness
24
5 H7
Size Ratio
Only
Table 021-2
Table 21-1

at TR X 0.15 D
Backlash
Backlash
Torsional
Stiffness
HPGP-11and
Outline
Dimensions
4
6
HPGP Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
26
63.5
Refer t
suitabl
*1 May
*2 The
*3 Tap
*4 E d
Refer to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact
us for other mounting options if the congurations shown above are not
-TR0.15
0
-TR
TR
Torque
(4)
Hysteresis
loss
A
The
method istodependent
calculate
the total
torsion angle (average value) on
*4 E dimension
on motor
selection.
= Backlash
TR0.15
Tw
Sta
Mo
HPG
Moment of Inertia
Calculation formula
HPGP 11
Ratio
Coupling
Formula 021-1
TTL 5
A
B 0.006
(10-4 kgm2) Table 022-2
21
37
0.004
0.0027
Total torsion angle

See Fig. 021-1,
Load torque
TL
Output torque x 0.15 torque See Fig. 021-1

(=TRX0.15)
A/B
Torsional stiffness
(3)
45

0.0025
018
Gearheads
21
Only primary dimensions are shown in the drawings below. Refer to the conrmation drawing for detailed dimensions.

( 3 arc-min)
Backlash 40
Size Ratio
1-2.5H7X4
Torsion
angle on one side
at TRPCD18
X 0.15 D
Table 21-1
Torsional stiffness
A/B 3
Figure 022-1
(Unit: mm)
( 1 arc-min)
2-Hexagon socketTable 021-2
-4
arc min 10
rad arc min
10-4rad
28.5
5
2.5
7.3
21
11
22
0.065
8.7
3.0
37
3.0
8.7
18
45
5
2.2
6.4
11
15
C0.6
47
0.14
8.7
3.0
14
21
2.7
7.9
33
45
5
1.5
4.4
P
4-M46
2.2
11
4-3.4
15
180
0.55
8.7
3.0
20
21
2.0
5.8
15
5
33
27
45
20
H
5
1.3
3.8
11
4 h9
15
15
740
2.2
8.7
3.0
32
21
1.7
4.9
33
45
5
1.3
3.8
11
15
4700
14
8.7
3.0
50
21
1.7
4.9
C0.5
R0.4
33
45
M36
4
1.3
3.8
5
12
(Note) The dimension tolerances that are not specied vary depending
on
the manufacturing
13000
38
8.7
3.0
method. Please check the conrmation drawing or contact us for dimension tolerances 65
not
15
1.7
4.9
20
25
head
screwstiffness
Torsion angle on one
sidelocking
Torsional
at TR X 0.15 D
A/B 3
2-Screw with gasket
Size Ratio
Backlash
arc min
10-4rad
arc min
10-4rad
4-D*
HPGP Series
HPGP-11
Dimensions
Backlash
and Outline
Torsional
Stiffness
0
-0.1
7.5
50
65
F H7
B
2.9
1.0
G
1.0
1.0
A H7
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
4
5
12
15
20
25
2.9
Output2.9
ange
1.0
3.2
1.7
4.9
0.6
1.7
1.1
3.2
0.14
47
0.55
180
0.5
1.5
1.0
Detail P 2.2
2.9
740
1.0
0.5
2.9
0.4
(Min.0.2)
1.0
0.5
Clearance
0.5 or more
2.9
1.1
Customer's part
24
29
4 h9
32
not available
C0.5
40
20
24
5 H7
14
10 h7
11
40 h7
39.5
HPGP Series
1.0
E*4
1.5
(Note)
When using a gearhead with an
4700
14 to design
for the customer
2.9
1.5
13000
38
oil seal (non-rotating)
is
small (min.
2.9
0.2mm).
Dimension Table
led a
orque
s the
less
Torsional stiffness
curve
Flange Coupling
A (H7)
F (H7)
G
Backlash (Hysteresis
loss)
021-1
Max.
torque
Max.
applied
Min.
the
The torsional
stiffness in the region from 0.15 x TR to TR is is
Torsion angle
E dimension
on motor
selection.
calculated*4 using
theis dependent
average
value
of this slope. The torsional
Moment of Inertia
(10-4 kgm2) Table 022-2
Ratio
torque applied.
5
21
37
45
(2)
Coupling
HPGP 11
0.006
0.004
0.0027

15
Formula 021-1
Calculation formula
D
22
TTL
A
B
Total torsion angle

See Fig. 021-1,
Load torque
T
TL
-TR0.15
0.0025
-TR
Gearheads
Output torque
(=TRX0.15)
Shaft
021-1
(1) (5)
A
D
ue
Max.
Typical
(2)
& (4) in
Fig.
Mass (kg) *2
Flange a
is called
With the input of the gear locked in
a
to
hysteresis
loss.
The
hysteresis
loss
between
Clockwise
load
torque
output ange
will
torsionally
deect
in
proportion
to
the
applied
Single
Type I
54.5
1
20
50
4
28
70
5
8
17.5
26
0.34
0.30
Stage
TRand Counter Clockwise load torque - TR is dened as the
torque. We generate
a torsional stiffness curve by slowly applying
Two
Type I
1
20
50
4
28
8 is also
17.5available).
26
63.5
0.40
0.36
than703 arc-min5 (1 arc-min
(1) Clockwise
Stage torque to T R, (2) Return to Zero, (3)
to the conrmation
ClockwiseRefer
torque
to TR. drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
Figure 021-1
Torque-torsion angle diagram
A loop of (1)
> (2)
(3) > (4)
(5) interface
will bedimensions.
drawn as in Fig. 021-1.
*1 May
vary>depending
on >
motor
Min.
place,
Min.
Max.
TheMax.
vertical distance
between Min.
points
H *1
TR
(4)
TR0.15
Torque
Hysteresis loss
= Backlash
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
(3)

019
1-3H7x5
PCD30
60
1-2.5H7X4
40
PCD18
22.5
.5
8
2
7
0
(Unit: mm)
Hexagon socket
2-Hexagon socket
4-D*3
head head
bolt locking screw
Rubber cap
2-Screw with gasket
Figure 022-1
(Unit: mm)
4-D*3
4
6
3018
F H7
F H7
A H7
A H7
56 h7
40 h7
55.5
39.5
40
24
14 H7
5 H7
BB
4-M46
8-M4x7
2.2
E*4 E*4
2.5
21 15 8 5
37 27
20
28
15
25
5 h9
4 h9
C0.5
C0.5
C0.5
C0.6
4-3.4
4-5.5
Only
Figure 023-1
HPGP Series
HPG series
40
H
H
Detail P
Output ange
24
40
10 h7
40
0
-0.1
29h7
16
4 h9
Customer's part
7.5
0
-0.1
5 h9
(Note)
0.4 (Min.0.2)
C0.5C0.5
R0.4
R0.4
(Note) The dimension tolerances that are not specied vary depending mounted
on the manufacturing
on the output ange and
method. Please check the conrmation drawing or contact us for dimension
tolerances
M4x8
the housing
facenot
as shown in the
shown
on
the
drawing
above.
M36
Clearance
0.5 or more
0.2mm).
13
Dimension Table
Dimension Table
Flange
Coupling
Type I
A (H7)
F (H7)
H *1
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
30
58
35
74
6.0
7.8
21.5
32.5
85
Flange
Coupling
A (H7)
F (H7)
Mass (kg) *2
Shaft
Flange
mm) Table 022-1

1.07 (Unit:
0.95
H *1
Mass (kg) *2
Shaft
1.00
Flange
Ty
Single
Type I
54.5
1
20
50
4
28
70
5
8
17.5
26
0.34
Refer
to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
Stage
0.30
Ty
Type II
Min.70
40
Max.
7
Max.
45
Min.
84
Max.
9.0

Two
*2 The
mass will vary
slightly
inside diameter4of the input 28
shaft coupling.70
Type
I depending
1 on the ratio
20and on the 50
Stagehole for motor mounting screw.
*3 Tapped
Min.
14.2
Max.
25.8
Min.
33.8
17.5
Max.
85
26
Typical
1.12
63.5
0.40
0.36
(10-4 kgm2) Table 023-2
Ratio
*3 Tapped hole for motor mounting
screw.5
45
33
21
15
11
Coupling
*4 E dimension is
dependent on motor selection.
Moment of Inertia
HPGP 14
Moment of2 Inertia0.204

HPGP 11
Ratio
Coupling
0.06
0.058
0.197
0.195
0.044
0.05
(10-4
- kgm 2) Table 022-2
21
37
45
0.006
0.004
0.0027
0.0025
-33 Ratio
CSG-GH series
CSF-GH series

HPGP-14
HPGP-11Outline
OutlineDimensions
Dimensions
HPGP series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
Ty
Ty
Refer
suitab
*1 Ma
*2 The
*3 Tap
*4 E d
0.044
-
Mo
HP
020
Gearheads
23
8 h9
8.7
3.0
2.0
5.8
1.3
3.8
1.7
4.9
1.3
3.8
1.7
4.9
1.3
3.8
C1
8.7
3.0
1.7
4.9
M6x12
F H7
Dimension Table
023-1
Flange
Coupling
*2
A (H7)
Min.
Max.
Max.
Min.
F (H7)
Min.
Max.
Min.
Max.
Backlash
(Hysteresis
loss)
Max.

Mass (kg) *2
H *1
Typical
Shaft
95
00
-33 Ratio
Moment
ofthe
Inertia
The method
to calculate
total torsion angle (average value) on
one side when the speed reducer
Ratio applies a load in a no-load state.
11
0.62
HPGP 20
Calculation formula
Total torsion angle

See Fig. 021-1,
Load torque
TL
Gearheads
Output torque
(=TRX0.15)
TR
(10-4 kgm2) Table

TR024-2
0.15
21
33
45
0.5
0.45
0.45
0.12
0.071

0.063
(3)
Torque
Hysteresis loss
= Backlash
0.58
Formula 021-1
T
24
TTL
A
B
15
0.69
Coupling
0
(4)
(2)
-TR0.15

*2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft-T
coupling.
R

D:
HPGP series
Flange
The vertical
distance
between
points
(2) & (4) 98.0
in Fig. 021-1
is called
a
With the inputType
of the
gear 1locked in 50
place, a72torque applied
to
I
8
55the
80
7.0
19.6
23.0
35.5
3.1
2.7
Type II
TRand 7.0
Counter19.6
Clockwise
torque -105.0
TR is dened
as2.9the
1
80
98 by slowly
10
90
120
30.0 load42.5
3.3
torque. We generate
a torsional
stiffness
curve
applying
Type III
3
30
45
10
35
50
7.0
7.8
21.0
31.0
93.5
2.6
2.2
Counter-Clockwise
to Zero 10
and (5) again
Type IV torque 1to -TR, (4)
46Return70
55
96
7.0
19.6
30.0
42.5
105.0
3.3
2.9
Type I
1
50
72
8
55
80Torque-torsion
7.0
19.6
23.0
35.5
103.0
3.1 Figure 021-1
2.7
angle diagram
A loop of (1) > (2) > (3) > (4) > (5) will be drawn as in Fig. 021-1.
The torsionalType
stiffness
in the
from 0.15
is is 120
II
1 region 80
98 x TR10to TR90
7.0
19.6 angle
30.0
42.5
110.0
3.3
2.9
Torsion
(1) (5)
Type III
30
35
50
7.0
7.8
21.0
31.0
98.5
2.6
2.2
stiffness in the
region from3 zero torque
to450.15 x 10
TR is lower.
This is caused
by
the
small
amount
of
backlash
plus
engagement
Type IV
1
46
70
10
55
96
7.0
19.6
30.0
42.5
103.0
3.3
2.9
Refer to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations
shown above are not
A
torque applied.
nge
HPG series
4.4
8.7
3.0
1.5
8-M6x10
4-9
5
1.1
3.2
11
15
0.14 C0.5 47
2.9
1.0
47
0.14
14
21
1.7
4.9
33
45
B
5
0.6
1.7
C0.5
11
15
180
0.55
2.9
1.0
180
0.55
20
21
1.1
3.2
33
45
E*4
7.5
5
0.5
1.5
27 10
G
11
15
53
46
740
2.2
2.9
1.0
740
2.2
32
1.0
2.9
42
H 21
33
36
45
5
0.5
1.5
11
15
4700
14
2.9
1.0
4700
14
50
21
1.0
2.9
33
45
4
0.5
1.5
R0.4
5
(Note)12
The dimension tolerances that are not specied vary depending on the manufacturing
13000
38
2.9
13000 not
38
65method.
check the conrmation
drawing or contact us for dimension
tolerances
15 Please 1.0
1.0
2.9
20
25
CSG-GH series
8.7
3.0
7.9
45
not available
65
2.7
11
22
-4
4-D*3
head
10
radbolt
Torsion on one side at TRX0.15
CSF-GH series
8.7
3.0
6.4
cap arc min

arc minRubber
10-4rad
50
2.2
0.065
Size Ratio
32
8.7
A/B
5
Table 021-2

Torsional stiffness
socketA/B
D
at TR X 0.15 Hexagon
Backlash
20
05
1
3.0
8.7
10 rad
7.3
Figure 024-1
(Unit: mm)
A H7
14
3.0
22.5
arc min
2.5
Table 21-1
Torsional stiffness

( 1 arc-min)
85 h7
84
59
24 H7
11
5
21
37
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
4
5
12
15
20
25
arc min 90
10-4rad
59
25 h7
Size Ratio

1-5H7x8
at TR X 0.15 D
PCD35
-4
Backlash
7 h11

( 3 arc-min)
0
-0.2
mm)
HPGP-20
Dimensions
Backlash
and Outline
Torsional
Stiffness
21
HPGP Series
023-1
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
021
HPGP-32
HPGP-11Outline
OutlineDimensions
Dimensions
Rubber cap
2-Screw with gasket
4-M46
4-3.4
98
82
70
27
20
15
8 h11
12 h9
84
40 h7
F H7
A H7
15
0
-0.1
Detail P
on the manufacturing
mounted
to the output ange
(Note)

(Unit: mm)
Table 025-1
needed
because
the distance
the output
and the
H *1 between Mass
(kg) ange
*2
Typical
Shaft
Flange
0.2mm).
0.4 (Min.0.2)
R0.4
Clearance
0.5 or more
(Note) The dimension tolerances that A

are(H7)
not specied vary
B depending on the
C manufacturing F (H7)
FlangePlease Coupling
method.
check the conrmation drawing or contact us for dimension tolerances not
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Fl
Type I
110
120
10
120
155
10.0
28.6
31.0
57.5
140
3.1
2.7
Type II
70
100
80
112
10.0
28.6
30.0
56.5
139
3.3
2.9
Type III
50
100
10
80
112
14.0
19.6
25.8
38.8
139
2.6
2.2
Type IV
70
95
10
80
115
10.0
28.6
41.0
67.5
150
3.3 (Unit:
2.9
mm) Table 022-1
70
A (H7)
110
10
B80
155
C 10.0
28.6
F (H7)
45.0
71.5
G 154
Dimension Table
Type V
Type I
-33 Ratio
F H7
E*4
Customer's part
R0.4
C0.5
7.5
E*4
4-D*3
10 h7
M10x20
Dimension M36
Table
Output ange
C1
29
12.5
35
2.2 13
63
40
4 h9 0
35 -0.2
4 h9
CSG-GH series
B
C0.5
C0.6
Figure 022-1
(Unit: mm)
C0.5
C0.5
8-M8x12
24
HPG series
4-11
24115 h7
5 H7114
84
32 H7
18
60
40 h7
39.5
4
6
(Unit: mm)
Hexagon socket
4-D*3 socket
head bolt 2-Hexagon
head locking screw
A H7
1-5H7x8
PCD45
120
1-2.5H7X4
22.5
40
PCD18
35
1
.5
8
2
Only
Figure 025-1
Flange
Coupling
Single
Type II
Stage
110
Type1I
1 70
Type
Two III
50
Stage
Type IV
Type I
Min.
Max.
Max.
120
155
10.0
28.6
31.0
57.5
145
20
100
507
480
28
112
70
10.0
28.65
30.0 8
17.5
56.5
100
10
80
112
14.0
19.6
25.8
80
115
10.0
28.6
41.0
120
20
70
95
10
HPGP Series
HPGP series
CSF-GH series

HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
50
Min.
10
Max.
28
70
Min.
Max.
Min.
Ty
Shaft
Flange
26
144
54.5
3.3
0.34
2.9
0.30
38.8
144
2.6
2.2
67.5
155
3.3
2.9
26
3.1
63.5
Ty
Mass (kg) *2
2.9
Typical
17.5
Max.
H *1
3.3
2.7
0.40
0.36
Type V
1
70
110
10
80
155
10.0
28.6
45.0
71.5
159
3.3
2.9
*2
The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling.
*4
E dimension
is dependent
on motoronselection.
*2 The
mass will vary
slightly depending
the ratio and on the inside diameter of the input shaft coupling.
Ty
Refer to
suitable
*1 May
*2 The
*3 Tap
*4 E di
Mo

Moment of Inertia
Moment of Inertia
HPGP 11
HPGP 32
Coupling
Coupling
Ratio
1 1
2
Ratio
HPG
(10-4 kgm2) Table 022-2

5
3.9
-
5
0.006
11
3.7
-
21
0.004
15
3.5
-
37
0.0027
21
3
0.84
45
(10-4 kgm2) Table 025-2
33
0.0025 2.8
0.66
45
.8
0.61
022
Gearheads
25
2.7
2.9
3.8
1.7
M10x20
4.9
1.3
3.8
Coupling
Type I
180
103
82
70
740
2.2
14
C1
13000
38
A (H7)
R0.4
4700
F H7
A H7
5
1.1
3.2
11
15
2.9
1.0
47
0.14
14
21
1.7
4.9
C0.5
33
45
5
0.6
1.7
11
E*4
12 15
1.0
180
0.55
2053 21
16
G 2.9
1.1
3.2
84 33
H
45
5
0.5
1.5
11
15
2.9
1.0
740
2.2
32
21
1.0
2.9
33
45
5
0.5
1.5
11
15
not specied vary depending
2.9 that are1.0
1.0 tolerances
4700
14 on the manufacturing
50(Note)21The dimension
2.9 us for dimension
method. Please check the conrmation drawing
or contact
tolerances not
33on the drawing above.
shown
45
4
0.5
1.5
5
12
2.9
1.0
13000
38
65
15
1.0
2.9
20
25
F (H7)
H *1
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
Shaft
Flange
70
200
15
90
235
19.0
41.0
45.0
81.0
202
20.2
17.2
70
200
15
90
235
243.5
20.4
17.4
Backlash
(Hysteresis
loss)
19.0
41.0
45.0
81.0
Type III
2
80
115
10
100
150
31.5 load55.0
19.0
16.0
TRand 19.0
Counter41.0
Clockwise
torque - 176
TR is dened
as
the
torque. We generate
a torsional
stiffness
curve
by slowly
applying
than 3 arc-min
(141.0
arc-min 45.0
is also available).
Type IVtorque 1to T R, 70(2) Return
to15 Zero,90 (3) 235
(1) Clockwise
200
19.0
81.0
202
27.5
24.5
to the to
conrmation
ClockwiseRefer
torque
TR. drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
Figure 021-1
A loop of (1)
> (2) > (3) > (4) > (5) will be drawn as in Fig. 021-1.
2.7
2.9
2.2
*2 Thestiffness
mass will vary
the ratio
and onxthe
The torsional
inslightly
the depending
region on
from
0.15
TRinside
todiameter
TR ofistheisinput shaft coupling.
calculated*4 using
thefor average
this slope.
torsional
E dimension
Flange Type I,value
II, and IV of
is dependent
on motor The
selection.
Moment
Inertia
of the mating
parts andof
loading
of the planet gears under the initial
torque applied.
Ratio
2.9
Coupling
HPGP 50
11
15
12
9.4
9.1
8.3
Calculation of total 2torsion angle
21
-TR
D
2.9
Formula 021-1
Calculation formula
D
Total torsion angle

See Fig. 021-1,
Load torque
T
26
TTL
A
B
TL
Gearheads
Output torque
(=TRX0.15)
5.8
(1) (5)
(10-4 kgm2) Table 026-2
-TR0.15
33
6.1
4.9
(2)
45
5.9
(4)
(3)
HPGP series
4.7
TR0.15
TR
Torque
Hysteresis loss
= Backlash

Torsion angle
2.9
2.9
not available
HPG series
4-D*
1.3
8.7
3.0
Dimension
Table
1.7
4.9
Flange
0.55
3.8
4.9
10-4rad
CSG-GH series
14 h9
1.7
TorsionalType
stiffness
curve
II
1
2.2
5.8
122
50 h7
9 h11
8.7
C0.5
47
35
2.0
8.7
3.0
4.4
8-M12x20
1.3
3.0
90
0.14
7.9
1.5
4-14
11
22
arc min
55
6.4
0.065
165 h8
163
122
47 H7
2.2
10-4rad
nge
8.7
arc min
CSF-GH series
025-1
) *2
3.0
0
19
Table 021-2
Hexagon socket

Torsional stiffness
bolt
Backlash
Rubber cap at TR X 0.15 head
D
A/B 3
7
Size Ratio

65
7.3
Figure 026-1
(Unit: mm)
50
8.7
3.0
2.5
2.7
44.5
ing
ot
8.7
3.0
32
8.7
3.0
35
20
10-4rad
14
arc min
35
11
5
21
37
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
5
11
15
21
33
45
4
5
12
15
20
25
Table 21-1
PCD70
170
Torsional stiffness
55
at TR X 0.15 D
A/B
5 min
4arc
10-4rad kgfm/arc min 100Nm/rad
35
Size Ratio
Backlash

( 1 arc-min)

1-6H7x9
( 3 arc-min)
55
mm)
HPGP-50
Dimensions
Backlash
and Outline
Torsional
Stiffness
0
-0.2
HPGP Series
025-1
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
023
1-8H7x12
PCD85
1-2.5H7X4
2-M10X20
40
Tap forPCD18
eyebolt
230 +1
-3
60
CSF-GH series
C0.5
2.2
12 15
27
165
20
130
15
22 h9
4 h9
C0.6
C0.5
4-M46
8-M16X24
F H7
F H7
A H7
168
5 H7
60 H7
214 24
40 h7
57
E*
25
110
14 h11
E*4
G
5
Detail P
Output ange
(Note)
0.4 (Min.0.2)
R0.4
C1 C0.5
R0.4
M16x35
M36
gure
onmanufacturing
the left. The clearance is
on the
Clearance
neededtolerances
because the
method. Please check the conrmation
drawing or contact us for dimension
not distance
0.5
or
more
oil
seal
(non-rotating)
is small (min.
0.2mm).
24
40
10 h7
168
29
80 h7
71 -0.2
4 h9
Customer's part
7.5
0
-0.1
CSG-GH series
HPG series
120
4-18
C0.5
220 h8
39.5
18
4-3.4
Hexagon socket
4-D*3
4-D*3
head bolt
Rubber cap
(Unit: mm)
2-Hexagon socket
head locking screw
2-Screw with gasket
A H7
65 28.5 65
22.5
Figure 027-1
(Unit: mm) Figure 022-1
HPGP Series
HPGP-65
HPGP-11Outline
OutlineDimensions
Dimensions
NO
4
6
HPGP series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
Dimension Table
Dimension Table
Flange
Coupling
Single
Stage
Flange
Type
I
Single
Two
Stage
Stage
TypeI I
Type
Min.
Coupling
1
125
Min.
1 1
A (H7)
Max.
Max.
230
15
230 50
15
A (H7)
12520
Max.
B
Max.
F (H7)
H *1
Min.
Max.
Min.
Max.
Min.
Max.
150
Min.
265
35.0
43.9
63.0
87.5
150
28 265
Max.
70 35.0
F (H7)
Min.
Max.
5 43.9
863.0
Mass (kg) *2
(Unit:
mm) Table 022-1
Flange
Typical
Shaft
Min.
241.5
Max.
48.0
Typical
38.0
Shaft
Flange
17.5
87.5
26
311.5
54.5
52.0
0.34
42.0
0.30
H *1
Mass (kg) *2
ReferTwo
to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
Type Imotor. 1
20
50
4
28
70
5
8
17.5
26
63.5
0.40
0.36
suitable
for your particular
Stage
Refer
to thehole
conrmation
drawing screw.
for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not
*3 Tapped
for motor mounting
suitable
for yourisparticular
*4 E dimension
dependentmotor.
on motor selection.
*1
*2
*3
*4
May vary depending on motor interface dimensions.

The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling.
Tapped hole for motor mounting screw.
E dimension is dependent on motor selection.
Moment of Inertia
Ratio
Coupling
Moment
of Inertia
HPGP 65
1
HPGP 11
Ratio
Coupling2
92 5
0.006
(10-4 kgm2) Table 022-2

27
28
21
0.004
77
20
15
12
(10-4 kgm2) Table 027-2
37
0.0027
69
45
25
15
15
57
56
0.0025
024
Gearheads
27
Product
& Selection
Backlash
andSizing
Torsional
Stiffness
To fully utilize the excellent performance of the HPGP HarmonicPlanetary gearheads, check your operating conditions
and, using the owchart, select the appropriate size gear for your application.

( 1 arc-min)
general, a servo system rarely operates at a continuous
( 3Inarc-min)
Table 021-2
Table 21-1
Flowchart for selecting
size
Torsionalchange
stiffness and a
Torsionaangle
on one side
Torsional stiffness
Torsion angle
on one side
load and Backlash
speed. The input
speed,
load torque
Backlash
at TR X 0.15 D
at TR X 0.15 D
Size Ratio
A/B
A/B
comparatively
large torque is applied
during start
and stop.Size Ratio
Pleasearc
usemin
the owchart
shown
size.
arc min 10 rad arc min
10 rad kgfm/arc min 100Nm/rad
10 rad arc
min below
10 for
rad selecting
kgfm/arc mina 100Nm/rad
Operating conditions must not exceed the performance
5
Unexpected
impact torques
also be applied.
2.5 may 7.3
32
50
5
1.1
3.2
11
15
2.9
0.14
21Calculate1.0
the average load torque 1.7
applied on the
output side
4.9
33from the load torque pattern: Tav (Nm).
45
5
0.6
1.7
11
15Calculate the average output speed based on the load torque
0.55
no av (rpm) 2.9
21pattern: 1.0
1.1
3.2
n3
n4
Time
to pattern.
Zero, (3)
(1) Clockwise torque
tovalue
TR,of (2)
Obtain the
each Return
load torque
Counter-ClockwiseLoad
torque
to -TR, (4) Return to Zero
(5) again
Tn (Nm)
torque
T1 toand
Clockwise torque to
TR.
Time
t1 to tn (sec)
A loop of (1) > (2) >Output
(3) > (4)
> (5) willspeed
be drawn as in
rotational
n1Fig.
to nn021-1.
(rpm)
The torsional stiffness in the region from 0.15 x TR to TR is is
<Normal operation pattern>
stiffness in the region
from zero torque to 0.15 x TR is lower.
Starting
T1, t1, n1
Steady operation
T2, t2, n2
Stopping (slowing)
T3, t3, n3
torque applied.
13000
NG
NG
Check whether the maximum input speed is equal to or less than
Check whether TS is equal to or less than the momentary max.

torque (Nm) value from the ratings.

Calculate the
lifetimeangle
and check whether it meets the
Torsion
specication requirement.
Tr: Output torque
nr: Max. average input speed
(2) OK
ni max n1R to nnR
Formula 021-1
Calculation formula
<Required life>
D
TTL
A
B
Ts
L50 = L (hours)
Total torsion angle

See Fig. 021-1,
Load torque
Gearheads
Output torque
(=TRX0.15)
NG
NG
-TR0.15
The model number
is conrmed.
0
A
The method to calculate

the by
total
torsion angle (average
value)
on
(Restricted
motors)
R: Reduction
ratio
<Impact torque>
When impact torque is applied
(1) (5)
10/3
Tr
nr
L5020,000
(Hour)
Tav
ni av
-TR
no max n1 to nn
NG
NG
Figure 021-1
OK
Calculation ofMax.
total
inputtorsion
rotationalangle
speed
NG
NG
OK
TRandCheck
Counter
Clockwise
load
torque
- Ton
Rstart
is dened
whether T1
and T3 are within
peak
torques (Nm)
NG as the
NG
and stop in the rating table.
OK
T4, t4, n4
<Maximum rotational speed>

Max. output rotational speed
TL
4700
the values in(Hysteresis

the rating table.
Backlash
loss)
ni max maximum input speed (rpm)
Idle
740
NG
OK
28
180
Calculate the average input speed (ni av) from the average output
speed (no av) and the reduction ratio (R): ni av = no avR Max.
average input speed (nr).
n2
n1
47
33
45
5
0.5
1.5
11
15
Make a preliminary
model
with the following
2.9 selection
1.0
2.2
21condition:
1.0
2.9
Tav Average load torque (Refer to rating table).
33
45
OK
5
0.5
1.5
Determine the reduction ratio (R) based on the maximum output
11
rotational speed (no max) and maximum input rotational speed (ni
15
2.9
1.0
14
max).
21
1.0
2.9
ni max
33
R
no max
45
4(A limit is placed on ni max by motors.)
0.5
1.5
5Calculate the maximum input speed (ni max) from the maximum
12
output speed (no max) and the reduction ratio (R).
2.9
1.0
38
15
ni max=no max R
1.0
2.9
20
25
33
Checking the load torque pattern
45
5
1.3
3.8
Review
the load torque pattern. Check the specications shown in
11
the
gure
below.
15
740
2.2
8.7
3.0
32
21
1.7
4.9
33
Graph 028-1
45
5
1.3
3.8
T1
11
15
4700
14
8.7T2
3.0
50
21
1.7
4.9
33
45
Time
4
1.3
3.8
5
T4
12
13000
38
8.7
3.0
65
T3
15
1.7
4.9
20
t1
t2
t3
t4
25
Output rotational
speed
65
not available
Review the operation conditions, size and reduction ratio.
20
ratings.
21
11
22
0.065
8.7
3.0
37
3.0
8.7
Check
your operating conditions against the following load
45
5
6.4
torque
pattern and select2.2a suitable
size based on the
11
owchart
shown on the right. Also check0.14
the life and
static
15
47
8.7
3.0
14
21
2.7
7.9
safety
coefcient
of
the
cross
roller
bearing
and
input
side
33
main
bearing (input shaft type only).
45
5
1.5
4.4
11
15
180
0.55
8.7
3.0
20
21
2.0
5.8
-4
14
-4
11
-4
Refer to the Caution note below.
-4
Load torque
HPGP Series
HPGP
Gearhead
Series
HPGP
Gearhead
Series
TR
(4)
TR0.15
Torque
Hysteresis loss
= Backlash
Caution
(3)
If the expected operation will result in conditions

TR:where;
Rated output torque
i) Actual average load torque (Tav) > Permissible
maximum
value stiffness
of average load torque or
A/B:
Torsional
ii) Actual average input rotational speed (ni av) > Permissible average input rotational speed (nr),
D: temperature
Torsion on
side
at TRConsider
X0.15
then please check its effect on the speed reducer
riseone
or other
factors.
selecting the next larger speed reducer, reduce the operating loads or take other means to
ensure safe use of the gear. Exercise caution especially when the duty cycle is close to
continuous operation.
Example of model number Selection

1-2.5H7X4
PCD18
4-D*3
4
6
28.5
Load torque
Time
Output rotational speed

Max. input rotational
C0.5 speed
C0.6
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,P
F H7
24
5 H7
40 h7
39.5
Tn (Nm)
tn (sec)
18
nn
(rpm)

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
4-M46
4-3.4
2-Hexagon socket
head locking screw
2-Screw with gasket
<Impact torque> B
n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
2.2
15
27
20
10/3
1 2 0 r p m 3
15s e c 1 8 N m
A H7
40
Value of eachload torque pattern.
Figure 022-1
(Unit: mm)
no max = 120 rpm

C
ni max = 5,000 rpm
(Restricted by motors)
HPGP Series
HPGP-11 Outline Dimensions
HPGP
Gearhead
Series
HPGP
Gearhead
Series
Ts = 180 Nm
<Required life>
L50 = 30,000 (hours)
G
E*4
Calculate the average load torque applied to the output side based on the load torque pattern: Tav (Nm).
10/3
40
60rpm 0.3sec 120rpm 3sec 60rpm 0.4sec 0rpm 5sec
10 h7
0.3sec3sec0.4sec5sec
0.4 (Min.0.2)
7.5
Make a preliminary model selection with the followingC0.5

conditions. R0.4
T av = 30.2 Nm 72 Nm. (HPGP-20A-33 is tentatively selected based on the average
load torque (see the rating table) of size 20 and reduction ratio of 33.)
M36
OK
Clearance
0.5 or more
Determine
a reduction
from the maximum
speedus
(no
and maximum
input not
speed (ni max).
method.
Please
checkratio
the (R)
conrmation
drawingoutput
or contact
formax)
dimension
tolerances
shown
onrpm
the drawing above.
5,000
120 rpm
= 41.7 33
(Note)
mounted NG
on the output ange and
0.2mm).
Calculate the maximum input speed (ni max) from the maximum output speed (no max) and reduction ratio (R): ni max = 120 rpm33 = 3,960 rpm
Dimension Table
Calculate the average input speed (ni av) from the average output speed (no av) and reduction ratio (R):
ni av = 46.2 rpm33= 1,525 rpm Max average input speed of size 20 3,000 rpm
Flange
Coupling
A (H7)
Min.
Max.
Max.
20
50
OK
F (H7)
Type I
Two
Stage
Type I
20
50
Mass (kg) *2
Max.
Min.
Max.
Min.
Max.
Typical
NG
Shaft
Flange
28
70
17.5
26
54.5
0.34
0.30
28
70
17.5
26
63.5
0.40
0.36
OK
H *1
Min.
Check whether the maximum input speed is equal to or less than the values specified in the rating table.
ni max = 3,960 rpm 5,000 rpm (maximum input speed of size 20)
Single
Stage
NG
29
4 h9
Customer's part
0
-0.1
no av
Detail P
Output ange
Calculate the average output speed based on the load torque pattern: no av (rpm)
Refer to the Caution note at the bottom of page 28.
10/3
6 0 rpm 0
. 3 s e c 7 0 N m
6 0 r p m 0 . 4 s e c 3 5 N m
4 h9
60rpm 0.3sec 120rpm 3sec 60rpm 0.4sec
24
T av
10/3
Check whether T1 and T3 are within peak torques (Nm) on start and stop in the rating table.
T1 = 70 Nm 156 Nm (Limit for repeated peak torque, size 20)
NG shown above are not
T3 =to35
Nm
156 Nm drawing
(Limit forfor
repeated
peak
torque, size
20)
Refer
the
conrmation
detailed
dimensions.
Dimensions
of typical products are shown. Please contact us for other mounting options if the congurations

OK of the input shaft coupling.
*2 The mass will vary slightly depending on the ratio and on the inside diameter
Check whether Ts is equal to or less than limit for momentary torque (Nm) in the rating table.
TS = 180 Nm 217 Nm (momentary max. torque of size 20)
Moment of Inertia
Ratio
L50 = 20,000
30.2 Nm
(10-4 kgm2) Table 022-2
OK
5
21
Coupling
Calculate
HPGP
11life and check whether the calculated life meets the requirement.
10/3
0.004
1
72 Nm
3,0000.006
rpm
1,525 rpm
NG
37
45
0.0027
0.0025
712,251 (hours) 30,000 (hours)
OK
NG
The selection of model number HPGP-20A-33 is confirmed from the above calculations.
Gearheads
29
HPG Gearhead Series
5Nm 3200Nm
Sizes
HPGP Series
Peak torque
11, 14, 20, 32, 50, 65
HPGP Series
Size
HPG Series
HPG Series
HPG Standard Series
Reduction ratio
Single Stage: 3:1 to 9:1, Two Stage: 11:1 to 50:1
Low Backlash

Low Backlash for Life

consistent, low backlash for the life of the gearhead. The ring gear
design automatically provides the optimum backlash in the planetary
gear train and maintains the same low backlash for the life of the
gearhead.
HPG
Standard
Size
A - 05 - BL3 - D - F0 -
Design Revision
Reduction Ratio
11
5, 9, 21, 37, 45
14
20
32
50
65
3, 5, 11, 15, 21, 33, 45
Backlash
Input Side Bearing
BL1: Backlash less

than 1 arc-min
(Sizes 14 to 65)

BL3: Backlash less

than 3 arc-min

4, 5, 12, 15, 20, 25, 40, 50
Gearhead Construction
Mounting pilot
F0: Flange output

center tapped hole (J2, J6 for Size
Shielded bearing
Output flange
33
34-39
4 0 - 41
Motor Code
F0: Flange output

center tapped hole
CSF-GH Series
Model Name
Backlash and Torsional Stiffness

Outline Dimensions
HPG - 20
31
32
CSG-GH Series
Easy mounting to a wide variety of servomotors
Rating Table
Performance
CSF-GH Series
A Cross Roller bearing is integrated with the output ange to provide high
moment stiffness, high load capacity and precise positioning accuracy.
High Load Capacity Output Bearing
CSG-GH Series
Up to 95%
CONTENTS
High efciency

Rubber cap
Input rotational direction



Mounting bolt hole
30
Gearheads
Figure 030-1
9
11
14
20
32
50
65
Nm
5
21
37
45
10
Nm
20
15
11
15
15
16
21
17
33
20
45
22
17
64
38
100
11
46
117
15
58
21
58
33
70
45
73
60
11
160
15
170
21
190
33
200
45
240
160
290
11
340
15
400
21
450
33
470
45
560
870
900
12
1020
15
1260
20
1370
25
1470
40
1320
50
1650
rpm
3000
5000
37
56
30
63
3000
Mass*6
Shaft
Flange
kg
kg
0.18
0.14
0.24
0.20
0.50
0.40
0.60
0.50
10000
10
11
120
rpm
Max. Input
Speed *5
10
Nm
Max. Average
Input Speed *4
6000
Siz
HPG Series
CSG-GH series
CSF-GH series
Ratio
Limit for Momentary

Torque *3
Size
Limit for Repeated

Peak Torque *2
HPG Series
Table 031-1
Rated
Torque *1
107
4000
124
217
3000
6000
1.6
1.2
1.8
1.4
4.3
2.9
4.9
3.5
13
10
117
106
225
3600
507
300
330
300
650
3000
6000
330
300
850
1200
1110
1850
3000
1200
2000
1250
1140
2180
1130
4500
2500
2890
6
15
12
32*7
22
47*7
37
3100
3200
3100
3200
4500
2000
3000
*1: A
m
1900
2200
*3: The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to
ensure it meets required operating conditions.
*4: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of a
motion prole. The actual limit for average input speed depends on the operating environment.
*6: The mass is for the gearhead only (without input shaft coupling & motor ange). Please contact us for the mass of your specic conguration.
*7: Flange output is standard for the size 65 gearhead. Shaft type (J2 & J6) is also available. Note: Never rely on these values as a margin in a system that must
hold an external load. A brake must be used where back driving is not permissible.
*2: T
s
p
c
M
v
P
Rating Table
HPG series
HPGP series
HPG Gearhead
Gearhead Series
HPG
Series
026
Gearheads
31
1.7
1.8
2.0
0.17
0.18
0.20
2.1
0.22
1.7
0.17
2.9
3.7
4.7
4.8
5.1
0.30
0.38
0.48
0.49
0.52
4.0
5.0
6.0
7.6
7.8
8.9
12
15
17
19
21
30
35
0.41
0.51
0.61
0.78
0.80
0.91
1.2
1.5
1.7
1.9
2.1
3.1
3.6
2.0
0.20
50
28
15
11
8.8
5.9
4.9
135
73
38
29
24
14
13
250
130
60
47
40
24
20
420
360
190
160
130
110
76
64
5.1
2.9
1.5
1.1
0.90
0.60
0.50
14
7.4
3.9
3.0
2.4
1.4
1.3
26
13
6.1
4.8
4.1
2.5
2.0
43
37
19
16
13
11
7.7
6.6
*2: The repeatability is measured by moving to a given theoretical position

seven times, each time approaching from the same direction. The actual
calculated as the 1/2 of the maximum difference of the seven data points.
Measured values are indicated in angles (arc-sec) prexed with "". The
values in the table are maximum values.
Figure 032-2
to
of a
must
7
X
Repeatability = X
2
1
R
*3: Starting torque is the torque value applied to the input side at which the
output rst starts to rotate. The values in the table are maximum values.
Load
HPG speed reducer surface temperature
X
2
maximum values.
Load
Table 032-3
No load
25C
*5: No-load running torque is the torque required at the input to operate the
gearhead at a given speed under a no-load condition. The values in the
table are average values.
Table 032-4
Input speed
Load
3000 rpm
No load
25C
HPGP series
Table 032-2
No load
25C
Note: Never rely on these values as a margin in a system that must hold
an external load. A brake must be used where back driving is not permissible.
X
2
Gear reduction ratio
er 2
Figure 032-1
CSF-GH series
CSF-GH Series
1 Input angle
2 Actual output angle
er Accuracy
er
CSF-GH Series
*1: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. The values in the table are
maximum values.
HPG series
0.095
0.30
0.93
2.9
CSG-GH series
0.12
1.1
15
8.7
0.092
0.11
15
8.7
0.90
65
15
11.6
0.044
CSG-GH Series
50
15
11.6
0.43
Table 032-1

Ncm
kgfcm
5.0
0.51
2.5
0.26
1.3
0.13
0.90
0.092
0.80
0.082
21
2.1
9.8
1.0
4.9
0.50
32
20
11.6
Backdriving torque *4
Nm
kgfm
0.20
0.020
0.33
0.034
0.061
0.60
0.062
0.066
0.64
CSG-GH Series
20
30
14.5
Starting torque *3
Ncm
kgfcm
4.0
0.41
3.7
0.37
2.9
0.29
1.6
0.17
1.4
0.15
14
1.5
8.6
0.88
8.0
0.82
7.4
0.75
5.2
0.53
3.3
0.34
2.4
0.25
31
3.2
19
1.9
15
1.6
12
1.2
9.3
0.95
6.4
0.65
4.7
0.48
56
5.7
33
3.4
27
2.7
25
2.5
22
2.3
15
1.5
11
1.2
134
14
80
8.2
45
4.6
40
4.1
36
3.7
24
2.4
20
2.0
288
29
240
24
125
13
110
11
95
10
84
8.6
75
7.7
70
7.1
14
Repeatability *2
arc sec
HPGP Series
11
5
9
21
37
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
Accuracy *1
arc min
10-4rad
HPGP Series
Ratio
Size
HPG Series
HPG Series
031-1
Performance Table
HPG Gearhead
Gearhead Series
HPG
Series
027
32
Gearheads
32
50
CSF-GH series
65
3.0
10-4rad
2.5
7.3
3.0
8.7
2.2
6.4
2.7
7.9
1.5
4.4
2.0
5.8
1.3
3.8
1.7
4.9
1.3
3.8
1.7
4.9
1.3
3.8
1.7
4.9
8.7
3.0
8.7
3.0
8.7
3.0
8.7
3.0
8.7
Torsional stiffness
A/B
0.065
0.14
0.55
2.2
22
47
180
740
14
4700
38
13000
The torsional stiffness in the region from "0.15 x TR" to "TR" is
stiffness in the region from "zero torque" to "0.15 x TR" is lower.
torque applied.
D
T
TL
A/B
arc min
10-4rad
Torsional stiffness
A/B
not available
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
14
20
32
50
65
1.0
1.0
1.0
1.0
2.9
2.9
2.9
2.9
1.1
3.2
1.7
4.9
0.6
1.7
1.1
3.2
0.5
1.5
1.0
2.9
0.5
1.5
1.0
2.9
0.5
1.5
1.0
2.9
0.14
47
0.55
180
2.2
740
14
4700
1.0
2.9
38
13000
(N
me
sh
hysteresis loss. The hysteresis loss between "Clockwise load torque
TR" and "Counter Clockwise load torque -TR" is dened as the
backlash of the HPG series. Backlash of the HPG series is less than 3
arc-min (1 arc-min or less for a reduced backlash option).
Sin
Sta
Figure 033-1
Torsion angle
-TR0.15
Formula 033-1
Calculation formula
10-4rad
Tw
Sta
(1) (5)
Refer t
suitabl
*1 Ma
*2 The
*3 Tap
*4 E d
(2)
0
TR
(4)
TR0.15
Torque
Mo
Hysteresis loss
= Backlash
HPG


at TR X 0.15 D
Backlash
arc min
11
-TR
Ratio
Size
HPG Series
8.7
arc min
3.0

at TR X 0.15 D
HPG Series
10-4rad
Only
20
CSG-GH series
HPG series
14
5
9
21
37
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
Backlash
arc min
Table 033-2
11
Ratio

( 1 arc-min)
Size
Table 033-1

( 3 arc-min)
H
HPGP series
HPG Gearhead
Gearhead Series
HPG
Series
TTL
A
B
Total torsion angle
(3)


at output torque x 0.15 torque
Load torque
See Fig. 033-1,

Table 033-1, Table 033-2
Output torque x 0.15 torque (=TRX0.15)
See Fig. 033-1
Torsional stiffness
028
Gearheads
33
Dimension Table
033-1
Flange
Coupling
Single
Stage
Type I
Two
Stage
Type I
A (H7)
F (H7)
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
20
50
28
70
17.5
26
54.5
20
50
28
70
17.5
26
63.5
21
30
Table 034-1
Mass (kg) *2
Shaft
Flange
0.34
0.30
0.34
0.30
que
Moment of Inertia
HPG 11
Ratio
Coupling
.15
(10-4 kgm2) Table 034-2

5
21
37
45
0.005
0.003
0.004
0.0027
0.0025
HPGP series
HPG series
CSG-GH Series
(Unit: mm)
H *1
Min.
CSF-GH Series
led a
orque
s the
han 3
CSF-GH Series
CSG-GH Series
Clearance
0.5 or more
M36
R0.4
0
-0.1
7.5
24
40
10 h7
4 h9
29
0.4 (Min.0.2)
C0.5
(Note)
0.2mm).
CSG-GH series
Detail P
Output ange
Customer's part
15
4 h9
CSF-GH series
27
20
E *4
A H7
15
2.2
F H7
24
40 h7
4-D*3
C0.5
C0.5
3-M46
4-3.4
2-Hexagon socket
head locking screw
2-Screw with gasket
5 H7
6
4
18
HPGP Series
HPGP Series
40
Figure 034-1
(Unit: mm)
39.5High-Performance Gearhead for Servomotors
HPG Series
HPG Series
HPG-11 Outline Dimensions
HPGGearhead
Gearhead Series
HPG
Series
029
34
Gearheads
Rubber cap
HPG series
4-5.5
6-M4x7
F H7
C0.5
A H7
40
14 H7
55.5
56 h7
E *4
2.5
21
37
40
28
7 h11
5 h9
0
-0.1
C0.5
0
21 -0.2
16 h7
40
5 h9
25
13
CSG-GH series
CSF-GH series
C0.5
HPG Series
60
Hexagon socket
4-D*3
head bolt
Only
Unit: mm
3 0
R0.4
M4x8
Dimension Table
Flange
Coupling
Type I
Type II
A (H7)
F (H7)
H *1
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
Shaft
Flange
30
58
35
74
6.0
7.8
21.5
32.5
85
1.07
0.95
40
70
45
84
9.0
14.2
25.8
33.8
85
1.12
1.00
Fl
Ty
Ty
Moment of Inertia
HPG 14
Ratio
Refer t
suitabl
*1 May
*2 The
*3 Tap
*4 E d
(10-4 kgm2) Table 035-2

3
11
15
21
33
45
0.06
0.058
0.05
0.044
0.044
0.26
0.207
0.197
0.180
0.171
0.167
0.165
Coupling
Ty
Mo
Figure 035-1
HPG Series
HPGP series
HPG Gearhead
Gearhead Series
HPG
Series
HP
030
Gearheads
35
Hexagon socket
head bolt
4-D*3
Rubber cap
F H7
Flange
Coupling
Type I
.00
F (H7)
HPG series
H *1
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
50
72
55
80
7.0
19.6
23.0
Type II
80
98
10
90
120
7.0
19.6
30.0
Type III
30
45
10
35
50
7.0
7.8
21.0
Type IV
46
70
10
55
96
7.0
19.6
30.0
nge
.95
Mass (kg) *2
Typical
Max.
36.5
98.0
42.5
105.0
CSF-GH Series
*2
A (H7)
CSF-GH Series
035-1
Dimension Table
31.0
93.5
42.5
105.0
Shaft
Flange
3.1
2.7
3.3
2.9
2.6
2.2
3.3
2.9
*4 E dimension for Flange Type IV is dependent on motor selection.
Moment of Inertia
3
11
15
21
33
45
1.1
0.7
0.6
0.56
0.49
0.45
0.45
0.11
0.065
0.063
Coupling
HPG 20
Ratio
(10-4 kgm2) Table 036-2
CSF-GH series
CSG-GH Series
R0.4
0
21 -0.2
C1
M6x12
CSG-GH Series
CSG-GH series
59
25 h7
7 h11
8 h9
10
46
53
42
36
E *4
7.5
27
6-M6x10
4-9
B
C0.5
C0.5
A H7
45
HPGP Series
05
1
HPGP Series
90
Figure 036-1
Unit: mm
HPGP series
85 h7
84
59
24 H7
HPG Series
HPG Series
mm
035-1
HPG Gearhead
HPG
GearheadSeries
Series
031
36
Gearheads
35
1
A H7
84
32 H7
F H7
4-11
114
115 h7
60
C0.5
B
C0.5
6-M8x12
12.5
98
E *4
13
35
12 h9
4-D*3
22.5x6=135
Rubber cap
120
HPG Series
(Unit: mm)
Hexagon socket
head bolt
Only
Figure 037-1
HPG Series
63
H
82
84
40 h7
8 h11
70
0
-0.2
C1
35
M10x20
R0.4
CSG-GH series
CSF-GH series

H
HPG series
HPGP series
HPG Gearhead
Gearhead Series
HPG
Series
Dimension Table
Flange
Coupling
Type I
A (H7)
F (H7)
H *1
Fl
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
Shaft
Flange
110
120
10
120
155
10.0
28.6
31.0
57.5
140
7.8
6.4
Type II
70
100
80
112
10.0
28.6
30.0
56.5
139
7.8
6.4
Type III
50
100
10
80
112
14.0
19.6
25.8
38.8
139
7.5
6.1
Type IV
70
95
10
80
115
10.0
28.6
41.0
67.5
150
7.9
6.5
Type V
70
110
10
80
155
10.0
28.6
45.0
71.5
154
9.5
8.1
Ty
Ty
Ty
Refer t
suitabl
*1 May
*2 The
*3 Tap
*4 E d
Moment of Inertia
(10-4 kgm2) Table 037-2

3
11
15
21
33
45
5.6
3.9
3.4
3.2
2.8
2.8
0.84
0.52
0.61
Coupling
HPG 32
Ratio
Mo
HP
032
Gearheads
37
CSG-GH Series
M10x20
.4
.4
.1
.5
Coupling
Type I
A (H7)
F (H7)
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
70
200
15
90
235
19.0
41.0
45.0
Type II
70
200
15
90
235
19.0
41.0
45.0
Type III
80
115
10
100
150
19.0
41.0
31.5
Type IV
70
200
15
90
235
19.0
41.0
45.0
Max.
Typical
81.0
202
81.0
243.5
55.0
176
81.0
202
CSF-GH Series
nge
Flange
CSF-GH Series
*2
H *1
Dimension Table
CSG-GH series
Mass (kg) *2
Shaft
Flange
20.2
17.2
20.4
17.4
19.0
16.0
27.5
24.5
*2 The mass will vary slightly depending on the ratio and on the inside diameter of the input shaft coupling. Use type IV ange for motors weighing over 65 kg.
*4 E dimension for Flange Type I, II and IV is dependent on motor selection.
.1
Moment of Inertia
(10-4 kgm2) Table 038-2

4
11
15
21
33
45
23
12
8.8
8.8
5.9
7.7
5.8
4.8
4.7
Coupling
HPG 50
Ratio
CSF-GH series
R0.4
44.5
0
-0.2
C1
HPG series
122
50 h7
9 h11
14 h9
84
103
82
70
E *4
16
CSG-GH Series
12
53
14-M8x12
037-1
C0.5
C0.5
1
00
4-14
HPGP series
4-D*3
22.5x6=135
165 h8
163
122
47 H7
90
1
Hexagon socket
head bolt
Rubber cap
F H7
A H7
HPGP Series
HPGP Series
170
22 .5
22 .5
Figure 038-1
(Unit: mm)
22.5x6=135
HPG Series
*3
HPG Series
mm)
037-1
HPG Gearhead
Gearhead Series
HPG
Series
033
38
Gearheads
+1
6
2
Rubber cap
Hexagon socket
head bolt
F H7
A H7
12
220 h8
214
168
60 H7
B
C0.5
C0.5
23
50
H
4-18
12
57
6-M16X24
165
130
110
Hi
AC
a
ca
168
80 h7
14 h11
22 h9
Re
E *4
25
Ea
C1
R0.4
Qu
M16x35
shown on the drawing above. The ange output is standard, the shaft output is optional.
Dimension Table
Flange
Coupling
Single
Stage
Type I
Two
Stage
Type I
A (H7)
F (H7)
H *1
Mod
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
Shaft
Flange
125
230
15
150
265
35.0
43.9
63.0
87.5
241.5
48.0
38.0
125
230
15
150
265
35.0
43.9
63.0
87.5
311.5
52.0
42.0
High
Gea
Moment of Inertia
4-D*
14
HPG Series
2-M10X20
Tap for eyebolt
230-3
65
65
(Unit: mm)
HPG Series
Figure 039-1
71 -0.2
CSG-GH series
CSF-GH series
CS
HPG series
HPGP series
HPG Gearhead
Gearhead Series
HPG
Series
Ratio
12
15
20
25
40
50
25
24
15
14
89
74
67
65
53
53
Coupling
HPG 65
(10-4 kgm2) Table 039-2
(The f
Gearheads
39
HPG Gearhead Series

HPGP Series
To fully utilize the excellent performance of the HPG HarmonicPlanetary gearheads, check your operating conditions and,
using the owchart, select the appropriate size gear for your application.
HPGP Series
HPG Series
HPG Series

In general, a servo system rarely operates at a continuous
load and speed. The input speed, load torque change and a
comparatively large torque is applied during start and stop.
Unexpected impact torques may also be applied.
Check your operating conditions against the following load
torque pattern and select a suitable size based on the
owchart shown on the right. Also check the life and static
safety coefcient of the cross roller bearing and input side
main bearing (input shaft type only).
Flowchart for selecting a size

Please use the owchart shown below for selecting a size.
ratings.
Calculate the average load torque applied on the output side

from the load torque pattern: Tav (Nm).
T3
t1
t2
t3
ni max=no max R
t4
n2
n1
(A limit is placed on ni max by motors.)

Calculate the maximum input speed (ni max) from the maximum
CSG-GH Series
T4
CSG-GH Series
Time
ni max
no max
n3
OK
n4
Time

the values in the rating table.
OK
Load torque
Output rotational
speed

max).
T2
OK
T1
Check whether T1 and T3 are within peak torques (Nm) on start

T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4

no max n1 to nn
R: Reduction ratio
<Impact torque>
Ts
Max. input rotational speed
<Required life>
Gearheads
OK
Calculate the lifetime and check whether it meets the

Tr: Output torque
10/3
Tr
nr
L5020,000
(Hour)
Tav
ni av
OK
The model number is conrmed.
ni max n1R to nnR
L50 = L (hours)
CSF-GH Series

Starting
Steady operation
Stopping (slowing)
Idle
OK

CSF-GH Series
Obtain the value of each load torque pattern.

Load torque
T1 to Tn (Nm)
Time
t1 to tn (sec)
n1 to nn (rpm)
40
NG
NG
NG
NG
NG
NG
Make a preliminary model selection with the following

condition: Tav Average load torque (Refer to rating table).
Graph 040-1
Review the load torque pattern. Check the specications shown in

the gure below.
Calculate the average output speed based on the load torque

pattern: no av (rpm)
Caution
If the expected operation will result in conditions where;
i) Actual average load torque (Tav) > Permissible maximum value of average load torque or
then please check its effect on the speed reducer temperature rise or other factors. Consider

Tn (Nm)
tn (sec)
nn (rpm)

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,
n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
<Impact torque>
no max = 120 rpm

ni max = 5,000 rpm
Ts = 180 Nm
HPG Series
Load torque
Time
Value of each load torque pattern.
HPG Series
HPG Gearhead Series
<Required life>
L50 = 30,000 (hours)
T av
10/3
10/3
10/3
6 0 rpm 0 . 3 s e c 7 0 N m
1 2 0 r p m 3 s e c 1 8 N m 6 0 r p m 0 . 4 s e c 3 5 N m
10/3
no av
Make a preliminary model selection with the following conditions. T av = 30.2 Nm 70 Nm. (HPG-20A-33 is tentatively selected based on the average load
torque (see the rating table) of size 20 and reduction ratio of 33.)
NG
OK
Determine a reduction ratio (R) from the maximum output speed (no max) and maximum input speed (ni max).
5,000 rpm
120 rpm
= 41.7 33
NG
OK
NG
OK
NG
OK
NG
OK
Calculate life and check whether the calculated life meets the requirement.
70 Nm
L50 = 20,000
30.2 Nm
10/3
3,000 rpm
1,525 rpm
648,413 (hours) 30,000 (hours)
OK
NG
The selection of model number HPG-20A-33 is confirmed from the above calculations.
Gearheads
41
HPG Right Angle Gearhead Series
Size
Sizes
32, 50, 65
Peak torque
HPG Right Angle
HPG Right Angle
150Nm 2200Nm
Reduction ratio
Single Stage: 5:1, Two Stage: 11:1 to 50:1
Low backlash
Standard: <3 arc-min Low Backlash for Life

consistent, low backlash for the life of the gearhead. The ring gear
design automatically provides the optimum backlash in the planetary
gear train and maintains the same low backlash for the life of the
gearhead.
CONTENTS
High efciency
Up to 92%
Rating Table
Performance
Outline Dimensions

A Cross Roller bearing is integrated with the output ange to provide high
moment stiffness, high load capacity and precise positioning accuracy.

HPG - 32
Model Name
Size
Design Revision
A - 05 - J2 - RA3 Reduction Ratio
32
HPG
Right Angle
50
65
5, 11, 15, 21, 33, 45
5, 12, 15, 20, 25, 40, 50
F0: Flange output

J2: Shaft output without
key
and center tapped
hole (J2, J6 for Size
Motor Code
Right Angle Type
Input Configuration

contact us for a unique part number
based on the motor you are using.
Right angle specification,

RA3 or RA5.
Figure 042-1
Mounting pilot
Rubber cap
Output flange
Output
rotational
direction
Screw plug (Note)
Out put side

oil seal
42
Gearheads
43
44
45
46-49
5 0 - 51
Seal cap (Note)

Mounting bolt hole
(Note) Do not remove the screw plug and

seal cap. Removing them may
cause leakage of grease or
deterioration in precision.
Table 043-1
RA5
CSG-GH Series
65
11
160
330
440
15
170
21
190
33
200
330
45
240
300
150
150
200
11
330
330
440
15
400
450
600
21
450
630
840
33
470
990
1320
45
560
1140
1800
300
rpm
600
1500
6000
Shaft
Flange
kg
kg
7.4
6.0
7.9
6.5
20
17
21
18
21
18
22
19
45*7
35
650
290
400
500
11
340
880
1100
15
400
1200
1500
21
450
1150
2100
33
470
45
560
1140
2180
400
400
500
12
960
960
1200
15
1200
1200
1500
20
1370
1600
2000
25
1470
2000
2500
40
1320
1900
4000
1650
2200
4500
50
rpm
Si
Mass *6
1500
1300
4500
4500
HPG Right Angle
200
RA5
150
Max. Input
Speed *5
50
120
Max. Average
Input Speed *4
HPG Right Angle
RA3
Nm
5
Limit for
Momentary
Torque *3
Nm
RA3
Ratio
CSG-GH Series
32
Model
Limit for
Repeated Peak
Torque *2
Nm
Size
Rated
Torque *1
1300
3000
60*7
50
*1: A
m
CSF-GH Series
CSF-GH Series
CSF-GH Series
CSF-GH Series
*3: The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to
ensure it meets required operating conditions.
*4: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of a
motion prole. The actual limit for average input speed depends on the operating environment.
*7: Flange output is standard for the size 65 gearhead. Shaft type (J2 & J6) is also available.
HPGP series
HPG series
CSG-GH series
*2: T
s
p
c
M
v
CSF-GH series
Rating Table
Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
174
Gearheads
43
50
RA5
65
RA5
4.0
11.6
15
3.3
0.34
5.9
6.8
0.69
56
5.7
8.9
0.91
1.2
179
18
162
17
155
16
150
15
53
5.4
12
33
48
4.9
17
1.7
45
47
4.8
23
2.3
111
11
5.8
0.59
241
25
11
76
7.8
8.9
0.91
198
20
173
18
161
16
496
51
21
71
7.2
11
1.2
69
7.0
15
1.6
33
61
6.2
21
2.2
45
59
6.0
28
2.9
132
14
6.9
0.70
11
97
9.9
11
1.2
92
9.4
15
1.5
15
21
15
4.0
11.6
3.0
15
8.7
15
90
9.2
20
2.1
33
82
8.4
29
2.9
45
80
8.2
38
3.9
21
292
30
15
1.6
12
177
18
23
2.3
15
162
17
26
2.6
147
15
31
3.2
20
3.0
8.7
15
25
136
14
36
3.7
40
127
13
51
5.2
50
122
12
61
6.2
459
47
437
45
427
44
647
66
532
54
513
52
494
50
481
49
460
47
453
46
maximum values.
Figure 044-1
1
er Accuracy
1 Input angle
er

R

Figure 044-2
j1
j2
1
R
Table 044-2
Load
No load
25C
maximum values.
Load
j7
X
X
2
Repeatability = X
2
er 2
X
2
Table 044-3
No load
25C
Table 044-4
Right Angle model RA3

Input speed
Right Angle RA5
Load
HPGP series
6.5
58
HPG series
HPG Right Angle
HPG Right Angle
RA3
15
64

kgfcm
Ncm
RA3
32
Nm
kgfm
CSG-GH series
5
11
Starting torque *3
kgfcm
Ncm
Repeatability *2
arc sec
Accuracy *1
arc min
10-4rad
1500 rpm
3000 rpm
No load
25C
Ratio
Model
Size
CSF-GH series
Table 044-1
043-1
Performance Table
Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
175
44
Gearheads
H
Table 045-1
Right Angle
arc min
10-4rad
arc min
A/B
10-4rad
kgfm/arc min
2.2
5
32
RA3
11
2.4
820
15
2.5
850
<3.0
21
1.9
8.7
5.5
HPG series
11
9.3
3100
15
11
3800
13
4300
<3.0
21
8.7
2.1
6.1
12
4100
15
13
4500
<3.0
21
8.7
1.8
14
5.2
34
12000
CSF-GH Series
Figure 045-1
(1) (5)
Torsion angle
-TR0.15
(3)
TTL
D
A
B
(No
met
sho
hysteresis loss. The hysteresis loss between "Clockwise load torque
TR," and "Counter Clockwise load torque -TR," is dened as the
backlash of the HPG series. Backlash of the HPG series is less than 3
arc-min (1 arc-min or less is also available).
Calculation formula
A /B
11000
-TR
Formula 045-1
TL
9800
32
5.8
(2)
Refer
shown
*1 Th
*2 Ta
*3 E d
*4 Ma
CSF-GH Series
CSF-GH Series
2.0
37
8600
36

3400
26
50
8.7
CSF-GH Series
25
40
5000
10
29
<3.0
15
20
6.7
12
2.3
TR
(4)
TR0.15
Torque
Hysteresis loss
= Backlash
Mo
4700

HPG
Total torsion angle

See Fig. 045-1, Table 045-1
Load torque
Output torque x 0.15 torque (=TRX0.15) See Fig. 045-1
Torsional stiffness
H
h
4900
15
CSG-GH Series
CSG-GH Series
45
A loop of (1) > (2) > (3) > 4) > (5) will be drawn as in Fig. 045-1.
The torsional stiffness in the region from "0.15 x TR," to "TR," is
stiffness in the region from "zero torque" to "0.15 x TR," is lower.
torque applied.
2500
11
4800
7.5
4.9
33
RA5
4700
14
1.7
65
910
1300
3.9
45
CSG-GH series
CSF-GH series

7.9
33
RA5
900
2.7
2.7
50
880
2.6
45
RA3
100Nm/rad
740
HPG Right Angle
Backlash
Ratio
Model
Only
Torsional stiffness
HPG Right Angle
Size
Torsion angle on one side at TR X 0.15
HPGP series
33
Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
See Fig. 045-1, Table 045-1
176
Gearheads
45
98
82
12 h9
8 h11
35
HPG series
120
35
1
151
60
32 H7
84
114
115 h7
.5
C0
4-11
107
6-M812
led a
orque
s the
han 3
Dimension Table
045-1
Flange
Coupling
1
2
A (H7)
F (H7)
Min.
Max.*4
Max.
Min.
Max.*4
Min.
Max.
Min.
Max.
70
200
10
115
235
10
24
29
56
110
200
6.5
125
235
10
35
54
81
Flange
115
10.1
8.7
140
10.3
8.9
shown above are not suitable for your particular motor.
que
Moment of Inertia
.15
HPG 32RA
Ratio
(10-4 kgm2) Table 046-2

5
11
15
21
33
45
6.7
6.3
6.1
5.8
8.09
7.62
Coupling
Mass (kg) *1
Shaft
CSG-GH series
13 12.5
C0
.5
A H7
F H7
Rubber cap
M10x20
35
CSF-GH series
Hexagon socket
head bolt
0
-0.2
C1
R0.4
H*4
84
40 h7
N*
HPG Right Angle
HPG Right Angle
70
4-D*2
Figure 046-1
(Unit: mm)
E *3
HPGP series
045-1
Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
177
46
Gearheads
Only
Figure 047-1
(Unit: mm)
14 h9
HPG Right Angle
170
22 .5
HPG Right Angle
16 12
C0
.5
Rubber cap
M10x20
53
A H7
F H7
Hexagon socket
head bolt
C1
0
-0.2
R0.4
H*4
44.5
122
50 h7
9 h11
4-D*
103
82
70
E *3
He
he
622.5=135
1
00
CSF-GH Series
F (H7)
4-14
14-M812
(Not
met
sho
(Unit: mm)
N
Table 047-1
Mass (kg) *1
Min.
Max.*4
Max.
Min.
Max.*4
Min.
Max.
Min.
Max.
70
200
10
115
235
10
24
29
56
115
24
21
110
200
6.5
125
235
10
35
54
81
140
25
22
CSF-GH Series
CSF-GH Series
Coupling
Flange
A (H7)
90
1
CSF-GH Series
144
Dimension Table
.5
C0
188
47 H7
122
163
165 h8
CSG-GH Series
CSG-GH Series
HPGP series
HPG series
HPG-50RA3 Outline Dimensions
CSG-GH series
CSF-GH series

Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
Shaft
Flange
Refer to the conrmation drawing for detailed dimensions. Dimensions of typical products are shown. Please contact us for other mounting options if the
congurations shown above are not suitable for your particular motor.
Moment of Inertia
HPG
50RA3
Ratio
Mo
(10-4 kgm2) Table 047-2

5
11
15
21
33
45
9.4
8.8
7.5
6.4
6.4
10.8
10.2
8.9
7.8
7.73
Coupling
Refer
shown
*1 Th
*2 Ta
*3 E d
*4 Ma
H
50R
178
Gearheads
47
mm)
103
82
70
E *3
R0.4
H *4
C1
16 12
0.
Rubber cap
Hexagon socket
head bolt
HPG series
M10x20
53
A H7
F H7
0
-0.2
50 h7
122
9 h11
14 h9
170
7
G
22.5
Dimension Table
047-1
Flange
Coupling
ge
A (H7)
F (H7)
Max.*4
Max.
Min.
Max.*4
Min.
Max.
Min.
Max.
70
200
6.5
115
235
19
42
45
84
168
26.5
23.5
110
200
6.5
125
235
19
42
45
116
200
27.5
24.5
Moment of Inertia
HPG
50RA5
Ratio
Coupling
Mass (kg) *1
Min.
(10-4 kgm2) Table 048-2

5
11
15
21
33
45
37.4
33.9
33.3
32
Shaft
Flange
CSG-GH series
14-M812
202.5
CSF-GH series
4-14
144
1
00
90
1
622.5=135
47 H7
122
163
165 h8
C0
.5
HPG Right Angle
HPG Right Angle
4-D*
Figure 048-1
(Unit: mm)
44.5
047-1
HPGP series
HPG-50RA5 Outline Dimensions
Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
179
48
Gearheads

(Unit: mm)
165
130
110
22 h9
2-M1020
Tap for
eyebolt
+1
-3
130
Two
Stage
70
200
110
200
70
200
110
200
F (H7)
Max.
Min.
Max.*4
Min.
Max.
6.5
115
235
19
42
6.5
125
235
19
6.5
115
235
6.5
125
235
60
4-18
6-M1624
CSF-GH Series
CSF-GH Series
Max.*4
CSF-GH Series
CSF-GH Series
Single
Stage
A (H7)
Min.
C0
.5
60 H7
168
214
220 h8
120
CSG-GH Series
CSG-GH Series
Dimension Table
Coupling
168
116
45
45
Mass (kg) *1
Shaft
Flange
172
49.5
39.5
200
172
50.5
40.5
84
168
226
58.8
48.8
116
200
226
59.8
49.8
Min.
Max.
45
84
42
45
19
42
19
42
Ya
E
Moment of Inertia
HPG
65RA
Ratio
(10-4 kgm2) Table 049-2

5
12
15
20
25
40
50
48.8
47.8
37.9
37.3
32.3
32.1
60.6
49.2
48.2
38.3
37.7
Coupling
Ya
El
Ma
rpm
Flange
HPG Right Angle
230
.5
Rubber cap
12.5
HPG Right Angle
25 12
A H7
F H7
M16x35
57
C0
Hexagon socket
head bolt
C1
R0.4
H *4
0
71 -0.2
80 h7
168
4-D*2
Moto
using
If the
torqu
Be s
caus
Ex.M
Moto
cond
Figure 049-1
14 h11
E *3
HPGP series
HPG series
CSG-GH series
CSF-GH series

Right
Angle
Gearhead
HPGHPG
Right
Angle
Gearhead
Series
180
Gearheads
49

To fully utilize the excellent performance of the HPG-RA HarmonicPlanetary gearheads, check your operating conditions
and, using the owchart, select the appropriate size gear for your application.


ratings.


the gure below.

Graph 050-1
T1
Load torque
Output rotational
speed
Time
T4
T3
t1
OK

max).
T2
NG
t2
t3

ni max=no max R
t4
n2
n1
ni max
no max
n3
NG
OK
n4
Time

NG
OK


Load torque
T1 to Tn (Nm)
Time
t1 to tn (sec)
n1 to nn (rpm)
Starting
Steady operation
Stopping (slowing)
Idle
T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4

no max n1 to nn
R: Reduction ratio
<Impact torque>
Ts
<Required life>
50

Gearheads
OK

NG
OK

Tr: Output torque
10/3
Tr
nr
L5020,000
(Hour)
Tav
ni av
OK
ni max n1R to nnR
L50 = L (hours)
NG
NG
HPG Right Angle
HPG Right Angle

Caution
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,
n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
<Impact torque>
Ts = 180 Nm
<Required life>
L50 = 30,000 (hours)
10/3
10/3
CSG-GH Series
CSG-GH Series
no av
5,000 rpm
120 rpm
= 41.7 5
OK
CSF-GH Series
CSF-GH Series
ni max = 3,960 rpm 600 rpm (maximum input speed of size 32)
CSF-GH Series
CSF-GH Series
Calculate the maximum input speed (ni max) from the maximum output speed (no max) and reduction ratio (R): ni max = 120 rpm5 = 600 rpm
OK
Make a preliminary model selection with the following conditions. T av = 30.2 Nm 120 Nm. (HPG-32A-5-RA3 is tentatively selected based on the average
load torque (see the rating table) of size 32 and reduction ratio of 5.)
NG
NG
NG
OK
NG
OK
NG
OK
120 Nm
L50 = 20,000
30.2 Nm
10/3
3,000 rpm
231 rpm
25,932,572 (hours) 30,000 (hours)
OK
NG
10/3
6 0 rpm 0 . 3 s e c 7 0 N m 1 2 0 r p m 3 s e c 1 8 N m 6 0 r p m 0 . 4 s e c 3 5 N m
10/3
T av
HPG Right Angle

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
no max = 120 rpm

ni max = 5,000 rpm

Tn (Nm)
tn (sec)
nn (rpm)
HPG Right Angle
Load torque
Time
The selection of model number HPG-32A-5-RA is confirmed from the above calculations.
Gearheads
51
HPN Value Series

HPN Precision Planetary Gearheads are Quiet, Lightweight and Compact with Low Cost
and Quick Delivery.
HPN Planetary gearheads feature a robust design utilizing helical gears for quiet
performance and long life. These gearheads are available with short lead times and
are designed to couple to any servomotor with our Quick Connect coupling. HPN
gearheads are suitable for use in a wide range of applications for precision motion
control and positioning. HPN Harmonic Planetary gears are available in 5 sizes: 11,
14, 20, 32, and 40, with reduction ratios ranging from 3:1 to 31:1.
Backlash: One Stage <5 arc-min
Two Stage <7 arc-min
Low gear ratios, 3:1 to 31:1

High efciency
Helical gearing
Quiet design: Noise <58dB (Size 14)
Integrated output
shaft and carrier
Deep groove,
output bearings allow
high shaft loads
Ground helical gear for quiet

performance and long life

HPN Gearhead Series
HPN Value Series

5
Size
Sizes
11, 14, 20, 32, 40
Peak Torque
9Nm 752Nm
Reduction Ratio
Backlash
Single stage: < 5 arc-min, Two stage: < 7 arc-min
HPN Series
HPN Series
Single stage: 3:1 to 10:1, Two stage: 13:1 to 31:1
High Efciency
Up to 97%
Output Bearing
A radial ball bearing is integrated with the output
ange to provide high moment stiffness, high load
capacity and precise positioning accuracy.
CONTENTS
Rating, Performance Table
55
O u t lin e D ime n s io n s
56-59
Pro d u c t Sizin g & Se le c t io n
61-62
HPN - 14
Model Name
Size
A - 05 - J6 Design Revision
High Torque
14
20
4, 5, 7, 10, 16, 20, 30
11
HPN
Reduction Ratio
Motor Code
3, 4, 5, 7,1 0, 13, 21, 31
32
40

center tapped hole
J8: Shaft output with center
tapped hole
Input Configuration
contact us for a unique part
number based on the motor you
are using.
G ea rhe a d Construction
Figure 054-1
Rubber cap
Mounting pilot
Shielded bearing
Oil seal
Input rotation
direction
Output
rotation
direction
Output shaft
Mounting
bolt hole
54
Gearheads
Motor mounting ange
HPN Gearhead
HPN
Gearhead Series
Series
Rating Table
Please contact our sales ofce if you have any questions about our specications or comparison with another company's products.
1
14
2
1
20
2
1
32
2
1
40
2
Max. Input
Speed (grease) 5
Nm
Nm
rpm
rpm
3,000
10,000
3,000
6,000
3,000
6,000
3,000
6,000
3,000
6,000
40
40
40
40
40
40
40
89
110
107
100
79
106
99
101
226
256
256
256
216
256
256
256
625
625
625
625
625
625
625
625
1,137
1,265
1,265
829
829
823
1,029
1,097
14
16
11
9
24
24
26
25
50
50
37
18
43
50
38
74
130
149
113
54
130
147
113
254
376
376
376
185
376
376
376
752
752
752
752
509
752
752
752
Allowable
Axial Load 7
Allowable
Radial Load 6
N
280
320
360
420
460
560
640
340
380
410
480
580
630
780
900
900
1,100
1,200
1,400
1,600
1,850
2,100
2,200
2,000
2,300
2,500
2,900
3,200
3,600
3,800
3,800
2,700
3,000
3,300
3,800
4,200
4,500
5,000
5,400
240
260
280
320
360
400
480
380
420
450
510
570
630
740
840
830
920
1,000
1,100
1,230
1,350
1,600
1,800
1,800
1,900
2,000
2,300
2,600
2,900
3,400
3,900
2,800
3,100
3,400
3,800
4,200
4,500
5,000
5,500
HPN Series
Max. Average
Rated Input Speed4
1
11
Limit for Momentary

Peak Torque 3
HPN series
Nm
14
14
11
9
18
22
25
22
28
29
30
18
30
30
30
51
80
80
80
54
80
80
80
153
198
200
200
185
200
200
200
440
460
480
510
480
530
620
700
4
5
7
10
16
20
30
3
4
5
7
10
13
21
31
3
4
5
7
10
13
21
31
3
4
5
7
10
13
21
31
3
4
5
7
10
13
21
31
Limit for Repeated

Peak Torque 2
HPN Series
Rated
Torque 1
Ratio
Number
of Stages
Size
Table 055-1
*3: The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to ensure it meets required operating
conditions.
*4: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of a motion prole. The actual limit for
average input speed depends on the operating environment.

*6: The load at which the output bearing will have 20,000 hour life at the rated input speed. (Axial load = 0 and radial load point is in the center of the output shaft.)
*7: The load at which the output bearing life will be 20,000 hours at the rated input speed. (Radial load = 0 and axial load point is in the center of the output shaft.)
Performance
Table 055-3
Table 055-2
Size
Number of
Stages
1
11
2
1
14
2
1
20
2
Reduction
Ratio
4
5
7
10
16
20
30
3*2
4
5
7
10
13
21
31
3*2
4
5
7
10
13
21
31
Backlash
Noise*1
Torsional Stiffness
arc min
dB
kgfm/arc-min X100Nm/rad
Size
<5
< 56*2
0.060
20
32
<7
<5
< 58*2
0.27
93
<7
<5
Number of
Stages
1
40
2
< 60*2
0.77
Reduction
Ratio
3*2
4
5
7
10
13
21
31
3*2
4
5
7
10
13
21
31
Backlash
Noise*1
Torsional Stiffness
arc min
dB
kgfm/arc-min X100Nm/rad
<5
< 63*2
2.8
940
< 65*2
4.2
1430
<7
<5
<7
260
<7
*1: The above noise values are reference values.

*2: Contact us for noise values for sizes with a reduction ratio of 3.
Gearheads
55
HPN Gearhead
HPN
GearheadSeries
Series
HPN-11A Outline Dimensions

HPN series
Figure 056-1
(Unit: mm)
H
9
50
0
5 h9 -0.030
19.5
4X
3.4
K
C
6.5
4-D*3
2.5
18
Y
0
35 h7 -0.025
42
0
10-0.1
M4X0.7 - 6H
F H7
E *4
A H7
0
13 h7 -0.018
12
M3x0.5 COUPLING SCREW
HPN Series
HPN Series
0
5 h9 -0.030
4.5
DETAIL Y
12
(Note) The dimension tolerances that are not specied vary depending on the manufacturing method. Please check the conrmation drawing or contact us for dimension
tolerances not shown on the drawing above. Output shaft configuration shown is J6 (with a key and center tapped hole). J8 configuration has no key.
Dimension Table
(Unit: mm)
A (H7)
Min.
Max.*4
30
42
Max.
C
Min.
F (H7)
Max.*4
Min.
Max.
Min.
Max.
49
4.8
15
26
Single Stage
3
35
Two Stage
H*
Ratio
HPN 11A
56
Coupling
Gearheads
Mass(kg)*2
86.5
27.5
0.44
106
47
0.57
Moment of Inertia
Table 056-1
(10-4 kgm2) Table 056-2

4
10
16
20
30
0.042
0.04
0.038
0.037
0.04
0.04
0.038
HPN Gearhead
Gearhead Series
HPN
Series
Figure 057-1
(Unit: mm)
HPN series
4-D*3
DETAIL Y
HPN Series
HPN Series
E *4
Dimension Table
Flange Coupling
Single Stage
Two Stage
Single Stage
Two Stage
Type I
Type II
1
2
A (H7)
F (H7)
Min.
Max.*1
Max.
Min.
Max.*1
Min.
Max.
Min.
Max.
30
39
35
49
4.8
17
25
50
59
56
74
4.8
14
24
31
H*1
Mass(kg)*2
107
36
0.95
132
61
1.3
112
36
1.2
137
61
1.6
Moment of Inertia
Ratio
10
13
21
31
0.24
0.21
0.2
0.19
0.19
0.2
0.2
0.124
0.096
0.083
0.072
0.066
0.049
0.043
0.041
Coupling
HPN 14A
(10-4 kgm2) Table 057-2
Gearheads
57
HPN Gearhead
Gearhead Series
HPN
Series

Figure 058-1
HPN series
(Unit: mm)
Hexagon
socket-head
cap screw
E *4
HPN Series
HPN Series
Rubber cap
4-D*3
Dimension Table
Flange Coupling
Single Stage
Two Stage
Single Stage
Two Stage
A (H7)
F (H7)
G*1
Min.
Max.*1
Max.
Min.
Max.*1
Min.
Max.
Type I
38
85
58
110
25
Type II
50
125
58
155
4.8
25
Min.
Max.
H*1
K
52
21
42
151.8
19.5
36
173.5 73.7
45
66
169.8
43.5
60
191.5 73.7
52
Mass(kg)*2
3
3.7
5
6
Moment of Inertia
Ratio
HPN 20A
58
Coupling
Gearheads
(10-4 kgm2) Table 058-2

3
10
13
21
31
1.2
0.9
0.87
0.9
0.88
0.87
HPN
GearheadSeries
Series
HPN
Gearhead

HPN series
Figure 059-1
(Unit: mm)
Hexagon
socket-head
cap screw
E*4
4-D*3
HPN Series
HPN Series
Rubber cap
Dimension Table
Flange Coupling
Single Stage
Two Stage
A (H7)
Min.
F (H7)
G*1
Max.*1
Max.
Min.
Max.*1
Min.
Max.
Min.
Max.
H*1
195
Mass(kg)*2
Type I
50
85
77
110
15.5
25
20
46
58.5
6.6
Type II
70
125
77
155
15.5
28
47
69
212.5 58.5
7.7
Type II
70
215
6.5
77
260
21.5
41
47
85
233.5 58.5
9.3
Type IV
50
85
58
110
25
21
42
232 107.2
7.9
Type V
50
125
58
155
25
44
65
255 107.2
9.1
Moment of Inertia
Ratio
10
13
21
31
2.3
1.7
1.5
1.3
1.2
3.8
3.3
2.9
2.7
7.5
6.2
5.7
5.3
5.3
1.3
1.1
Coupling
HPN 32A
(10-4 kgm2) Table 059-2
Gearheads
59
HPN
HPN Gearhead
GearheadSeries
Series

HPN series
Figure 060-1
(Unit: mm)
Hexagon
socket-head
cap screw
E*4
4-D*3
HPN Series
HPN Series
Rubber cap
Dimension Table
Flange Coupling
Single Stage
Two Stage
A (H7)
F (H7)
G*1
Min.
Max.*1
Max.
Min.
Max.*1
Min.
Max.
Min.
Max.
H*1
Mass(kg)*2
Type I
70
215
6.5
78
260
15.5
41
34.5
72
295.5
81
17
Type II
70
175
6.5
78
225
15.5
42
39
105
328.5
81
16
Type III
70
125
78
155
15.5
24
47
77
282.5
81
13
Type IV
70
125
78
155
15.5
28
47
69
309.5
126
17
Type V
70
215
6.5
77
260
21.5
41
47
85
348
126
18
Moment of Inertia
Ratio
10
13
21
31
14
9.1
7.3
6.2
5.4
15
11
8.8
7.3
6.5
10.2
6.9
5.4
4.1
3.4
4.5
3.5
3.4
5.8
Coupling
HPN 40A
60
(10-4 kgm2) Table 060-2
Gearheads
HPN Gearhead Series

To fully utilize the excellent performance of the HPN HarmonicPlanetary gearheads, check your operating conditions and,

ratings.

the gure below.

Graph 080-1
T1
Load torque
T3
t2
t3

t4
n3
Time


Load torque
T1 to Tn (Nm)
Time
t1 to tn (sec)
n1 to nn (rpm)
NG

Starting
Steady operation
Stopping (slowing)
Idle
T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4
no max n1 to nn
R: Reduction ratio
<Impact torque>
Ts
<Required life>
10/3
Tr
nr
L1020,000
(Hour)
Tav
ni av
OK

ni max n1R to nnR
L50 = L (hours)
NG
NG
OK

Tr: Output torque
no
Ca
OK

Ca
De
OK

Ta
NG
OK
n4
Ma
tor
ni max=no max R
n2
n1
ni max
no max
NG
Ca
ni
Output rotational
speed
Time
T4
t1
OK

max).
T2
NG
HPN Series


HPN Series

Ex
Refer
to the Caution
note for
below.
High-Performance
Gearhead
Servomotors

Ch
ni
Ch
T1
T3
Ch
TS
Ca
L5
Caution
Gearheads
61
HPN Gearhead Series
nd,

Tn (Nm)
tn (sec)
nn (rpm)

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,
n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
<Impact torque>
no max = 120 rpm

ni max = 5,000 rpm
Ts = 180 Nm
<Required life>
L50 = 30,000 (hours)
T av
10/3
10/3
10/3
6 0 rpm 0 . 3 s e c 7 0 N m
1 2 0 r p m 3 s e c 1 8 N m 6 0 r p m 0 . 4 s e c 3 5 N m
10/3
no av
Make a preliminary model selection with the following conditions. T av = 30.2 Nm 80 Nm. (HPN-20A-31 is tentatively selected based on the average load
torque (see the rating table) of size 20 and reduction ratio of 31.)
NG
OK
5,000 rpm
120 rpm
= 41.7 31
HPN Series
HPN Series
NG
OK
ni max = 3,720 rpm 600 rpm (maximum input speed of size 20)
NG
OK
NG
OK
NG
OK
80Nm
L50 = 20,000
30.2 Nm
10/3
3,000 rpm
1,432 rpm
25,809,937 (hours) 30,000 (hours)
OK
(nr),
r
The selection of model number HPN-20A-31 is confirmed from the above calculations.
62
Gearheads
NG
Load torque
Time

Gearheads
63
CSG/CSF-GH Series
HarmonicDrive gearing has a unique operating principle which utilizes the elastic
mechanics of metals. This precision gear reducer consists of only 3 basic parts and
provides high accuracy and repeatability.
Wave Generator
The Wave Generator is a
thin raced ball bearing tted onto
an elliptical shaped hub. The
inner race of the bearing is xed
to the cam and the outer race is
elastically deformed into an
ellipse via the balls. The Wave
Generator is usually mounted
onto the input shaft.
Flexspline
The Flexspline is
a non-rigid, thin cylindrical
cup with external teeth.
The Flexspline ts over the
Wave Generator and takes
on its elliptical shape. The
Flexspline is generally
used as the output of the
gear.
Circular Spline
The Circular Spline is a
rigid ring with internal teeth,
engaging the teeth of the
Flexspline across the major
axis of the Wave Generator.
The Circular Spline has two
more teeth than the Flexspline
and is generally mounted to
the housing.
The greatest benefit of HarmonicDrive gearing is the weight and space savings compared
to other gearheads because it consists of only three basic parts. Since many teeth are
engaged simultaneously, it can transmit higher torque and provides high accuracy. A unique
S tooth profile significantly improves torque capacity, life and torsional stiffness of the gear.
2
64
Zero-backlash
High Reduction ratios, 50:1 to 160:1 in a single stage
High precision positioning (repeatability 4 to 10 arc-sec)
High capacity cross roller output bearing
High torque capacity
Gearheads
Robust cross roller bearing is integrated

with the output flange to provide high moment
stiffness, high load capacity and precise
Flexspline
Shielded bearing
Wave Generator
Circular Spline

Gearheads
65
CSG-GH Gearhead Series

5
Size
Figure 039-1
Sizes
14, 20, 32, 45, 65
(Unit: mm)
Peak torque
cket
23Nm to 3419Nm
4-D*3
Reduction ratio
50:1 to 160:1
Zero backlash
CONTENTS
High Accuracy
Performance Table ........................................... 68
A Cross Roller bearing is integrated with the output

Outline Dimensions ........................................ 86-87
52.0
42.0
Torsional Stiffness, Vibration, Efciency ..................... 88-89

Product Sizing & Selection .................................... 90-91
CSG - 20 - 100 - GH - F0 Model Name
Size
CSG
High Torque
14
20
32
45
65
Reduction Ratio
50, 80, 100
50, 80, 100, 120, 160
CSF-GH Series
38.0
48.0
Rating Table Denitions, Life, Torque Limits ................ 86-89
CSF-GH Series
Flange
Torsional Stiffness .................................................. 69
Mass (kg) *2
Shaft
Rating Table, Ratcheting Torque, Buckling Torque ............ 67
: mm) Table 039-1
CSG-GH Series
e manufacturing
tolerances not
is optional.
CSG-GH Series
Repeatability 4 to 10 arc-sec
80, 100, 120, 160
Model
GHGearhead
F0: Flange output

Motor Code
Input Configuration
Figure 066-1
n above are not

Mounting pilot
Output Shaft (flange optional)
Shielded bearing
Grease filling port

(2 locations)
Rubber cap
kgm2) Table 039-2
Input
rotational
direction
50
9
Output
rotational
direction
Oil seal
Mounting bolt hole
(The figure indicates output shaft type.)
66
Gearheads
Rating TableCSG-GH
65
*1:
*2:
*3:
*4:
*5:
*6:
*7:
*8:
*9:
Nm
Nm
Nm
Nm
6.1
8.7
8.7
29
38
45
45
45
86
134
155
155
155
200
356
401
457
457
846
1080
1080
1080
9.0
14
14
44
61
64
64
64
140
217
281
281
281
345
507
650
806
819
1352
1976
2041
2041
23
30
36
73
96
107
113
120
281
395
433
459
484
650
918
982
1070
1147
2743
2990
3263
3419
46
61
70
127
165
191
191
191
497
738
812
812
812
1235
1651
2033
2033
2033
4836
5174
5174
5174
Max. Input
Speed *7
rpm
Mass *
Shaft
Flange
rpm
kg
kg
3500
8500
0.62
0.50
3500
6500
1.8
1.4
3500
4800
4.6
3.2
3000
3800
13
10
1900
2800
32
24
Rated torque is based on L10 life of 10,000 hours when input speed is 2000 rpm
Rated torque is based on L10 life of 10,000 hours when input speed is 3000 rpm, input rotational speed for size 65 is 2800 rpm.
Maximum value of average load torque is based on the load torque pattern. Note that exceeding this value may deteriorate the life or durability of the product.
The limit for torque during start and stop cycles.
The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to ensure
it meets required operating conditions.
Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of a motion
prole. The actual limit for average input speed depends on the operating environment.
Maximum instantaneous input speed.
The mass is for the gearhead only (without input shaft coupling & motor ange). Please contact us for the mass of your specic conguration.
See page 86 for more information about Torque ratings.
Ratcheting TorqueCSG-GH
Reduction ratio
50
80
100
120
160
Size
Unit: Nm
14
20
32
45
65
110
140
100
280
450
330
310
280
1200
1800
1300
1200
1200
3500
5000
4000
3600
3300
14000
12000
10000
10000
Buckling TorqueCSG-GH
Size
All Ratios
Unit: Nm
14
20
32
45
65
260
800
3500
8900
26600
CSG-GH Series
45
Nm
7.0
10
10
33
44
52
52
52
99
153
178
178
178
229
407
459
523
523
969
1236
1236
1236
Max. Average
Input Speed *6
32
Limit for
Repeated
Peak Torque *4
CSG-GH Series
20
Limit for
Average
Torque *3
Rated Torque
at 2000 rpm *1
50
80
100
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
80
100
120
160
14
HPG series
CSG-GH series
Ratio
Size
Rated Torque
at 3000 rpm *2
Limit for
Momentary
Torque *5
*1: A
m
Table 067-2
er
*2: Th
se
po
ca
Me
va
Table 067-3
CSF-GH series
P
Table 067-1
HPGP series
High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series High-performance Gear Heads for Servo Motors series
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
042
Gearheads
67
20
Type II
Type I &II
32
45
All
65
All
1.5
4.4
10
1.0
2.9
1.0
2.9
1.0
2.9
1.0
2.9
1.0
2.9
1.0
2.9
kgfcm
0.9
0.7
0.7
1.4
1.1
1.0
1.0
0.9
2.1
1.8
1.7
1.7
1.6
6.2
4.9
4.8
4.4
4.3
5.4
4.1
4.0
3.6
3.5
13
10
9.5
9.0
8.4
20
18
17
15
Ncm
8.5
7.1
6.8
14
10
10
9.4
8.9
21
17
16
16
15
61
48
47
43
42
53
40
39
35
34
129
99
93
88
82
197
176
165
147
Nm
3.0
4.0
4.9
8
10
13
14
18
12
16
20
24
30
37
46
56
63
81
32
39
47
51
66
78
96
111
128
158
191
213
240
285
kgfm
0.3
0.4
0.5
0.8
1.0
1.3
1.4
1.8
1.3
1.7
2.0
2.4
3.0
3.8
4.7
5.7
6.4
8.3
3.3
4.0
4.8
5.2
6.7
8.0
9.8
11
13
16
19
22
24
29

kgfcm
0.6
0.5
0.5
1.2
1.0
1.0
1.0
1.0
1.2
1.0
1.0
1.0
1.0
4.8
4.3
4.2
4.1
4.1
4.8
4.3
4.2
4.1
4.1
12
11
11
11
11
30
30
29
28
Ncm
5.6
5.1
4.6
11
10
10
9.8
9.6
11
10
10
9.8
9.6
47
42
41
40
40
47
42
41
40
40
120
109
107
105
103
297
289
285
278
67-2
er
CSF-GH Series
maximum values.

Figure 068-2
67-3
Figure 068-1
er Accuracy
1 Input angle
R
er 2 1
R
Table 068-2
Load
Speed reducer surface temperature
No load
25C
maximum values.
Table 068-3
7
X
Repeatability =
X
2
X
2
X
2
Load
No load
25C
Table 068-4
Input speed
Load
2000 rpm
No load
25C
HPGP series
arc sec
CSF-GH Series
tion
CSG-GH Series
CSG-GH Series
sure
Type III
x10-4rad
HPG series
Type I
50
80
100
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
80
100
120
160
arc min
Starting torque *3
CSG-GH series
All
Accuracy *
Ratio
Flange Type
14
Size
Repeatability *2
CSF-GH series
Table 068-1
067-1
Performance TableCSG-GH
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
043
68
Gearheads
Torsional StiffnessCSG-GH and CSF-GH
K1
K2
Reduction
K3
ratio
50
1
2
K1
K2
Reduction
ratio
K3
80 or
more
kgfm
104Nm/rad
kgfm/arc min
104Nm/rad
kgfm/arc min
104Nm/rad
kgfm/arc min
10-4rad
arc min
10-4rad
arc min
104Nm/rad
kgfm/arc min
104Nm/rad
kgfm/arc min
104Nm/rad
kgfm/arc min
10-4rad
arc min
10-4rad
arc min
45
65
2.0
0.2
6.9
0.7
0.34
0.1
0.47
0.14
0.57
0.17
5.8
2.0
16
5.6
0.47
0.14
0.61
0.18
0.71
0.21
4.1
1.4
12
4.2
7.0
0.7
25
2.5
1.3
0.38
1.8
0.52
2.3
0.67
5.2
1.8
15.4
5.3
1.6
0.47
2.5
0.75
2.9
0.85
4.4
1.5
11.3
3.9
29
3.0
108
11
5.4
1.6
7.8
2.3
9.8
2.9
5.5
1.9
15.7
5.4
6.7
2.0
11
3.2
12
3.7
4.4
1.5
11.6
4.0
76
7.8
275
28
15
4.3
20
6.0
26
7.6
5.2
1.8
15.1
5.2
18
5.4
29
8.5
33
9.7
4.1
1.4
11.1
3.8
235
24
843
86
54
16
88
26
98
29
4.4
1.5
11.3
3.9
* The values in this table are average values. See page 88 for more information about torsional stiffness.
Hysteresis LossCSG-GH
Reduction ratio 50: Approx. 5.8X10 rad2arc min
-4
Reduction ratio 80 or more: Approx. 2.9X10-4 rad1arc min
Only
Fla
Fla
Ou
CSF-GH series
CSG-GH series
Nm
32
CSG-GH Series
T2
Nm
kgfm
20
T1
14
CSG-GH Series
Size
Symbol
Table 013-1
HPG series
HPGP series
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
(Note
meth
show
Flan
Type
Type
Refer
Dimen
partic
*1 Ma
*2 Th
*3 Ta
044
Gearheads
69
Figure 070-1
Unit: mm
H
600.5
1-3H75
47
21
20
3
Grease filling port
2 locations (symmetrical locations)
M6 P=1
22 .5
Rubber cap
HPG series
G
H
21
20
3
47
Grease filling port
M6 P=1
14 h7
19
A
80
B
R0.4
9.5
G
CSF-GH Series
21
CSF-GH series
20
16 h7
25
55.8
40
CSF-GH Series
58
28
56 h7
5
13
M48
4-D*3
4 5
Output shaft shape: J2 (Shaft output without key)

J6 (Shaft output with key and center
tapped hole)
5
C0.5
8-M47
4-5.5
M3 Hexagon
socket head bolt
Rubber cap
C0.5
56 h7
55.8
40
601
70
CSG-GH Series
CSG-GH Series
1-3H75
22 .5
R0.4
C0.5
R0.4
Dimension Table
Flange Coupling
A (H7)
Unit: mm
B
F (H7)
Table 070-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
(10-4kgm2)
Shaft
Flange
Type I
50
58
58
72
5.0
7.8
21.5
32.5
76
0.07
0.88
0.76
Type II
30
45
6.5
36
54
5.0
7.8
21.5
32.5
76
0.07
0.90
0.78
Refer to the conrmation drawing for detailed dimensions.

Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not suitable for your
particular motor.
600.5
Flange Type
CSG-GH series
9.5
4-D*3
R0.4
C0.5
8-M47
4-5.5
C.05
14 h7
56 h7
55.8
40
4 5
70
M3 Hexagon
socket head bolt
19
A
60
Flange Type
HPGP series
CSG-GH-14 Outline Dimensions
e 013-1
CSG-GHGearhead
Gearhead Series
CSG-GH
Series
045
70
Gearheads

* Output part dimension is the same as the flange type III.
Grease filling port
4-D*3
Rubber cap
F
29
A
89
F
19
A
55
89
C0.5
4 5
05
1
62
Grease filling port
M6 P=1
CSG-GH series
F
29
A
110
85 h7
84
59
24 H7
22 .5
C0.5
8-M610
4 5
C0.5
4-9
M4 Hexagon
socket head bolt
Rubber cap
B
R0.4
4-D*3
11
G

tapped hole)
80
11
27
10
36
M612
32
85 H7
84
59
25 H7
21 7
42
CSG-GH Series
27 10
26
8
1-5H78
900.56
4-D*3
11
G
11
G
Flange Type II
4 5
C0.5
CSF-GH series

M6 P=1 Rubber cap
M4 Hexagon
socket head bolt
Grease filling port
M3 Hexagon
socket head bolt
M6 P=1
H
62
10
CSG-GH Series
H
55
26.5
28.5
10
Only
Figure 071-1
Unit: mm
Flange Type
HPG series
Flange Type
45
HPGP series
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
C1
R0.4
R0.4
(N
me
sh
Dimension Table
Flange
Coupling
Type I
A (H7)
Unit: mm
B
F (H7)
Table 071-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
(10-4kgm2)
Shaft
Flange
30
45
36
48
7.0
7.8
23.0
33.0
92.0
0.28
2.3
1.9
Type II
50
70
10
60
80
8.0
14.6
25.0
32.0
99.0
0.42
2.6
2.2
Type III
50
80
10
60
100
8.0
14.6
25.0
32.0
99.0
0.42
2.8
2.4
Flan
Typ
Type

particular motor.
Type
Refer
Dime
partic
*1 M
*2 Th
*3 Ta
*4 E
046
Gearheads
71
13
20
Grease filling port
M6 P=1
Grease filling port
H
83
13
46
28
12
M6 P=1
4-D*3 M4 Hexagon socket head bolt
Rubber cap
4-D*3
M4 Hexagon
socket head bolt
Rubber cap
C0.5
35
A
140
F
35
A
116
4 5
Flange Type
Grease filling port
M6 P=1
F
42
A
R0.4
82
12
133
16 35 13
13
70
115 h7
114
84
40 h7
R0.4
C1
M1020
CSF-GH series
CSF-GH Series
35 8
45
4-D*3
26
37
CSG-GH series

tapped hole)
CSF-GH Series
C0.5
4-11
E*4
M4 Hexagon
socket head bolt
Rubber cap
5
C0.5
1
35
10-M812
H
105.5
92.5
35 13
55.5
37
13
36
25
44
CSG-GH Series
115 h7
114
84
32 H7
60
18
CSG-GH Series
1200.62
1-5H78
4 5
22
33
G
14
25
G
HPG series
C0.5
R0.4
Dimension Table
071-1
*2
Unit: mm
ange
Flange Coupling
.9
.2
.4
A (H7)
F (H7)
Table 072-1
H*1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Max.
(10-4kgm2)
Shaft
Flange
Type I
50
85
10
58
105
9.0
19.6
28.0
57
133
2.7
6.4
5.0
Type II
70
95
85
115
16.0
25.8
35.0
67
145.5
2.7
6.6
5.2
Type III
95
130
115
165
11.0
19.6
36.0
65
141
2.0
7.9
6.5

particular motor.
H
75
Figure 072-1
Unit: mm
Flange Type
Flange Type
HPGP series
re 071-1
mm
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
047
72
Gearheads
4-14
HPG series
(62)
4 5
4-D*3
14.5
H
87
25 Grease filling port
53 16
45 42
51
M6 P=1
E*4
13
Rubber cap
M6 Hexagon
socket head bolt
90
1
10
C0.5
C0.5
28.5
G

J6 (Shaft output with key and
center tapped hole)
156
21
82
53
4 5
4-D*3
CSG-GH Series
R0.4
1-6H79
10-M1218
CSG-GH series
58
A
165
165 h8
163
122
47 H7
50
A
167
B
C0.5
1702
4-14
16
13
14
(Note)
56
165 h8
163
122
50 h7
44.5
If using size 45 or 65 gearheads with

a shaft output and require torques as
high as the "Limit for Momentary
Peak Torque" you must use a J2
shaft configuration (shaft output
without key) with a friction /
compression coupling to the output
load. This is due to the limited
strength of the connection using a
keyed shaft.
70
CSF-GH series

(17)
Rubber cap M6 Hexagon
socket head bolt
R0.4
Flange Type
M6 P=1
10
C0.5
1-6H79
10-M1218
Grease filling port
90
1
165 h8
163
122
47 H7
58
98
R0.4
C1
R0.4
M1020
CSG-GH Series
Unit: mm
1702
53 16
51
13
Only
Figure 073-1
Flange Type
A (H7)
Unit: mm
B
(Not
met
sho
Dimension Table
Flange Coupling
HPGP series
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
F (H7)
Table 073-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
(10-4kgm2)
Shaft
Flange
Type I
70
110
80
150
14.0
29.4
31.5
72
167
11
17.3
14.3
Type I
70
110
80
150
19.0
41
40.5
77
167
11
17.3
14.3
Type II
110
130
6.5
145
200
14.0
29.4
31.5
72
176
11
16.7
13.7
Type II
110
130
6.5
145
200
19.0
41
40.5
77
176
11
17.7
14.7
Fla
Typ
Typ
Refer
Dime
partic
*1 M
*2 Th
*3 Ta
*4 E

Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not suitable for your particular motor.
048
Gearheads
73
60
2-M1020
58
225
25
132
65.5
12.5
M6 Hexagon
socket head bolt
M6 P=1
225
C0.5
220 h8
214
168 Series
CSF-GH
70
h7
High-Performance
Gearhead
for Servomotors
12
62.5
M1635
C1
192
35
57
13
25
4 5
4-D*3
CSG-GH series
28.5
G
100
12.5
(Note)
85
If using size 45 or 65 gearheads with a

shaft output and required torques are as
high as the "Limit for Momentary Peak
Torque," you must use a J2 shaft
configuration (shaft output without key)
with a friction / compression coupling to
the output load. This is due to the limited
strength of the connection using a keyed
shaft.
R0.4
R0.4
Dimension Table
e 073-1
) *2
ange
4.3
Flange
Coupling
Type I
Type II
A (H7)
Unit: mm
B
F (H7)
Table 074-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Max.
(10-4kgm2)
Shaft
Flange
95
95
10
110
125
19.0
39.3
33.0
72
201.5
51
36.2
27.6
110
200
6.5
145
235
19.0
39.3
40.5
79.5
209
51
38.3
29.7
4.3
3.7

particular motor.
4.7
motor.
HPGP series
58
60 H7
C0.5
R0.4
CSF-GH Series
E*4
Grease filling port
10

center tapped hole)
4 5
4-D*3
Rubber cap
10-M1624
8H712
20
16
G
60
220 h8
168
65
57
55
13
137
58
168
60 H7
C0.5
R0.4
CSG-GH Series
C0.5
80
2302
1
20
10
10-M1624
8H712
65
4-18
214
220 h8
Flange Type
CSG-GH Series
23
M6 Hexagon
socket head bolt
Rubber cap
214
4-18
12.5
Grease filling port
M6 P=1
1
20
119.5
65.5
54
CSF-GH series
2-M1020
65
25
65
57
55
13
Flange Type
2302
h
as
Figure 074-1
Unit: mm
mm
HPG series
re 073-1
CSG-GH Gearhead
Gearhead Series
CSG-GH
Series
049
74
Gearheads
CSG-GH Series
Gearheads
CSG-GH Series
NOTES Series
CSG-GH Gearhead
NOTES
75
CSF-GH Gearhead Series

5
Size
Sizes
14, 20, 32, 45, 65
Peak torque
HPG Right Angle
50:1 to 160:1
Zero backlash
High Accuracy
HPG Right Angle
Reduction ratio
18Nm to 2630Nm
Repeatability 4 to 10 arc-sec
CONTENTS
Rating Table, Ratcheting Torque, Buckling Torque77

Performance Table 78
Torsional Stiffness ... 79
A Cross Roller bearing is integrated with the output

Outline Dimensions...80-84
Rating Table Denitions, Life, Torque Limits86-87
Torsional Stiffness, Vibration, Efciency..88-89

Product Sizing & Selection. . 90-91
CSF-GH Series
CSF-GH Series
Model Ordering Code
CSF - 20 - 100 - GH - F0 -
Model Name
Size
CSF
Standard
14
20
32
45
65
Reduction Ratio
Model
GHGearhead
F0: Flange output

50, 80, 100

50, 80, 100, 120, 160
80, 100, 120, 160
Motor Code
Input Configuration
Figure 18-1
Mounting pilot
Output Shaft (flange optional)
Shielded bearing
Grease filling port

(2 locations)
Rubber cap
Input
rotational
direction
Output
rotational
direction
(The figure indicates output shaft type.)
76
Gearheads
Oil seal
Mounting bolt hole
Nm
Nm
Nm
Nm
4.7
6.8
6.8
22
30
35
35
35
66
103
120
120
120
154
273
308
351
351
651
831
831
831
6.9
11
11
34
47
49
49
49
108
167
216
216
216
265
390
500
620
630
1040
1520
1570
1570
18
23
28
56
74
82
87
92
216
304
333
353
372
500
706
755
823
882
2110
2300
2510
2630
35
47
54
98
127
147
147
147
382
568
647
686
686
950
1270
1570
1760
1910
3720
4750
4750
4750
Flange
rpm
kg
kg
8500
0.62
0.50
6500
1.8
1.4
4800
4.6
3.2
3800
13
10
2800
32
24
Ratcheting TorqueCSF-GH
88
110
84
220
350
260
240
220
980
1400
1000
980
980
Buckling TorqueCSF-GH
Size
14
20
32
All Ratios
190
560
2200
CSF-GH Series
32
20
CSF-GH Series
50
80
100
120
160
Unit: Nm
14
Reduction ratio
Size
CSG-GH Series
Rated torque is based on L10 life of 7,000 hours when input speed is 3000 rpm, input speed for size 65 is 2800 rpm.
Maximum value of average load torque is based on the load torque pattern. Note that exceeding this value may deteriorate the life or durability of the product.
The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events to ensure
it meets required operating conditions.
*8: See page 86 for more information on torque ratings.
CSG-GH Series
*1:
*2:
*3:
*4:
*5:
Shaft
45
65
2700
3900
3100
2800
2600
11000
9400
8300
8000
Unit: Nm
45
65
5800
17000
Table 077-2
*1: A
a
CSF-GH Series
Max. Input
Speed *6
Mass *7
Limit for
Momentary
Torque *5
CSF-GH Series
65
Limit for
Repeated
Peak Torque *4
45
Limit for
Average
Torque *3
32
5.4
7.8
7.8
25
34
40
40
40
76
118
137
137
137
176
313
353
402
402
745
951
951
951
Table 077-1
Rated ouput
torque at
3000 rpm *2
HPGP Series
Nm
50
80
100
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
80
100
120
160
20
Ratio
14
HPG series
CSG-GH series
HPGP Series
Size
Rated ouput
torque at
2000 rpm *1
er
*2: T
se
p
c
M
va
Table 0773
CSF-GH series
Rating Table CSF-GH
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
050
Gearheads
77
Type II
Type I &II
32
Type III
45
All
65
All
CSF-GH Series
077-2
CSF-GH Series
ure
4.4
1.0
10
2.9
2.9
2.9
1.0
2.9
1.0
2.9
1.0
2.9
HPG Right Angle
20
1.5
1.0
1.0
Ncm
kgfcm
Nm
kgfm
Ncm
kgfcm
8.2
6.9
6.6
13
10
9.6
9.1
8.6
20
17
16
16
15
58
46
45
42
41
50
38
37
34
33
123
95
89
85
79
186
166
156
139
0.8
0.7
0.7
1.3
1.0
1.0
0.9
0.9
2.0
1.7
1.7
1.6
1.6
5.9
4.7
4.6
4.3
4.2
5.1
3.9
3.8
3.5
3.4
13
9.7
9.1
8.7
8.1
19
17
16
14
2.9
3.9
4.7
7.8
9.6
12
13
17
12
16
19
23
29
35
44
54
61
79
30
37
45
49
64
74
92
107
123
152
179
200
226
268
0.3
0.4
0.5
0.8
1.0
1.2
1.3
1.7
1.2
1.6
2.0
2.3
3.1
3.6
4.5
5.5
6.2
8.1
3.1
3.8
4.6
5.1
6.6
7.8
9.3
11
13
16
18
20
23
27
5.6
5.1
4.6
11
10
10
9.8
9.6
11
10
10
9.8
9.6
47
42
41
40
40
47
42
41
40
40
120
109
107
105
103
297
289
285
278
0.6
0.5
0.5
1.2
1.0
1.0
1.0
1.0
1.2
1.0
1.0
1.0
1.0
4.8
4.3
4.2
4.1
4.1
4.8
4.3
4.2
4.1
4.1
12
11
11
11
11
30
30
29
28
*1: Accuracy values represent the difference between the theoretical angle and the actual angle of output for any given input. The values shown in the table
are maximum values.
Figure 078-1
er Accuracy
1 Input angle
er

R

0773
No-load running torque*5
Figure 078-2
er 2
1
R
Table 078-2
Load
No load
25C
maximum values.
Table 078-3
7
X
X
Repeatability = 2
X
2
X
2
Load
No load
25C
Table 078-4
Input speed
Load
2000 rpm
No load
25C
HPGP series
arc sec
Type I
HPG Right Angle
All
14
50
80
100
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
50
80
100
120
160
80
100
120
160
x10-4rad
Backdriving torque*
HPG series
arc min
Starting torque*
Repeatability*
Accuracy*
CSG-GH series
Ratio
Flange Type
CSF-GH series
Size
Table 078-1
2
077-1
Performance Table CSF-GH
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
051
78
Gearheads
104Nm/rad
kgfm/arc min
10-4rad
arc min
10-4rad
arc min
Hysteresis LossCSF-GH
Reduction ratio 50: Approx. 5.8X10-4 rad2arc min
Reduction ratio 80 or more: Approx. 2.9X10-4 rad1arc min
CSG-GH Series
* The values in this table are average values. See page 88 for more information about torsional stiffness.
CSF-GH Series
CSG-GH series
104Nm/rad
kgfm/arc min
Fl
Ou
(Not
Plea
CSF-GH series
kgfm/arc min
CSF-GH Series
arc min
104Nm/rad
Reduction
ratio
K3
80 or
more
arc min
10-4rad
Fl
CSF-GH Series
K2
10-4rad
Only
K1
104Nm/rad
kgfm/arc min
65
235
24
843
86
54
16
88
26
98
29
4.4
1.5
11.3
3.9
CSG-GH Series
104Nm/rad
kgfm/arc min
45
76
7.8
275
28
15
4.3
20
6.0
26
7.6
5.2
1.8
15.1
5.2
18
5.4
29
8.5
33
9.7
4.1
1.4
11.1
3.8
kgfm/arc min
32
29
3.0
108
11
5.4
1.6
7.8
2.3
9.8
2.9
5.5
1.9
15.7
5.4
6.7
2.0
11
3.2
12
3.7
4.4
1.5
11.6
4.0
CSF-GH Series
Reduction
K3
ratio
50
kgfm
104Nm/rad
20
7.0
0.7
25
2.5
1.3
0.38
1.8
0.52
2.3
0.67
5.2
1.8
15.4
5.3
1.6
0.47
2.5
0.75
2.9
0.85
4.4
1.5
11.3
3.9
K2
Nm
Table 079-1
K1
kgfm
14
2.0
0.2
6.9
0.7
0.34
0.1
0.47
0.14
0.57
0.17
5.8
2.0
16
5.6
0.47
0.14
0.61
0.18
0.71
0.21
4.1
1.4
12
4.2
HPGP Series
T2
HPGP Series
T1
Nm
Size
Symbol
Torsional StiffnessCSF-GH
HPG series
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
Flan
Typ
Typ
Refer
Dime
partic
*1 M
*2 Th
*3 Ta
052
Gearheads
79
Figure 080-1
H
47
Grease filling port
600.5
4-D*3
9.5
HPG series
R0.4
G
H
21
20
3
47
Grease filling port
19
A
80
17 H7
55.8
40
56 h7
M3 Hexagon
socket head bolt
Rubber cap
C0.5
C0.5
B
6-M47
R0.4
4-D*3
45
9.5

tapped hole)
58
28
21
5
M48
20
16 h7
C0.5
R0.4
CSF-GH series
40
55.8
13
56 h7
25
CSF-GH Series
CSF-GH Series
601
M6 P=1
4-5.5
19
A
60
70
CSG-GH series
Flange Type
6-M47
C0.5
HPG Right Angle
4-5.5
HPG Right Angle
C0.5
45
14 H7
56 h7
55.8
40
M3 Hexagon
socket head bolt
Rubber cap
M6 P=1
600.5
R0.4
(Note) The dimension tolerances that are not specied vary depending on the manufacturing method.
Please check the conrmation drawing or contact us for dimension tolerances not shown on the drawing above.
Dimension Table
Flange Coupling
A (H7)
Unit: mm
B
F (H7)
Table 080-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
(10-4kgm2)
Shaft
Flange
Type I
50
58
58
72
6.0
7.8
21.5
32.5
76
0.07
0.88
0.76
Type II
30
45
6.5
36
54
6.0
7.8
21.5
32.5
76
0.07
0.90
0.78

particular motor.
21
20
3
Unit: mm
Flange Type
HPGP series
CSF-GH-14 Outline Dimensions
079-1
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
053
80
Gearheads
F
High-Performance
Gearhead for Servomotors
Grease filling port
2 locations
(symmetrical locations)
M6 P=1
Rubber cap
45
11
4-D*3
11
27 10
26
8
62
Grease filling port
2 locations
M6 P=1
Rubber cap
05
36
85 h7
84
59
25 h7
C1
R0.4
F
29
A
110
27
4-D*3
CSG-GH Series
80
11
42
M612
21 7
11
32
10

tapped hole)
CSG-GH Series
R0.4
C0.5
4-9 6-M610
C0.5
85 h7
84
59
24 H7
45
M4 Hexagon
socket head bolt
CSF-GH Series
CSF-GH Series
R0.4
CSF-GH Series
900.56
Flange Type
CSG-GH series
2 lo
45
C0.5
C0.5
CSF-GH series

M4 Hexagon
socket head bolt
* Output
dimensions are
the same as
flange type III
Grease filling port
2 locations
4-D*3
M6 P=1
Rubber cap
62
10
M3 Hexagon
socket head bolt
CSF-GH Series
28.5
Unit: mm
55
HPGP Series
26.5
Flange Type
F
29
A
89
* Output
dimensions are
the same as
flange type III
10
Only
Figure 081-1
19
A
55
89
HPGP Series
Flange Type
HPG series
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
(No
Ple
Dimension Table
Flange
Coupling
Type I
A (H7)
F (H7)
Unit: mm
G
Table 081-1
H *1
Moment of Inertia
Mass (kg) *2
Flan
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Typical
(10-4kgm2)
Shaft
Flange
30
45
36
48
7.0
7.8
23.0
33.0
82.0
0.28
2.3
1.9
Typ
Type II
50
70
10
60
80
8.0
14.6
25.0
32.0
99.0
0.42
2.6
2.2
Typ
Type III
50
80
10
60
100
8.0
14.6
25.0
32.0
99.0
0.42
2.8
2.4
Typ

particular motor.
Refer
Dime
partic
*1 M
*2 Th
*3 Ta
*4 E
Gearheads
81
e 081-1
Figure 082-1
mm
Unit: mm
Flange Type
Flange Type
1200.62
12
* Output
dimensions are
the same as
flange type III
Rubber cap
M4 Hexagon
4-D*3 socket head bolt
C0.5
45
HPG Right Angle
22
45
Grease filling port
35
33 13
13
HPG series
HPG Right Angle
14
G
-D*3
M6 P=1
H
105.5
92.5
37
55.5
25
E *4
M4 Hexagon
socket head bolt
Rubber cap
M6 P=1
60
F
42
A
32 H7
115 h7
114
84
C0.5
5
C0.5
C0.5
* Output
dimensions are
the same as
flange type III
46
35
A
116
83
Grease filling port
4-D*3
M6 P=1
35
R0.4
4-11

tapped hole)
4-D*3
26
82
133
12
16
35 13
13
44
35 8
115 h7
114
84
40 h7
70
CSF-GH Series
C1
R0.4
M1020
R0.4
Dimension Table
Unit: mm
e 081-1
) *2
Flange Coupling
ange
A (H7)
CSF-GH series
CSF-GH Series
CSG-GH series
6-M812
F (H7)
Table 082-1
Moment of Inertia
Mass (kg) *1
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Max.
(10-4kgm2)
Shaft
Flange
1.9
Type I
50
85
10
58
105
11.0
19.6
28.0
57
133
2.7
6.4
5.0
2.2
Type II
70
95
85
115
16.0
25.8
35.0
67
145.5
2.7
6.6
5.2
2.4
Type III
95
130
115
165
11.0
19.6
36.0
65
141
2.0
7.9
6.5

particular motor.
82
Gearheads
H
13
Rubber cap
M4 Hexagon
socket head bolt
75
Grease filling port
13
35
A
140
Flange Type
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
53 16
51
58
Rubber cap M6 Hexagon
13
socket head bolt
10
C0.5
C0.5
R0.4
H
51
87
45
25
42
4-14
Grease filling port

13
M6 Hexagon
socket head bolt
Rubber cap
165
C0.5
10
58
82
156
21 53 16
13
C1
R0.4
R0.4
CSF-GH Series
M1020
Dimension Table
1
4-D*3
45
70
56
165 h8
163
122
50 h7
44.5 9
14
CSF-GH Series

center tapped hole)
CSG-GH Series
28.5
CSG-GH series
R0.4
16-M812
CSG-GH Series
C0.5
F (H7)
Min.
Max.
Max.
Min.
Max.
Min.
Max.
70
110
80
150
14.0
29.4
47 H7
122
163
100
165 h8
9
1
A (H7)
E *4
M6 P=1
(Not
Plea
Unit: mm
G
Min.
Max.
31.5
72
CSF-GH Series
1702
16
CSF-GH Series
53
Flange Type
Type I
45
4-D*3
14.5
16-M812
122
47 H7
163
165 h8
90
1
100
HPG series
M6 P=1
62
Grease filling port
98
167
4-14
Unit: mm
H
50
1702
Only
Figure 083-1
HPGP Series
HPGP Series
Flange Type
CSF-GH series

Flange Coupling
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
Table 083-1
H *1
Moment of Inertia
Typical
(10-4kgm2)
Shaft
Flange
167
11
17.3
14.3
Mass (kg) *2
Flan
Typ
Type I
70
110
80
150
19.0
41
40.5
77
167
11
17.3
14.3
Typ
Type II
110
130
6.5
145
200
14.0
29.4
31.5
72
176
11
16.7
13.7
Type II
110
130
6.5
145
200
19.0
41
40.5
77
176
11
17.7
14.7
Refer
Dimen
partic
*1 Ma
*2 Th
*3 Ta
*4 E

Dimensions of typical products are shown. Please contact us for other mounting options if the congurations shown above are not suitable for your particular motor.
056
Gearheads
83
e 083-1
Figure 084-1
Unit: mm
H
57 25
132
65.5
2 55
13
12.5
2-M1020
Grease filling port
F
220 h8
214
168
60 H7
4-18
M6 Hexagon
socket head bolt
Rubber cap
20
E *4
M6 P=1
60
45
4-D*3
HPG series
16
R0.4
10
C0.5
C0.5
B
28.5
R0.4
8-M1624
45
4-D*3
CSG-GH series
2302
65
65
8-M1624
C0.5
58
214
168
60 H7
10
C0.5
HPG Right Angle
Flange Type

220 h8
HPG Right Angle
4-18
Rubber cap
23
M6 Hexagon
socket head bolt
6
2
20
Grease filling port

M6 P=1
CSF-GH Series
100
192
35 57 25
13
C1
12.5
85
80
220 h8
214
168
70 h7
62.5
12
20
R0.4
R0.4
M1635
CSF-GH series
CSF-GH Series

tapped hole)
Dimension Table
e 083-1
) *2
nge
Flange
Coupling
Type I
Type II
A (H7)
Unit: mm
B
F (H7)
Table 084-1
H *1
Moment of Inertia
Mass (kg) *2
Min.
Max.
Max.
Min.
Max.
Min.
Max.
Min.
Max.
Max.
(10-4kgm2)
Shaft
Flange
95
95
10
110
125
19.0
39.3
33.0
72
201.5
51
36.2
27.6
110
200
6.5
145
235
19.0
39.3
40.5
79.5
209
51
38.3
29.7
4.3
4.3
3.7
4.7
ar motor.
2-M1020
57 25
119.5
55
65.5
54
13
12.5

particular motor.
58
A
G
225
2302
65
65
Flange Type
58
A
137
225
mm
HPGP series
CSF-GH Gearhead
Gearhead Series
CSF-GH
Series
057
84
Gearheads
CSF-GH Series
CSG-GH Series
CSG-GH Series
Gearheads
CSF-GH Series
CSF-GH Series
CSF-GH Series
HPGP Series
HPGP Series
NOTES Series
CSF-GH Gearhead
NOTES
85
CSG-GH/CSF-GH Gearhead
CSG-GH/CSF-GH
GearheadSeries
Series
HPGP series
Rating Table Denitions

See the corresponding pages of each series for values from the ratings.
Rated torque
Max. momentary torque
Torque at steady state
Peak torque at start/stop
HPG Right Angle
HPG Right Angle
Load torque
Time
Time
Inertia
Do not exceed the allowable rating. (calculation formula of the

average input speed: Page 91).
Life
Life of the wave generator
CSF-GH Series
The rating indicates the moment of inertia reected to the gear

input.
CSF-GH Series
CSG-GH Series
CSF-GH Series
Wave Generator
rotational speed
HPG series
Start
(Speed cycle)
Abnormal impact torque
Maximum Average Input Speed

Maximum Input Speed
Relative torque rating
The life of a gear is determined by the life of the wave

generator bearing. The life may be calculated by using the
input speed and the output load torque.
17
Table 086-1
Life
Series name
CSF-GH
CSG-GH
L10
L50 (average life)
7,000 hours
35,000 hours
10,000 hours
50,000 hours
* Life is based on the input speed and output load torque from the ratings.
Calculation formula for Rated Lifetime

LhLn
Tr
Tav
3
Graph 086-2
Buckling torque
16
Formula 086-1
Nr
Nav
Load torque (when the rated torque is 1)
CSG-GH series
CSF-GH series
CSG-GH Series
CSF-GH Series
The gear may be subjected to momentary peak torques in the

event of a collision or emergency stop. The magnitude and
frequency of occurrence of such peak torques must be kept to a
minimum and they should, under no circumstance, occur during
normal operating cycle. The allowable number of occurrences of
the momentary peak torque may be calculated by using formula
073-1.
Stop
Graph 086-1
Limit for Momentary Torque

(see Graph 086-1)
Steady
In cases where load torque and input speed vary, it is necessary

to calculate an average value of load torque. The table indicates
the limit for average torque. The average torque calculated must
not exceed this limit. (calculation formula: Page 91)
Start
Limit for Average Torque
During acceleration and deceleration the Harmonic Drive gear

experiences a peak torque as a result of the moment of inertia of the
output load. The table indicates the limit for repeated peak torque.
Limit for Repeated Peak Torque

(see Graph 086-1)
10
9
Racheting torque
8
7
Life of wave generator (L10)
6
5
Fatigue strength of the exspline
Momentary peak torque
3
2
Repeated peak torque
1
0
Rated torque
10 5
10 6
10 7
10 8
Total number of input rotations
10 9
Table 086-2
Ln
Tr
Nr
Tav
Nav
Life of L10 or L50c

Rated torque
Rated input speed
Average load torque on the output side (calculation formula: Page 91)
Average input speed (calculation formula: Page 91)
036
86
Example of load torque pattern
Rated torque indicates allowable continuous load torque at input

speed.
Gearheads
* Lubricant life not taken into consideration in the graph described above.
* Use the graph above as reference values.
10
10
Warning
When the exspline buckles, early failure of the

HarmonicDrive gear may occur.
HPGP series
CSG-GH Series
HPG series
CSG-GH series
"Dedoidal" condition.
CSF-GH Series
* See the corresponding pages of each series for buckling torque values.
Flexspline
When a highly excessive torque (16 to 17 times rated torque) is

applied to the output with the input stationary, the exspline may
experience plastic deformation. This is dened as buckling torque.
CSF-GH series
Buckling torque
Circular Spline
If the number of occurances is exceeded, the Flexspline

may experience a fatigue failure.
Figure 087-1
Caution
HPGP Series
N occurances
Permissible occurances
t sec
Time that impact torque is applied
n rpm
Rotational speed of the wave generator
The exspline bends two times per one revolution of the wave generator.
Caution
Once ratcheting occurs, the teeth wear excessively

and the ratcheting torque may be lowered.
1.0104
N
n
2
t
60
CSG-GH Series
Formula 087-1
When ratcheting occurs, the teeth may not be correctly

engaged and become out of alignment as shown in
Figure 087-1. Operating the drive in this condition will
Caution
cause vibration and damage the exspline.
Calculation formula
* See the corresponding pages of each series for ratcheting torque values.
* Ratcheting torque is affected by the stiffness of the housing to be used when
installing the circular spline. Contact us for details of the ratcheting torque.
CSF-GH Series
The torque that occurs during a collision must be below the

momentary peak torque (impact torque). The maximum number
of occurrences is given by the equation below.
When excessive torque (8 to 9 times rated torque) is applied

while the gear is in motion, the teeth between the Circular Spline
and Flexspline may not engage properly.
This phenomenon is called ratcheting and the torque at which
this occurs is called ratcheting torque. Ratcheting may cause the
Flexspline to become non-concentric with the Circular Spline.
Operating in this condition may result in shortened life and a
Flexspline fatigue failure.
Allowable limit of the bending cycles of the exspline during

rotation of the wave generator while the impact torque is
applied: 1.0 x 104 (cycles)
Ratcheting torque
HPGP Series
HPG Series
HPG Series
The Flexspline is subjected to repeated deections, and its strength

determines the torque capacity of the Harmonic Drive gear. The
values given for Rated Torque at Rated Speed and for the allowable
Repeated Peak Torque are based on an innite fatigue
life for the Flexspline.
The torque that occurs during a collision must be below the
momentary peak torque (impact torque). The maximum number of
occurrences is given by the equation below.
Strength of exspline
Torque Limits
CSG-GH/CSF-GH
Gearhead Series
Series
037
Gearheads
87
CSG-GH/CSF-GH
GearheadSeries
Series
Torque - torsion angle diagram
Hysteresis loss
T0
CSF-GH Series
CSF-GH Series
B
0
B'
T0
K3
K2
When the applied torque is between T1 and T2, the torsion

angle L2 is calculated as follows:
When the load torque is TL2=50 Nm
L2 1(TL2T1)/K2
4.410-4 (506)/11.0104
4.410-4 40.010-5
8.410-4 rad2.89 arc min
Backlash
When a bidirectional load is applied, the total torsion angle will

be 2 x LX plus hysteresis loss.
* The torsion angle calculation is for the gear component set only and does
not include any torsional windup of the output shaft.
Figure 088-2
Torsion angle
When the applied torque is greater than T2, the torsion

angle L3 is calculated as follows:
When the load torque is TL3=178 Nm
L3 12(TL3T2)/K3
4.410-4 11.610-4(178108)/12.0104
4.410-4 11.610-45.810-4
2.1810-3 rad7.5 arc min
Torque
A'
When the applied torque is T1 or less, the torsion angle L1

is calculated as follows:
When the load torque TL1=6.0 Nm
L1 TL1/K1
6.0/6.7104
9.010-5 rad0.31 arc min
Gearheads
Spring constant diagram
The torsion angle () is calculated here using CSG-32-100-GH

as an example.
T1 = 29 Nm
T2 = 108 Nm
K1 = 6.7 x 104 Nm/rad
K2 = 6.7 x 104 Nm/rad
K3 = 6.7 x 104 Nm/rad
1=4.4 x 10-4 rad
2=11.6 x 10-4 rad
CSG-GH Series
CSF-GH Series
Example for calculating the torsion angle
Figure 088-1
HPG Right Angle
Torsion angle
See the corresponding pages of each series for values of the

spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - 1, 2).
038
88
See the appropriate page for each model series for the
hysteresis loss value.
K1 The spring constant when the torque changes from [zero] to [T1]
K2 The spring constant when the torque changes from [T1] to [T2]
K3 The spring constant when the torque changes from [T2] to [T3]
CSG-GH series
CSF-GH series
CSF-GH Series
CSG-GH Series
HPG series
Fixing the input side (wave generator) and applying torque to the
output side (exspline) generates torsion almost proportional to
the torque on the output side. Figure 088-1 shows the torsional
angle at the output side when the torque applied on the output
side starts from zero, increases up to +T0 and decreases down to
T0. This is called the Torque torsion angle diagram, which
normally draws a loop of 0 A B A B A. The slope
described in the Torque torsion angle diagram is represented
as the spring constant for the stiffness of the HarmonicDrive
gear (unit: Nm/rad).
As shown in Figure 074-2, this Torque torsional angle diagram
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
As shown in Figure 088-1, when the applied torque is increased to

the rated torque and is brought back to [zero], the torsional angle
does not return exactly back to the zero point This small difference
(B B') is called hysteresis loss.
Stiffness
Hysteresis loss
HPG Right Angle
Stiffness and backlash of the drive system greatly affects the

performance of the servo system. Please perform a detailed
review of these items before designing your equipment and
selecting a model number.
HPGP series
Torsional Stiffness
K1
0
T1
T2
Torque
Hysteresis loss is primarily caused by internal friction. It is a very

small value and will vary roughly in proportion to the applied load.
Because HarmonicDrive gearheads have zero backlash, the only
true backlash is due to the clearance in the Oldham coupling, a
self-aligning mechanism used on the wave generator. Since the
Oldham coupling is used on the input, the backlash measured at
the output is extremely small (arc-seconds) since it is divided by
the gear reduction ratio.
HPGP series
Nm/rad See pages of each series.

kgm2
CSG-GH series
CSG-GH Series
CSF-GH series
CSF-GH Series
The efciency will vary depending on the following factors:

Reduction ratio
Input speed
Load torque
Temperature
Lubrication condition (Type of lubricant and the quantity)
Efciency
The resonant frequency is generated at an input speed of 450 rpm.
CSG-GH Series
15
N = 60 = 450 rpm
2
Formula 089-1
CSF-GH Series
Load inertia
HPGP Series
Spring constant of the HarmonicDrive gear
Table 089-1
Hz
The resonant frequency of the

system
K
J
HPG series
1
2
Formula variables
f=
Formula 089-2
If the resonant frequency of the entire system, including the

HarmonicDrive gear, is F=15 Hz, then the input speed (N) which
would generate that frequency could be calculated with the formula
below.
How to the calculate resonant frequency of the

system
The primary component of the transmission error occurs twice per

input revolution of the input. Therefore, the frequency generated by
the transmission error is 2x the input frequency (rev / sec).
HPG Series
HPG Series
The primary frequency of the transmission error of the

HarmonicDrive gear may rarely cause a vibration of the load
inertia. This can occur when the driving frequency of the servo
system including the HarmonicDrive gear is at, or close to the
resonant frequency of the system. Refer to the design guide of each
series.
HPGP Series
Vibration
Gearhead Series
CSG-GH/CSF-GH
Series
039
Gearheads
89
CSG-GH/CSF-GH
GearheadSeries
Series
Tn
Load torque
T4
n3
t4
tn
nn
CSF-GH Series
n1
T3
t3
n4
* n1, n2 and nn indicate the average values.
CSF-GH Series
t2
n2
t1
Time
Output rotational
speed
CSG-GH Series
CSF-GH Series
CSG-GH series
CSF-GH series
CSG-GH Series
T1
T2
CSF-GH Series
HPG Right Angle
3 n
1 t1 |T1 |3+n2 t2 |T2 |3+nn tn |Tn |3
Tav =

n1 t1 +n2 t2 +nn tn
Time

Load torque
Tn (Nm)
Time
tn (sec)
nn (rpm)
Starting
Steady operation
Stopping (slowing)
Idle
Max. output speed
<Impact torque>
<Required life>
T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4
no max
ni max
Ts, ts, ns
L10 = L (hours)
Calculate the average output

speed: no av (rpm)
(See the ratings of each series).

Gearheads
ni max
R
no max
Obtain the reduction ratio (R).

A limit is placed on ni max by
motors.
Calculate the average input rotational
speed from the average output
rotational speed (no av) and the
reduction ratio (R): ni av (rpm)
ni av = no avR
Calculate the maximum input

rotational speed from the max. output
rotational speed (no max) and the
reduction ratio (R): ni max (rpm)
ni max = no maxR
Check whether the preliminary

model number satises the
following condition from the
ratings.
Ni av
Limit for average speed (rpm)
Ni max Limit for maximum speed (rpm)
NG
OK
Check whether T1 and T3 are equal to or less than the repeated peak
torque specication.
NG
OK
Check whether Ts is equal to or less than the the momentary peak
torque specication.
NG
OK
Calculate (Ns) the allowable
number of rotations during
impact torque.
104
NS =
NS 1.0104
nS R
2t
60
NG
OK
Calculate the lifetime.
) (
Tr 3
nr
L10 = 7000 (hours)
ni av
Tav
Check whether the calculated lifetime is equal to or more than the life
of the wave generator (see Page 086).
OK
040
n1 t1 +n2 t2 +nn tn
no av =
t1 + t2 + tn
NG
Review the operation conditions and model number
Review the load torque pattern. Check the specications shown

in the gure below.
+
Calculate the average load torque applied on the output side from the
load torque pattern: Tav (Nm).
Make a preliminary model selection with the following conditions.

Tav Limit for average torque torque
Graph 090-1
90
HPG series
(Note) If HarmonicDrive CSG-GH series is installed with the

output shaft facing downward (motor faces upward) and
continuously operated in one direction under the constant load
state, lubrication failure may occur. In this case, please contact
us for details.

ratings.
HPG Right Angle
In general, a servo system rarely operates at a continuous load

and speed. The input rotational speed, load torque change and
comparatively large torque are applied at start and stop.
Unexpected impact torque may be applied.
These uctuating load torques should be converted to the
average load torque when selecting a model number.
As an accurate cross roller bearing is built in the direct external
load support (output ange), the maximum moment load, life of
the cross roller bearing and the static safety coefcient should
also be checked.
HPGP series
HPGP series
L10 = 7000 (hours)
Make a preliminary model selection with the following conditions. Tav = 319 Nm 620 Nm
(Limit for average torque for model number CSF-45-120-GH: See the ratings on Page 77.)
Thus, CSF-45-120-GH is tentatively selected.
OK
Check whether T1 and T3 are equal to or less
than the repeated peak torque specication.
T1 = 400 Nm 823 Nm (Limit of repeated peak torque of size 45)

T3 = 200 Nm 823 Nm (Limit of repeated peak torque of size 45)
NG
Check whether Ts is equal to or less than the

momentary peak torque specication.
NG
Ts = 500 Nm 1760 Nm (Limit for momentary torque of size 45)
OK
Calculate the allowable number (Ns) rotation during impact
torque and conrm 1.0104
104
NS = = 1190 1.0104
14 rpm120
20.15 sec
60
NG
OK
) (
402 Nm 3
2000 rpm
L10 = 7000 (hours)
319 Nm
1440 rpm
Calculate the lifetime.
Check whether the calculated life is equal to or more than the life of the wave generator (see Page 86).
L10 =19,457 hours 7000 (life of the wave generator: L10)
OK
NG
Review the operation conditions and model number
OK
CSG-GH series
NG
CSF-GH series
Ni av = 1440 rpm 3000 rpm (Max average input speed of size 45)
Ni max = 1680 rpm 3800 rpm (Max input speed of size 45)
ni max = 14 rpm120 = 1680 rpm
CSF-GH Series
Check whether the preliminary selected model

number satises the following condition from the
ratings.
CSG-GH Series
ni av = 12 rpm120 = 1440 rpm
Calculate the maximum input rotational speed from the

maximum output rotational speed (no max) and the
reduction ratio (R): ni max (rpm)
1800 rpm
= 128.6 120
14 rpm
Calculate the average input rotational speed from the

average output rotational speed (no av) and the reduction
ratio (R): ni av (rpm)
Obtain the reduction ratio (R).
7 rpm0.3 sec+14 rpm3 sec+7 rpm0.4 sec

no av = = 12 rpm
0.3 sec + 3 sec + 0.4 sec + 0.2 sec
Calculate the average output rotational speed: no av (rpm)
CSG-GH Series
7 rpm0.3 sec+14 rpm3 sec+7 rpm0.4 sec
7 rpm0.3 sec|400Nm|3+14 rpm3 sec|320Nm|3+7 rpm0.4 sec|200Nm|3
CSF-GH Series
3
Tav =
HPG series
Calculate the average load torque applied on the output side of the Harmonic Drive gear from the load torque pattern: Tav (Nm).
<Required life>
Ts = 500 Nm, ts = 0.15 sec,

ns = 14 rpm
n1 = 7 rpm
n2 = 14 rpm
n3 = 7 rpm
n4 = 0 rpm
<Impact torque>
no max = 14 rpm
ni max = 1800 rpm
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 0.2 sec,
HPGP Series
HPG Series
HPG Series

Starting
T1 = 400 Nm,
Steady operation
T2 = 320 Nm,
Stopping (slowing)
T3 = 200 Nm,
Idle
T4 = 0 Nm,

Max. output speed
Max. input speed
HPGP Series

Load torque
TNm
n
Time
tsec
n
Output speed
nrpm
n
Example of model number selection
CSG-GH/CSF-GH
Gearhead Series
Series
The selection of model number CSF-45-120-GH is conrmed from the above calculations.
041
Gearheads
91
NOTES
NOTES
92
Gearheads
Planetary Gear Units

HPF Series - Hollow Shaft
HPG Series - Input Shaft
Gearheads
93
HPF Hollow Shaft Gear Unit
HPF Hollow Shaft Gear Unit

2
Size
Sizes
25, 32
Peak torque
Size 25: 100Nm, Size 32: 220Nm
Reduction ratio
11:1
Low backlash
Standard: <3 arc-min Low Backlash for Life

consistent, low backlash for the life of the gearhead. The ring
gear design automatically provides the optimum backlash in the
planetary gear train and maintains the same low backlash for the
life of the gearhead.

A Cross Roller bearing is integrated with the output ange to
provide high moment stiffness, high load capacity and precise
Based on Harmonic Planetary gearhead design concept, the
hollow shaft planetary features the same superior performance
and specications as the HPG line. The large hollow shaft allows
cables, pipes, or shafts to pass directly through the axis of
rotation, simplifying the design and improving reliability.
CONTENTS
Rating Table, Performance 95

Backlash and Torsional Stiffness 96
Outline Dimensions97
Product Sizing & Selection98-99
HPF Series
Model Name
HPF
Hollow Shaft
Size
25
32
Design Revision
Reduction Ratio
11
F0: Flange output
Input Configuration
Options
None Standard item
U1: Hollow shaft
Output
rotational
direction
Angular bearing
HPG Series
Input side oil seal
Input Shaft Gear Unit
HPG Series
Mounting bolt hole
HPG Series
Mounting pilot
HPG Series
Figure 094-1
Hollow Shaft Gear Unit
HPF Series
HPF Series
HPF - 25 A - 11 - F0 U1 - SP1
Size 32: 30mm
HPF Series
Size 25: 25mm
Inside diameter of the hollow shaft
Input flange
Pulley can be connected
Output flange
94
Gearheads
Unit Type
Hollow
ShaftShaft
GearGear
Unit HPF
HPF
Hollow
Unit
Rating Table
HPF series (Hollow Shaft Type)
The HPF hollow shaft planetary gear features a large hollow shaft that allows cables, shafts, ball screws or lasers to pass directly through
the axis of rotation.
HPG series (Input Shaft Type)
Unit Type
Size
Ratio
Rated Torque
at 2000 rpm *1
Limit for Repeated

Peak Torque *3
Rated Torque
at 3000 rpm *2
Nm
Nm
Nm
Limit for
Momentary
Torque *4
Max.
Average
Input Speed *5
Max. Input
Speed *6
Input
Moment of Inertia
rpm
rpm
10-4kgm2
kg
Nm
Table 095-1
Mass
25
11
48
21
100
170
3000
5600
1.63
3.8
32
11
100
44
220
450
3000
4800
3.84
7.2
*1:
*2:
*3:
*4:
The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events
*5: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of
a motion prole. The actual limit for average input speed depends on the operating environment.
To
With
outp
torqu
torqu
(1)
Coun
Cloc
A loo
The
calcu
stiffn
This
of th
torqu
Performance Table
Table 095-2
Accuracy *1
arc min
10-4rad
Repeatability *2
arc sec
Starting torque *3
Ncm
kgfcm
Nm
kgfm

Ncm
kgfcm
Size
Reduction
ratio
25
11
11.6
15
59
6.0
6.5
0.66
78
8.0
32
11
11.6
15
75
7.7
8.3
0.85
105
10.7
maximum values.
Figure 095-1
er Accuracy
1 Input angle
R
Figure 095-2
Table 095-3
Load
HPF speed reducer surface temperature
No load
25C
Table 095-4
X
2
Repeatability =
which the input rst starts to rotate.The values in the table are maximum
values.
X
2
X
2
Load

HPF Series
er 2
er
Ca
The
one s
HPF Series
No load
25C
Table 095-5
Input speed
Load
3000 rpm
No load
25C
192
Gearheads
95
Unit Type
Hollow
ShaftShaft
GearGear
Unit HPF
HPF
Hollow
Unit

Torsion angle at TR X 0.15
Backlash
Reduction Ratio
10-4rad
arc min
10-4rad
kgfm/arc min
11
3.0
8.7
2.0
5.8
1.7
570
32
11
3.0
8.7
1.7
4.9
3.5
1173
Backlash (Hysteresis Loss)
See Fig. 096-1,

Table 096-1
T
TL
Output torque x 0.15 torque

(=TRX0.15)
See Fig. 096-1
Torsional stiffness
See Fig. 096-1,

Table 096-1
A/B
HPG Series
te the
n the
e 095-5
B
D
TR0.15
Torque
Hysteresis loss
= Backlash
Total torsion angle

Load torque
HPG Series
e 095-4
HPF Series
HPF Series
imum
e 095-3
(3)
h the
lues.
TTL
A
B
TR
(4)
HPG Series
Calculation formula
-TR0.15
HPF Series
Formula 096-1
-TR
(2)

(1) (5)
HPF Series
e 095-1
Torsion angle
Figure 096-1
HPG Series
The vertical distance between points (2) & (4) in Fig. 096-1 is called
a hysteresis loss. The hysteresis loss between Clockwise load
torque TR and Counter Clockwise load torque -TR is dened as
the backlash of the HPF series. The backlash of the HPF series is
less than 3 arc-min (1 arc-min or less is also available.).
e 095-2
ue *5
m
100Nm/rad
25
The torsional stiffness in the region from "0.15 x TR" to "TR" is
stiffness in the region from "zero torque" to "0.15 x TR" is lower.
torque applied.
ed of
A/B
arc min
ents
Torsional stiffness
Unit Type
Size
e 095-1
HPF Hollow Shaft Unit
Table 096-1
ugh
193
96
Gearheads
Unit Type
Hollow
ShaftShaft
GearGear
Unit HPF
HPF
Hollow
Unit
Si
For the specications of the input side bearing of the hollow shaft gear unit, refer to page 133.
11
Pe
3.9
HPF-25 Outline Dimensions
Re
Figure 097-1
Sin
6-M45.5
OutputLow speed side
Up
(Use caution regarding bolt

length and interference)
Input
High speed side
Lo
St
Lo
55 h8
77
94
117.6
118 h7
Hollow shaft ID
15
54
Inn
co
ge
the
for
45
1.7
136
115 h7
114
84
44 H7
25
7
7
12-4.5
127
Unit Type
Unit: mm
C
0.5
Hi
5.5
4.5
A
to
pr
44H7 Tolerance range
*1
6-M36
115h7 Tolerance range
12-M48
9.5
32.8
For mounting output load
12.5 15 12.4 25.4 7

105.1
tolerances not shown on the drawing above.
*1: The inside diameter of the hollow shaft rotates with the input shaft (high speed). Use these holes for installing a sleeve which rotates with the output side.
(These holes are not for mounting the load).
Input side
High speed side
(Use caution regarding bolt

length and interference)
6-M46
Output side
Low speed side
Mod
HPF Series
157
12-5.5
HPF Series
Figure 097-2
Unit: mm
HPF-32 Outline Dimensions
00
147 h7
120
146.6
100
60 h8
30
Inside diameter of
the hollow shaft
110
142
167
47 H7
65
143 h7
1
15
HP
Outline Dimensions
50
C
5
0.
47H7 Tolerance range
*1
6-M36
12-M58
(For mounting output load)
11.5
38.5
4
4
15 17.5 12 34.8 8
125.5
tolerances not shown on the drawing above.
*1: The inside diameter of the hollow shaft rotates with the input shaft (high speed). Use these holes for installing a sleeve which rotates with the output side.
(These holes are not for mounting the load).
Gearheads
97
Inp
Ge
Unit Type
Hollow
ShaftShaft
GearGear
Unit HPF
HPF
Hollow
Unit
To fully utilize the excellent performance of the HPF HarmonicPlanetary gearheads, check your operating conditions and,
Unit Type


the gure below.
Graph 098-1
T1
Time
T4
T3
OK
ni max=no max R
n3
n4
Time
HPF Series
OK

OK

no max n1 to nn
ni max n1R to nnR
R: Reduction ratio
<Impact torque>
Ts
<Required life>
190
Gearheads
L10 = L (hours)

NG
NG

Tr: Output torque
10/3
Tr
nr
L1020,000
(Hour)
Tav
ni av
OK
OK
HPG Series

NG
OK
HPG Series
T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4
HPG Series

Starting
Steady operation
Stopping (slowing)
Idle
HPG Series

Load torque
T1 to Tn (Nm)
Time
t1 to tn (sec)
n1 to nn (rpm)
NG
NG
t4
n2
n1

t3
HPF Series
t2
ni max
no max
t1
NG

max).
T2
Load torque
Output rotational
speed
HPF Series

HPF Series


98

ratings.
Caution
Unit Type
Hollow
Shaft
GearGear
Unit HPF
HPF
Hollow
Shaft
Unit

n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
<Impact torque>
Ts = 120 Nm
<Required life>
L10 = 30,000 (hours)
6 0 rpm 0 . 3 s e c 7 0 N m 10/3
1 2 0 r p m 3 s e c 1 8 N m 10/3
6 0 r p m 0 . 4 s e c 3 5 N m 10/3
no av
Make a preliminary model selection with the following conditions. T av = 30.2 Nm 48 Nm. (HPF-25A-11 is tentatively selected based on the average load
torque (see the rating table on page 95) of size 25 and reduction ratio of 11.)
NG
OK
5,000 rpm
120 rpm
= 41.7 11
ni av = 46.2 rpm11= 508 rpm Max average input speed of size 25 3,000 rpm
NG
OK
NG
OK
NG
OK
NG
OK
21 Nm
L10 = 20,000
30.2 Nm
10/3
3,000 rpm
508 rpm
35,182 (hours) 30,000 (hours)
OK
NG
10/3
HPF Series
T av
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,
HPF Series

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
no max = 120 rpm

ni max = 5,000 rpm
Unit Type

Tn (Nm)
tn (sec)
nn (rpm)
Load torque
Time
The selection of model number HPF-25A-11 is confirmed from the above calculations.
191
Gearheads
99
HPG Input Shaft Gear Unit
HPG Input Shaft
Size
Sizes
11, 14, 20, 32, 50, 65
Peak torque
3.9Nm 2200Nm
Reduction ratio
Figure 097-1
Unit: mm
Single Stage: 3:1 to 9:1, Two Stage: 11:1 to 50:1
High efciency
5.5
Up to 97%
ion regarding bolt

d interference)
Low backlash

Low Backlash for Life

consistent, low backlash for the life of the gearhead. The ring
gear design automatically provides the optimum backlash in
the planetary gear train and maintains the same low backlash
for the life of the gearhead.
11
HPG
Input Shaft
14
20
32
50
65
Reduction Ratio
5, 9, 21, 37, 45
3, 5, 11, 15, 21, 33, 45
HPG Series
Backlash
BL1: Backlash
less than 1
arc-min (Sizes
14 to 65)
HPG Series
HPG Series
caution regarding bolt

h and interference)
M46
Design Revision
4, 5, 12, 15, 20, 25, 40, 50
BL3: Backlash
less than 3
arc-min
Input Configuration
U1: Input shaft
(with key; no center
tapped hole)
F0: Flange output

J6: Shaft output with key and center
tapped hole (J2, J6 for Size 65 is
also available)
U1: Input shaft

(with key and center
tapped hole)
Angular bearing
Input side oil seal

Input shaft
sion

100
Gearheads
Options
None Standard item

SP Special
specification
Figure 100-1
Mounting pilot
Output flange
U1 - SP1
F0: Flange output

J60: Shaft output with key and center
tapped hole
Size
A - 05 - BL3 - J2
HPG Series
Model Name
Figure 097-2
Unit: mm
HPF Series
HPG - 20
Rating Table 101

Performance102
Backlash and Torsional Stiffness103
Outline Dimensions..104-107
Product Sizing & Selection...108-109
HPF Series
sion
A Cross Roller bearing is integrated with the output ange

to provide high moment stiffness, high load capacity and
precise positioning accuracy.
CONTENTS
Mounting bolt hole
Unit Type
HPG Input
Input Shaft
Shaft Gear
HPG
Gear Unit
Unit
Rating Table
3.4
37
45
3
5
14
11
15
21
33
45
2.9
6.4
15
3.4
5.9
7.8
9.0
8.8
10
10
13
15
11
20
45
15
45
3
5
11
15
21
33
45
3
16
24
25
29
29
31
98
108
108
4
5
12
15
20
25
40
50
71
195
200
400
270
270
500
340
450
730
1300
850
640
750
100
3000
10000
5000
37
56
3000
6000
4000
124
217
1100
1500
10-4kgm2
0.0087
0.0072
0.0064
0.0063
0.0063
0.0052
0.0050
0.12
3000
6000
225
300
3600
507
650
6000
850
3000
1200
1850
4500
0.80
0.69
0.32
0.31
0.30
0.23
0.18
4.2
2.4
1.8
1.5
2200
1900
2200
4500
2000
3000
0.40
0.30
0.23
3.4
2.2
1.8
1.5
6.7
43
33
32
22
21
16
16
0.26
0.80
0.70
0.90
0.80
2.4
2.0
2.7
2.1
6.3
4.9
6.9
5.3
14
20
32
50
1.3
6.8
58
0.30
11
1.9
9.2
4.3
0.20
0.18
11
5.5
0.24
0.19
18
21
4.4
2500
0.049
0.043
0.44
kg
0.058
0.043
7.4
2000
0.11
0.056
0.049
kg
0.0050
0.057
1.3
657
0.0052
0.067
2.0
3000
0.0058
0.073
0.19
1500
1300
10-4kgm2
0.059
900
1000
800
64
rpm
500
530
600
23
20
rpm
200
97
260
3.9
Nm
60
170
230
45
55
92
15
33
53
150
88
170
11
35
66
21
65*9
9.8
19
33
50
6.0
3.9
8.8
21
32
3.4
2.5
3
5
20
7.8
Mo
Flange
17
14
19
16
7.1
5.4
4.3
65
4.3
44
34
43
33
32
*1: A
m
31
21
21
58
48
16
16
*2: Maximum value of average load torque is based on the load torque pattern. Note that exceeding this value may deteriorate the life or durability of the product.
*3 The limit for torque during start and stop cycles.
*4: The limit for torque during emergency stops or from external shock loads. Always operate below this value. Calculate the number of permissible events
*5: Maximum average input speed is limited by heat generation in the speed reducer assuming a continuous operating speed or the average input speed of
a motion prole. The actual limit for average input speed depends on the operating environment.
*7: Inertia value is for the gearhead only (without input shaft coupling). Please contact us for the inertia of your specic conguration.
*9: Flange output is standard for the size 65 gearhead. Shaft type (J2 & J6) is also available.
11
Nm
5.0
Shaft
*2: T
s
p
c
M
v
HPG Series
21
Nm
Flange
2.5
Nm
Shaft
HPG Series
Mass *8
Input Moment of Inertia *7
Rated
Torque*1
Max. Input
Speed *6
HPF Series
Ratio
Max. Average
Input Speed*5
Size
Limit for
Momentary
Torque*4
HPF Series
Unit Type
Table 101-1
Limit for
Limit for
Average Torque*2 Repeated Peak
Torque*3
198
Gearheads 101
Performance Table
20
32
50
65
11.6
20
11.6
15
11.6
15
8.7
15
15
8.7
8.2
0.84
7.3
0.74
61
39
26
22
20
17
16
146
100
66
57
52
42
41
300
180
110
97
90
74
70
576
517
341
311
282
262
230
219
6.2
4.0
2.6
2.2
2.0
1.7
1.6
15
10
6.8
5.9
5.3
4.3
4.2
31
18
11
9.9
9.2
7.6
7.1
59
53
35
32
29
27
24
22
maximum values.
Figure 102-1
1
er Accuracy
1 Input angle
HPG Series

HPG Series
HPG Series
HPG Series
er
roduct.
of
Table 102-1

Ncm
kgfcm
8.9
0.91
6.3
0.65
5.2
0.53
4.8
0.49
4.7
0.48
26
2.7
15
1.5
10
1.0
14
30
Nm
kgfm
0.40
0.040
0.68
0.069
1.4
0.14
2.0
0.21
2.4
0.25
0.66
0.067
0.83
0.085
1.8
0.18
2.3
0.23
2.9
0.30
3.8
0.39
4.8
0.49
1.4
0.14
1.7
0.17
3.3
0.34
4.0
0.41
5.1
0.52
7.1
0.72
8.9
0.91
2.8
0.28
3.5
0.35
6.9
0.70
9.1
0.93
12
1.3
17
1.7
21
2.1
5.9
0.60
7.0
0.71
12
1.2
15
1.5
21
2.1
29
3.0
37
3.8
16
1.7
18
1.8
29
3.0
34
3.5
43
4.3
51
5.2
77
7.9
94
9.6
Unit Type
14.5
Starting torque *3
Ncm
kgfcm
7.9
0.81
7.6
0.77
6.8
0.69
5.5
0.57
5.3
0.55
22
2.2
17
1.7
16
1.6
15
13
1.4
1.2
11
1.1
46
4.7
34
3.4
30
3.1
27
2.8
24
2.5
21
2.2
20
2.0
92
9.4
69
7.1
63
6.4
61
6.2
58
6.0
52
5.3
46
4.8
197
20
140
14
110
11
100
10
98
88
8.9
83
8.4
406
41
358
36
243
25
228
23
213
22
202
21
193
20
188
19
11
HPF Series
Model
ge
Repeatability *2
arc sec
Accuracy *1
arc min
10-4rad
Reduction
Ratio
5
9
21
37
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
HPF Series
e 101-1
Unit Type
HPG Input
Input Shaft
Shaft Gear
HPG
Gear Unit
Unit
Figure 102-2
Reduction ratio
Table 102-2
Load
No load
25C
maximum values.
Load
7
X
x
Repeatability = 2
X
2
e r 2
X
2
Table 102-3
No load
25C
Table 102-4
Input speed
Load
3000 rpm
No load
25C
199
102
Gearheads

Table 103-1
7.3
0.060
20
3.0
8.7
0.065
22
2.2
6.4
0.13
44
2.7
7.9
0.14
47
1.5
4.4
0.50
170
3.0
2.0
5.8
0.55
180
1.3
3.8
1.7
2.0
570
670
3.0
1.7
4.9
2.2
740
1.3
3.8
8.4
11
2800
3700
3.0
1.7
4.9
14
4700
1.3
3.8
30
10000
3.0
1.7
4.9
37
12500
8.7
8.7
8.7
8.7
8.7
11
14
20
32
50
65
not available
3
5
9
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
1.0
1.0
1.0
1.0
1.0
2.9
2.9
2.9
2.9
2.9
Re
1.1
3.2
0.13
44
1.7
4.9
0.14
47
0.6
1.7
0.50
170
1.1
3.2
0.55
180
0.5
1.5
1.7
2.0
570
670
1.0
2.9
2.2
740
0.5
1.5
8.4
11
2800
3700
1.0
2.9
14
4700
0.5
1.5
30
10000
1.0
2.9
37
12500
Re
Figure 103-1
Torsion angle
(1) (5)
-TR0.15
(2)
0
TR
(4)
TR0.15
Torque
Hysteresis loss
= Backlash
Calculation formula
(No
Ple
Formula 103-1
TTL
A
B
(3)
Total torsion angle
Torsion angle on one side at output torque x 0.15 torque

Load torque
TL
Output torque x 0.15 torque (=TRX0.15)
See Fig. 103-1
A/B Torsional stiffness
HPG
The vertical distance between points (2) & (4) in Fig. 103-1 is called
a hysteresis loss. The hysteresis loss between "Clockwise load
torque TR" and "Counter Clockwise load torque -TR" is dened as
the backlash of the HPG series. The backlash of the HPG series is
less than 3 arc-min (1 arc-min or less for a custom product).
-TR

A/B
The torsional stiffness in the region from 0.15 x TR to TR is
torque applied.
10-4rad
3.0
8.7
arc min
HPG Series
3.0
arc min 10-4rad
65
2.5
Torsional stiffness
50
Ratio
32
10-4rad
Size
20
arc min 10-4rad
A/B

side at TR X 0.15
HPF Series
14
5
9
21
37
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
3
5
11
15
21
33
45
4
5
12
15
20
25
40
50
arc min
Backlash
Unit Type
11
Ratio
Torsional stiffness
HPF Series
Size

side at TR X 0.15
Backlash
Only
For t
Table 103-2
Input Shaft Gear Unit - Reduced backlash (BL1) ( 1 arc-min)
Input Shaft Gear Unit - Standard backlash (BL3) ( 3 arc-min)
HPG Series
Unit Type
HPG Input
HPG Input
ShaftShaft
Gear Unit

(No
Ple
200
Gearheads 103
Outline Dimensions
For the specications of the input side bearing refer to page 133.
Figure 104-1
56
Reduction Ratio = 5, 9
27.5
15
2.2
Unit: mm
13.5
16
11
0.5
4
6
10
2 h9
2 h9
4.8
0
-0.1
C0.5
39
C0.5
6 h7
24
40 h7
39.5
5 H7
10
28 h8
18
Unit Type
40
12
ad
3-M46
27
Output ange
20
15
Detail P
Customer's part
4 h9
24
4 h9
4-M3X6
(PCD34
40
4-3.4
M36
C0.5
R0.4
7.5
0
-0.1
29
10 h7
0.4 (Min.0.2)
e 103-2
min)
Unit Type
HPG Input
HPG Input
ShaftShaft
Gear Unit
clearance
0.5 or more
Recommended clearance dimension

for customer's part mounted to the
output ange
(Note)
output ange, it is recommended for
the customer to design clearance
between the part mounted on the
output ange and the housing face
as shown in the gure on the left.
The clearance is needed because
the distance between the output
ange and the oil seal (non-rotating)
is small (min. 0.2mm).
HPF Series
HPF Series
Reduction Ratio = 21, 37, 45
Figure 104-2
65
36.5
15
2.2
0.5
4.8
Detail P
29
10 h7
0.4 (Min.0.2)
M36
C0.5
R0.4
0
-0.1
39
28 h8
Output ange
Customer's part
24
27
4-M3X6
(PCD34
4 h9
7.5
6 h7
C0.5
20
15
0
-0.1
15
12
24
5 H7
39.5
C0.5
HPG Series
4 h9
2 h9
4
10
Input Shaft 40
Gear h7
Unit
3-M46
10 2
HPG Series
4-3.4
11
2 h9
4
6
18
HPG Series
HPG Series
que
13.5
25
5
40
re 103-1
Unit: mm
40
alled
load
ed as
ies is
Clearance
0.5 or more
Recommended clearance dimension

for customer's part mounted to the
output ange
(Note)
output ange, it is recommended for
the customer to design clearance
between the part mounted on the
output ange and the housing face
as shown in the gure on the left.
The clearance is needed because
the distance between the output
ange and the oil seal (non-rotating)
is small (min. 0.2mm).
201
104
Gearheads
Unit Type
HPG Input
HPG Input
ShaftShaft
Gear Unit
Outline Dimensions
For the specications of the input side bearing, refer to page 133.
Only
For t
HPG
Figure 105-1
Unit: mm
99
21
78
2.5
53
Unit Type
60
25
37
1
4 h9
4 h9
59
44
C0.5
18
C0.5
0
9.5 -0.1
40
55.5
56 h7
14 H7
20
30
12 h7
15
M4X8
4-5.5
6-M4x7
37
5 h9
28
0
13 -0.1
40
16 h7
5 h9
25
C0.5
M4x8
R0.4
(No
Plea
HPG
HPG Series
13
M4x8
HPG Series
25
5 h9
HPF Series
5 h9
C0.5
6-M6x10
4-9
30
Unit: mm
0
-0.1
C0.5
Figure 105-2
89
24 H7
59
84
85 h7
45
10
25
68
0
1
36
92
16 h7
90
62
25
27
7.5
HPF Series
119
4
8 h9
59
M6x12
25 h7
0
21 -0.2
7 h11
53
42
36
C1
R0.4
(Note) The dimension tolerances that are not specied vary depending on the
manufacturing method. Please check the conrmation drawing or contact us
for dimension tolerances not shown on the drawing above.
202
Gearheads 105
Outline Dimensions
e 105-1
Figure 106-1
mm
Unit: mm
13
45
Unit Type
120
171
136
91
59
31
8 h9
0
21 -0.2
90
118
25 h7
38
84
C0.5
M6x12
6-M8x12
98
82
70
C1
R0.4
M10x20
84
12 h9
0
-0.2
35
C0.5
40 h7
8 h11
4-11
32 H7
60
114
115 h7
35
7 h11
3
1
35
12.5
Unit Type
HPG Input
HPG Input
ShaftShaft
Gear Unit
HPF Series
HPF Series
e 105-2
mm
Figure 106-2
Unit: mm
219.5
166.5
53
170
22.5 22.5
106.5
12
71
7
60
34
1.5
10 h9
16
90
4-14
00
14-M8x12
103
14 h9
8 h11
120
168.5
35 h7
0
-0.2
C0.5
30
50
48
122
47 H7
C0.5
HPG Series
163
165 h8
Input
Shaft
Gear Unit
22.5x6
=135
HPG Series
22.5x6=135
HPG Series
HPG Series
M8X12
82
0
-0.2
50 h7
122
9 h11
70
44.5
C1
M10x20
R0.4
(Note) The dimension tolerances that are not specied vary depending on the
manufacturing method. Please check the conrmation drawing or contact us
for dimension tolerances not shown on the drawing above.
203
106
Gearheads
HPG Input
HPG Input
ShaftShaft
Gear Unit
Unit Type
Outline Dimensions

Figure 107-1
254.5
197.5
64
25
16 h9
50 h7
C0.5
C0.5
44
168
60 H7
12
214
220 h8
65
0
-0.2
80
1.5
10 h11
6
2
52
135
Tap for eyebolt
65
117.5
12
220
65
+1
-3
2-M10X20
65
Unit Type
57
230
Unit: mm
4-18
M10X20
6-M16X24
165
22 h9
14 h11
130
168
0
71 -0.2
80 h7
110
M16x35
C1
R0.4
168
80 h7
C1
HPG Series
0
-0.2
165
130
110
14 h11
M16x35
44
M10X20
60 H7
C0.5
6-M16X24
22 h9
0
71 -0.2
C0.5
65
16 h9
HPG Series
4-18
168
214
220 h8
12
25
1.5
10 h11
60
80
52
HPF Series
65
134
65
Tap for eyebolt
267.5
187.5
12
135
65
2-M10X20
HPF Series
230
+1
-3
220
324.5
57
50 h7
Reduction Ratio = 12, 15, 20, 25, 40, 50
Figure 107-2
Unit: mm
R0.4
204
Gearheads 107
Unit Type
HPG Input
Input Shaft
Shaft Gear
HPG
GearUnit
Unit

the gure below.

T2
Load torque
Time
T4
T3
t3
n2
n1
n3
t4
n4
HPF Series

no max n1 to nn
ni max n1R to nnR
R: Reduction ratio
<Impact torque>
Ts
NG
OK

NG
OK
Check whether T1 and T3 are equal to or less than the limit for
repeated peak torque (Nm) in the rating table.
NG
OK
Check whether TS is equal to or less than the limit for momentary

torque (Nm) in the rating table.
NG
OK
HPG Series
T1, t1, n1
T2, t2, n2
T3, t3, n3
T4, t4, n4
HPG Series
HPG Series
Time

Starting
Steady operation
Stopping (slowing)
Idle
<Required life>
ni max
no max
ni max=no max R
t2

speed (no max) and maximum input speed (ni max).

t1
NG
OK
HPF Series
Output rotational
speed
Select a preliminary model number with the following condition:

Tav Average load torque (See the rating table on page 101)
T1

Load torque
T1 to Tn (Nm)
Time
t1 to tn (sec)
n1 to nn (rpm)

Graph 108-1
HPG Series

ratings.
Unit Type
In general, a servo system rarely operates at a continuous load and

speed. The input speed, load torque change and a comparatively
large torque is applied during start and stop. Unexpected impact
torques may also be applied.
Check your operating conditions against the following load torque
pattern and select a suitable size based on the owchart shown on
the right. Also check the life and static safety coefcient of the
cross roller bearing and input side main bearing (input shaft type
only).
L10 = L (hours)

Tr: Output torque
10/3
Tr
nr
L1020,000 (Hour)
Tav
ni av
OK
NG
To fully utilize the excellent performance of the HPG HarmonicPlanetary gearheads, check your operating conditions and, using the
owchart, select the appropriate size gear for your application.
Caution
i) Actual average load torque (Tav) > Limit for average torque or
ii) Actual average input rotational speed (ni av) > Maximum average input speed (nr),
196
108
Gearheads
Unit Type
HPGInput
Input Shaft Gear
HPG
Gear Unit
Unit
Example of Model Number Selection

n1 = 60 rpm
n2 = 120 rpm
n3 = 60 rpm
n4 = 0 rpm
<Impact torque>
Ts = 180 Nm
<Required lifespan>
L10 = 30,000 (hours)
60rpm 0.3sec 70Nm 10/3

120rpm 3sec 18Nm 10/3
60rpm 0.4sec35Nm 10/3
60rpm0.3sec 120rpm 3sec 60rpm 0.4sec 0rpm5sec
Make a preliminary model selection with the following conditions. T av = 30.2Nm 60Nm. (HPG-20A-33 is tentatively selected based on the average load
torque (see the rating table on page 101) of model No. 20 and reduction ratio of 33.)
NG
OK
5,000 rpm
120 rpm
= 41.7 33
Check whether T1 and T3 are equal to or less than the peak torques (Nm) on start and stop in the rating table.
T1 = 70 Nm 100 Nm (Limit for repeated torque, size 20)
T3 = 35 Nm 100 Nm (Limit for repeated torque, size 20)
NG
NG
HPF Series
OK
HPF Series
OK
ni max = 3,960 rpm 6,000 rpm (maximum input rotational speed of size 20)
Calculate the average input rotational speed (ni av) from the average output speed (no av) and reduction ratio (R):
ni av = 46.2 rpm33= 1,525 rpm Max. average input speed of size 20 3,000 (rpm)
NG
OK
Check whether Ts is equal to or less than the values of the momentary max. torque (Nm) in the rating table.
NG
OK
29 Nm
L10 = 20,000
30.2 Nm
10/3
3,000 rpm
1,525 rpm
34,543 (hours) 30,000 (hours)
OK
NG
no av
HPG Series
10/3
T av
Calculate the average load torque applied on the output side based on the load torque pattern: Tav (Nm).
t1 = 0.3 sec,
t2 = 3 sec,
t3 = 0.4 sec,
t4 = 5 sec,
HPG Series

Starting
T1 = 70 Nm,
Steady operation
T2 = 18 Nm,
Stopping (slowing)
T3 = 35 Nm,
Idle
T4 = 0 Nm,
no max = 120 rpm

ni max = 5,000 rpm
Unit Type

Tn (Nm)
tn (sec)
nn (rpm)
Load torque
Time
The selection of model number HPG-20A-33 is confirmed from the above calculations.
197
Gearheads 109
NOTES
Input Bearing Specifications and Checking Procedure

Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow
shaft unit.
Checking procedure
HPG
HPF
(1) Checking maximum load

Calculate:
Maximum load moment load (Mi max)
Maximum load axial load (Fai max)
Maximum load radial load (Fri max)
Maximum load moment load (Mi max) Permissible moment load (Mc)
Maximum load axial load (Fai max) Permissible axial load (Fac)
Maximum load radial load (Fri max) Permissible radial load (Frc)
Technical Information / Handling Explanation
Technical Data
NOTES
(2) Checking the life

Calculate:
Average moment load (Mi av)
Average axial load (Fai av)
Average input speed (Ni av)
Calculate the life and check it.
Specication of input shaft bearing

The specication of the input side main bearing of the input shaft unit is shown below.
HPG
Specification of input shaft bearing

Size
Table 133-1
Basic rated load
Basic dynamic rated load Cr
Basic static rated load Cor
kgf
kgf
11
2700
275
1270
129
320
14
5800
590
3150
20
9700
990
5600
570
32
22500
2300
14800
1510
50
35500
3600
25100
2560
65
51000
5200
39500
4050
Table 133-2
Size
Allowable moment load Mc
Allowable axial load Fac *1
Nm
kgfm
kgf
kgf
11
0.16
0.016
245
25
20.6
2.1
14
6.3
0.64
657
67
500
51
20
13.5
1.38
1206
123
902
92
32
44.4
4.53
3285
335
1970
201
50
96.9
9.88
5540
565
3226
329
65
210
21.4
8600
878
5267
537
HPF
Size
110
Allowable radial load Frc *2
Basic rated load
Table 133-3
kgf
kgf
25
14500
1480
10100
1030
32
29700
3030
20100
2050
Table 133-4
Size
Nm
kgfm
kgf
kgf
25
10
1.02
1538
157
522
53.2
32
19
1.93
3263
333
966
98.5
NoteTable 133-2 and 133-4
*1 The allowable axial load is the tolerance of an axial load applied to the shaft center.
*2 The allowable radial load of HPG series is the tolerance of a radial load applied to the shaft length center.
*3 The allowable radial load of HPG series is the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ange edge).
Gearheads
221
Technical Information
Efciency
112
Output Bearing Specications and

Check Procedure
129
Input Bearing Specications and Check

Procedure
133
Product Handling
Assembly
135
Mechanical Tolerances
138
Lubrication
139
Warranty, Disposal
141
The rated value and performance vary depending on the product series.
Be sure to check the usage conditions and refer to the items conforming
to the related product.
Gearheads 111
Technical
Data
Technical
Data
Technical
Data
Input Efficiency
Bearing Specifications and Checking Procedure
In general, the efciency of a speed reducer depends on the reduction ratio, input rotational speed, load torque, temperature
Check theand
maximum
load
and lifeThe
of efciency
the bearing
on the
input
side
the reducer
is an HPGconditions
input shaft
unit orinan
hollow
lubrication
condition.
of each
series
under
theif following
measurement
is plotted
theHPF
graphs
on
shaft unit.the next page. The values in the graph are average values.
HPG
CheckingMeasurement
procedure condition
HPF
Table 112-1
HPGP / HPG / HPF / HPN3000rpm

Input
rotational load
speed
Checking
maximum
CSG-GH / CSF-GHIndicated on each efficiency graph.
Ambient temperature
25
Calculate:
Lubricant
Maximum
load moment load (Mi Use
max)standard lubricant for each model. (See pages 139-140 for details.)
(1)

compensated
Maximum Efciency
load radial load
(Fri max)
for low
temperature
Calculate the efciency at an ambient temperature of 25C or less by multiplying the efciency at 25C by the low-temperature
efciency correction value. Obtain values corresponding to an ambient temperature and to an input torque (TRi*) from the
Calculate:
following graphs when calculating the low-temperature efciency correction value.
Average axial
load (Fai av) HPG
HPGP
HPF
HPN
Average
input
speed
(Ni
av)
* TRi is an input torque corresponding to output torque at 25C.
Graph 112-1
1.0

TRi100
0.8
Efciency correction coefcient
Size
0.6
Table 133-1
Basic rated load
TRi50
HPG
kgf
11
2700
275
1270
129
5800
590
3150
320
20
9700
32
22500
50
35500
65
51000
0.4
TRi10
kgf
14
990
5600
570
2300
14800
1510
3600
25100
2560
5200
39500
4050
TRi25
0.2
Size
Table 133-2
Nm
kgfm
kgf
kgf
11
0.16
0.016
245
25
20.6
2.1
14
6.3
0.64
67
20
13.5
10
20
657
Ambient temperature
1206
123
0.0
1.38
30
500
51
902
92
32
44.4
4.53
3285
335
1970
201
50
96.9
9.88
5540
565
3226
329
21.4
8600
878
5267
537
65
210
CSG-GH
CSF-GH
* TRi is an input torque corresponding to output torque at 25C.

1.4
Size

1.2
Efciency correction coefcient
N
25
14500
32
29700
Size
1.0
0.8
25
10
32
19
0.6
0.4
0.2
Table 133-3
TRi100
kgf
1480
10100
1030
3030
20100
2050
TRi50
TRi25
Table 133-4
Allowable
radial load Frc *3
TRi10
kgfm
kgf
kgf
1.02
1538
157
522
53.2
1.93
3263
333
966
98.5
*1 The allowable axial load is0.0the tolerance of an axial load applied to the shaft center.
5
15
25
35
40
0
10
20
30
*3 The allowable radial load of HPG series is the toleranceTemperature
of a radialload
applied to the point of 20 mm from the shaft edge (input ange edge).
208
112
Basic rated load
kgf
Nm
Graph 112-2
HPF
Gearheads
Technical
Data
Technical
Data
Technical
Data
HPG
HPF
Figure 134-1
The maximum load moment load (Mi max ) is calculated as follows.

External
Reduction Ratio = 5
Reduction
Ratio load
= 21 inuence diagram
Check that the following formulas
are established
in all
circumstances:
Graph
113-1
TRi
TRi
100
100
90
90
Formula 134-1
50
40
Fri max
30
20
Fai max
Max. radial load
N (kgf)
N (kgf)
Max. axial load
10
Lri,Lai
0
0.5
See Fig. 134-1.
80
See Fig. 134-1.
50
40
30
20
Fri
10
See Fig. 134-1.
1.5
70
60
Fri
0
0
0.1
0.2
Input torqueNm
Mi max Mc (Permissible moment load)

Fai max Fac (Permissible
axialGraph
load)
113-3
TRi TRi
0.4
0.5
Lri
Lri
HPG
90
80
Efciency %
0.3
Input torqueNm

100
Lai
60
Fai
Lai
70
Efciency %
Efciency %
80
FaiGraph 113-2
Size 11
:maximum
Gearhead load moment
HPGP load to input shaft
Calculating
HPF
70
60
How50to calculate average load

Reduction ratio = 37
40
(Average
moment load, average axial load, average input rotational frequency)
30
HPG
HPF
If moment load and axial load uctuate, they should be converted into the average load to check the life of the bearing.
20
10
0
0
0.1
0.2
M2
Gearhead (standard item)
: Gearhead
Ratio
=t25
100
M4
Time: t
HPGP
How to calculate the average axial load (Faiav)
t3
t4
TRi
Reduction Ratio = 11
Graph 113-4
Efciency %
Input speed
Efciency %
60
n3
50n 1
40
30
n4
20
70
60
50How
40
to calculate the average output rotational frequency (Niav)
Formula 134-4
30
20
Time: t
10
10
0
0
0.5
Input torqueNm
Graph 113-6
TRi
TRi
Calculate
100 the bearing life according to Calculation Formula
90 check the life.
132-5 and
Formula 134-5
70
50
40
30
20
Cr
Pci
Efciency %
Efciency %
80
60
0.5
rpm
1.5
See Formula 134-4

2
Basic dynamic rated

load
Input
torqueNmN (kgf)
See Table 133-1 and -3
Dynamic equivalent radial load
Speed reducer only
1.5
TRi
2.5
Graph 113-7
90
HPG
80
70
Size
60
11
50
Pci
20
30
32
65
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av
50
0.2
0.4
0.6
Input torqueNm
Size
DDU bearing (bearing with double side
rubber contact seal)
assembled on input side of the gearhead (optional)
25
32
Table 134-1
14
40
10
Hour
Average input rotational speed
TRi
100
20
Life
0
Input torqueNm
Calculating
life=of
side bearing
Reduction Ratio
15,input
21
Graph 113-5
80
n2
70
Ni av
TRi
100
Formula 134-3
90
80
L10
TRi Input torque corresponding

to output torque
DDU bearing (bearing with double side rubber contact seal)

90
10
Formula 134-2
0.3
Input torqueNm
Speed reducer only
t1
Reduction
How to calculate the average moment load (Miav)
TRi
0.8
HPF
Table 134-2
Pci
Input torque corresponding
121tooutput
Mi torque
av 2.7 Fai av
106 Mi
av 2.7 Fai av
Miav Average moment load Nm (kgfm)

Faiav Average axial load N (kgf)
209
See Formula 134-2
Gearheads 113
See Formula 134-3
Moment load
M1
Size 14
M3
Graph 134-1
Technical
Data
Technical
Data
Technical
Data
Size 20
: Gearhead
HPGP

Reduction ratio = 5
Graph 114-1
114-2
TRi
TRi bearing on the
Check the maximum
load and life of the
input side if the reducer
is an HPG input shaft
unit orGraph
an HPF
hollow
100
100
shaft unit.
90
90
Efciency %
HPG
60
80
HPF
Efciency %
80
70
Checking procedure
(1) Checking maximum

load
50
Calculate:
40
Maximum load moment
load (Mi max)
30
Maximum load axial
20 load (Fai max)
Maximum load radial
10 load (Fri max)
50
40
30
20
10
70
60
0
0
10
Input torqueNm
Input torqueNm
Calculate:
Average moment
load (Miratio
av) = 15, 21
Reduction
ratio = 33, 45
Calculate the life and check Reduction
it.
TRi
TRi
TRi
TRi
Graph 114-3
100
100
90
90
80
80
Efciency %
Specication 60of input shaft bearing
Efciency %
70
40
HPG
Specification of input
20 shaft bearing
10
Size
N
11
14
kgf
Input torqueNm
2700
0
Basic static rated
load Cor
0
1270
129
990
5600
570
32
22500
2300
14800
1510
50
35500
3600
25100
2560
39500
4050
65
Size 32
51000
: Gearhead
5200
HPGP
Reduction ratio = 5 *1
Size
Input torqueNm
Ri
Allowable
moment load T
Mc
100
Graph
114-5
Allowable

to output torque
Table 133-2
Graph
TRi
Allowable
radial load
Frc114-6
*2
axial load Fac

*1
100
kgf
90
kgf
0.016
245
80
25
2.1
14
70
6.3
20.6
0.64
657
70
67
500
51
13.5
1.38
1206
123
902
92
44.4
4.53
3285
96.9
30
9.88
5540
21.4
8600
32
50
65
60
50
40
210
20
Efciency %
kgfm
80
0.16
Efciency %
Nm
90
11
20
10
25
32
335
1970
201
565
30
3226
329
5267
537
40
0
40
Basic rated load

Input torqueNm
TRi TRi
90
14500
80
29700
Efciency %
Size
30
Basic dynamic
load Cr
Reduction
ratio = rated
15, 21
N
100
32
HPF
20
70
Graph 114-7
kgf
10100
20100
kgfm
30
10
1.02
1538
1.93Reduction ratio = 21
3263
20
25
Graph 114-8
TRi
1030
90
80
2050
70
60
Table 133-4
ratio =Frc
33 *3
AllowableReduction
radial load
40
kgf
kgf
30
157
522
53.2
333
966
Reduction ratio = 45 98.5
20
10

0
15
Input torqueNm
Allowable axial load Fac50*1
40
Nm
10
Table 133-3
10
Basic static
rated loadratio
Cor = 33, 45
Reduction
TRi
kgf
100
1480
Allowable
moment load Mc
50
3030
60
20
19
50
Efciency %
25
50
10

Size
60
878
20
10
kgf

3150
320
Gearhead 590
(standard item)
9700
Table 133-1
10
5
275
5800
Speed
reducer only
20
40
30
20
Basic rated load
Graph 114-4
70
60
50
The specication 50
of the input side main bearing of the input shaft unit is shown
below.
30
0
5
10
15
20
25
10
*1 The allowable axial load is the tolerance

an axial load applied to the shaft center.
InputoftorqueNm
Input torqueNm
Speed reducer only


to output torque
*1 Only one line is shown because the difference between the gearhead and a bearing assembled on the input side is small.
114
210
Gearheads
Speed reducer only
Gearhead (sta
arhead (standard item)
Size 50
: Gearhead
HPGP
Calculating maximum load moment load to input shaft
HPG
HPF
Figure 134-1
The maximum
Reductionload
ratiomoment
= 5 * load (Mi max ) is calculated as follows. Reduction ratio = 11 *2
External load inuence diagram
TRi establishedGraph
TRi
Check that
the following formulas are
in all115-1
circumstances: 100
100
2
90
40
30
Fri max
20
Fai max
N (kgf)
See Fig. 134-1.
See Fig. 134-1.
N (kgf)
Max. axial load
10
Lri,Lai
0
Max. radial load
20
40
60
Input torqueNm
50
40
30
20
See Fig. 134-1.

80
70
60
Fri
10
20
90
80
80
Efciency %
30
40
Input torqueNm
Lri
100
90
70
Reduction ratio = 33, 45
Ri
TRi
Fai max Fac T(Permissible
axial Graph
load)115-3
100
60
Fri
10
100
Mi max
moment load)
Reduction
ratio= Mc
15, (Permissible
21 *2
Lai
50
50
Lri
TRi
TRi
Graph 115-4
HPG
HPF
70
60

50
40
40 rotational frequency)
(Average
moment load, average
axial load, average input
30
Fai
Lai
60
Graph 115-2
80
Efciency %
Efciency %
70
Efciency %
90
Formula 134-1
80
Fai
Technical
Data
Technical
Data
Technical
Data
HPG
30
HPF
20
Graph 134-1
10
0
0
10
Moment load
M1
Speed reducer only
M3
20
10
Formula 134-2
30
40
Input torqueNm
M2
20
M4
50
10
15
Input torqueNm

20

to output torque
Size 65
: Gearhead
t1
Time: t
HPGP
t3
t2
Reduction ratio = 4, 5 *3
t4
TRi
100
TRi
Graph 115-5
100
90
60
Efciency %
Reduction ratio = 4n 3
n1
50
40
n4
30
20
Time: t
Reduction ratio = 5
10
70
60
How
50
Formula 134-4
40
30
20
10
0
0
50
100
150
200
250
torqueNm
Calculating life ofInput
input
side bearing
50
Reduction
ratio = 15,
*
Calculate
the bearing
life20
according
to Calculation Formula Reduction ratio = 25 *
Graph 115-7
TRi TRi
132-5 and
100 check the life.
100
Formula 134-5
3
80
80
70
70
11
50
40
Life
Ni av10 Average input rotational speed

Cr
Pci
Efciency %
Efciency %
90
Size
TRi
60
Basic dynamic rated load

0
50
Hour
Speed reducer only
N (kgf)
50
40
30
10
See Formula 134-4
100
60
20
rpm

N
Input torqueNm
150
90
L10
100
Input torqueNm
150
Table 134-1
Pci
14
20
32
50
65
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av
0
0
20
40
60
Dynamic
equivalent
radial load
Size
Graph 115-8
HPG
Input torqueNm
DDU bearing (bearing with double25

side rubber contact seal)
32
80
HPF
100
Table 134-2
Pci
121TRi Input
Mi torque
2.7 Fai av
av
corresponding
to output torque
106 Mi
av 2.7 Fai av

assembled on input side of the gearhead (custom item)
Input Shaft

axial load N (kgf)
TRi Input torque

Faiav
Average
corresponding
to output torque
See Formula 134-2

Gearheads
115
211
See Formula 134-3
Input speed
Efciency %
80
n2
70
20
Graph 115-6
90
80
30
TRi
Formula 134-3
Technical
Data
Technical
Data
Technical
Data
Size 11
Gearhead Input Shaft Unit
HPG
Input Bearing
Specifications and Checking
Procedure
Reduction ratio = 5
Reduction ratio = 9
Check the maximum load and life

the input
an116-2
HPF hollow
116-1 side if the reducer is an HPG
Graph
TRi of the bearing on Graph
TRi input shaft unit or
100
100
shaft unit.
90
90
Efciency %
HPG
80
HPF
Efciency %
Checking procedure
70
80
60
load
50
Calculate:
40
30
20
Maximum load radial
load (Fri max)
10
50
Maximum load moment load (Mi40

max) Permissible moment load (Mc)
30 Permissible axial load (Fac)
20 Permissible radial load (Frc)
10
0.5
Input torqueNm
Calculate:
TRi
100
Average input speed
(Ni av)
1.5
0.2
0.4
0.6
Graph 116-3
TRi TRi TRi TRi
100
90
90
80
80
Specication 60
of input shaft bearing
Efciency %
70
40
HPG
20shaft bearing
10
11
14
0.1
2700
0.2
0.3
kgf
275
Speed
reducer only
5800
9700
990
32
22500
2300
50
Size35500
14
51000
3600 Shaft Unit

Gearhead Input
5200
90
Nm
20
32
50
6.3
Reduction ratio = 5
0.64
657
13.5
50
1.38
1206
70
60
44.4
40
4.53
3285
30
96.9
9.88
5540
21.4
8600
Reduction ratio = 3
20
210
10
0

TRi
100
32
29700
70
60
50

40
1538
1910
1.93
3263
0.5
Input torqueNm
1.5
kgf
20.6
2.1
67
500
51
902
92
50123
40335
1970
201
30565
3226
329
878
5267
537
0.5
TRi
kgf
90
1.5
TRi
Graph 116-8
60
40
30 kgf
kgf
522
53.2
966
98.5
10333
0
Table 133-4
50
20 157
2.5
2050
70
Table 133-2
1030
80
0.2
0.4
0.6
Input torqueNm
0.8
Ri Input torque corresponding
*3 The allowable radial
load of
is the
tolerance
shaft
edge T(input
ange edge).
Speed reducer
onlyHPG series
Gearhead
(standard
item) of a radial load applied to the point of 20 mm from the Input
Shaft
116
Table 133-3
Input
torqueNm
1.02
60
25
100
N
10100
1020

to output torque
Reduction
ratio
Basic static
rated load
Cor = 33, 45
20100
70
1480
kgfm
0.3
Allowable radialGraph
load116-6
Frc *2
10
3030
TRi
20
Nm
30
80
Graph 116-7
Input Shaft
90 kgf
Basic rated load
kgf
14500
80
Efciency %
25
TRi
90
25
Input torqueNm

N
Size
3
HPF
0.2
4050
1
Allowable axial load Fac
100 *
1
32
2560
245
65
Size
25100
HPG
kgfm
Efciency %
14
570
1510
0.016
80
0.16
Gearhead
Gearhead
0.1
5600
39500
Graph 116-4
kgf Input torqueNm

129
14800
Graph 116-5
TRiTRiload Mc
Allowable
moment
100
11
1270
Size
0.5

assembled on 3150
input side of the gearhead (optional) 320
Gearhead (standard
590 item)
20
65
0.4
Input torqueNm
Efciency %
0
Basic static rated
load Cor
Efciency %
Size
Table 133-1
10
Basic rated load
0
Basic
dynamic rated load Cr
40
30
20
Gearhead
Input shaft
Input shaft
60
50 the input side main bearing of the input shaft unit is shown
50
The specication of
below.
Input Shaft
30
0.8
Input torqueNm
Reduction
ratio = 37, 45
Calculate the life and check
it.
70
Efciency %
70
60
212
Gearheads
to output torque
Size
20
Gearhead
load
Input moment
Shaft Unitload toHPG
Calculating
maximum
input
shaft
HPG
HPF

External
Reduction
ratio load
Check that the following formulas
are established
in all
circumstances:
Graph
117--1
TRi
TRi TRi
100
100
90
90
Formula 134-1
50
40
Fri max
30
20
Fai max
10
Lri,Lai
Max. radial load

Max. axial load
See Fig. 134-1.
See Fig. 134-1.
N (kgf)
N (kgf)
Reduction ratio = 3
80
See Fig. 134-1.
70
60
50
40
30
20
Fri
10
Fri
0
0
10
Input torqueNm
Mi max
(Permissible moment load)
Reduction
ratio= Mc
15, 21
100
Input torqueNm
90
80
80
Efciency %
60
Lri
Lri
TRi TRi
100
90
70
Efciency %
Fai max TFac

load)
Ri
TRi(Permissible axial
Graph
117--3
Fai
Lai
Reduction ratio = 5
60
Graph 117--2
Fai
Lai
Efciency %
70
Efciency %
80
Figure 134-1
Graph 117--4
HPG
HPF
70
60
Reduction
How50to calculate average
loadratio = 15
50
HPG
(Average
moment load, average axial load, average input
rotational frequency)
40
40
30
Technical
Data
Technical
Data
Technical
Data
HPF
30
20
10
0
0
M1
t1
Reduction
5*
t3
Graph 117--5
100
Reduction ratio = 5
n3
60
n1
50
40
30
n4
Reduction ratio = 3
Time: t
70
60
50How
Formula 134-4
40
30
20
10
10
20
30
40
Input torqueNm
50
Efciency %
70
50
40
30
20
Life
10
15
See Formula 134-4

20
15
20
HPG
80
70
11
50
14
40
32
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.041 Mi
65
0
av 1.426 Fai av
Reduction
45 1.232 Fai av
0.053 ratio
Mi =av
50
0.444 Mi
20
30
Input torqueNm
Dynamic equivalent
radial load
Size

25
32
Table 134-1
Pci
Size
60
25
Graph 117-8
TRi
90
10
N (kgf)
Input torqueNm
Speed reducer only
Hour
rpm
10
Input torqueNm
TRi
100
20
Ni av0 Average input rotational speed
80
60
Input
Shaft
121
Mi
106 Mi
av 1.232 Fai av
8
HPF
10
Table 134-2
Pci

2.7
Fai av
av
to output
torque
av 2.7 Fai av

213
See Formula 134-2
Gearheads 117
See Formula 134-3
Graph 117--7 Formula

TRi life
TRi according to Calculation
Calculate
the bearing
100
132-5 and
90 check the life.
Formula 134-5
Efciency %
Graph 117--6
TRi
80
Efciency %
Input speed
Efciency %
70
Calculating
life of input side bearing
Pci
Formula 134-3
90
10
Cr

to output torque
n2
20
L10
Formula 134-2
Time: t
HPG
t4
TRi TRi
Input Shaft
M4
2
= t3,
80
10
Input torqueNm
90

M2
ratio
100
10
Size 32
20
0
Input torqueNm
Speed reducer only
Moment load
M3
Graph 134-1
Technical
Data
Technical
Data
Technical
Data
Size 50
HPG
Input Bearing
Specifications and Checking
Procedure
Reduction ratio = 3, 5*2
Reduction ratio = 11*2
Check the maximum load and lifeTRiofTRithe bearing on Graph

the input
side if the reducer is an HPG Tinput
shaft unit or
an118-2
HPF hollow
118-1
Graph
Ri
100
100
shaft unit.
90
90
HPF
Reduction ratio = 5
60
load
50
Calculate:
40
30
Maximum load axial
load Reduction
(Fai max) ratio = 3
20
Maximum load radial
load
(Fri max)
10
0
80
70
60
50
Maximum load moment load (Mi40max) Permissible moment load (Mc)

10
0
20
40
60
80
Input torqueNm
Calculate:
Average moment
load (Miratio
av) = 15, 21*2
Reduction
TRi TRi
100
Average input speed
(Ni av)
Efciency %
Efciency %
HPG
100
10
20
Graph 118-3
TRi
100
90
90
80
80
Specication60of input shaft bearing
70
30
TRi
30
70
60
10
N
11
Size
32
50
Gearhead
22500
3600 Shaft Unit

Gearhead Input
5200
51000
Allowable
moment
Reduction
ratio
= 4, 5 load
*3 Mc
TRi TRi
100Nm
80
70
1.38
Reduction ratio = 4
44.4
4.53
50
40
3096.9
10
9.88
Reduction ratio = 5
90
32
14500
20
Input Shaft

to output torque
50 Allowable
40Nm
kgfm
10
20
1.02
10
19
123
50
3285
335
5540
565
8600
878
40
Input torqueNm
kgf
20
40
60
80
100
1970
50
40
201
3226
329
5267
537
60
Allowable axial load Fac *
50
kgf
1538
157
3263
333
40
50
100
150
Input torqueNm
Graph 118-10
TRi
100
90
2050
70
80
70
Table 133-4
60
50
40
30
20
10
kgf
522
53.2
966
98.5

Input torqueNm
92
1030
20100
80
10
51
902
60
Table 133-3
Graph 118-9
10100
90
1.93
150
TRi
100
20
2.1
500
70
10
100
30
80
20
kgf
20.6
90
30
Graph 118-7
TRi TRi
100
Table 133-2
0
50
1480
moment load Mc
30
1206
3030
60
kgf
60
Basic rated load
70
Graph 118-6
Allowable
Reduction
ratio = radial
15, 20load Frc *2
300
HPF
Graph 118-8
8029700
TRi
67
10
Efciency %
25
Efciency %
15
4050
25
20
kgf
TRi
2560
245
70
250
1510
25100
HPG
657
80
30
100
100
21.4
200
14800
39500
90
0.64
6013.5
20210
Graph 118-5
0.016
6.3
20
40
60
80
100
Input torqueNm
20
40
60
80
Input torqueNm
100
Ri Input torque corresponding
load of
HPG series
is the
tolerance
shaftShaft
edge T(input
ange edge).
Speed reducer
only
Gearhead
(standard
item) of a radial load applied to the point of 20 mm from the Input
118
10
Input torqueNm
570
Allowable
axial
Reduction
ratio =
12 load Fac *1
kgfm
900.16
Input torqueNm
32
129
5600
2300
35500
Size
65
25
kgf
1270
990
0
50
100
150
shaft
bearing
Size
65
Size
0
Basic static rated
load Cor
DDU bearing (bearing

seal)
3150 with double side rubber contact
320
590 item)
(standard
9700
Efciency %
20
kgf
Input torqueNm
50
275
5800
Speed
reducer only
11
14
40
Efciency %
65
30
Table 133-1
10
Efciency %
50
20
Efciency %
32
10
2700
14
20
20
Basic rated load
Size
40
30
HPG
20 shaft bearing
50
Graph 118-4
The specication50of the input side main bearing of the input shaft unit is 50shown below.
40
40
Input torqueNm
Reduction
ratio = 33, 45
it.
Efciency %
Efciency %
Checking procedure
70
80
214
Gearheads
to output torque
Size 32 RA3 maximum

HPG shaft
Right load
Anglemoment
Gearheadload to input
Calculating
HPG
HPF

External
ratio = 5
Reduction
ratio load
CheckReduction
that the following
formulas are
establishedGraph
in all
circumstances:
119-1
TRi
TRi
90
90
60
50
40
Fri max
30
N (kgf)
Max. radial load
20
Fai max
10
Lri,Lai
0
10
15
25
Input torqueNm
70
60
50
40
20

Fai max Fac
load)
119-3
TRi TRi(Permissible axialGraph
100
90
Efciency %
Efciency %
10
15
20
25
Input torqueNm
TRi TRi
Graph 119-4
HPG
HPF
80
70
60
50
40 rotational frequency)
40
(Average
moment load, average axial load, average input
HPG
30
30
30
Lri
Lri
90
70
100
60
Fri
30
80
Fri
10
See Fig. 134-1.
20
80
30
See Fig. 134-1.
See Fig. 134-1.
N (kgf)
Max. axial load
Fai
Lai
70
Graph 119-2
Fai
Lai
Formula 134-1
80
Efciency %
100
Efciency %
100
Figure 134-1
Technical
Data
Technical
Data
Technical
Data
HPF
20
20
Graph 134-1
10
0
01
M
M3
10
10
Formula 134-2
0
15
20
Input torqueNm
25
10
Input torqueNm
15
20
Moment load
TRi Input torque corresponding to output torque
M2
Size 50 RA3
M4
Time: t
t1
t3
t2
Reduction ratio = 5
HPG
t4
Graph 119-5
TRi
100
Efciency %
n2
70
60
n3
50 1
40
n4
70
60
50How
10
0
0
0
10
15
20
25
Input torqueNm
30
35
40
Calculating
70
60
50
40
90
70
50
20
rpm
See Formula 134-4
25
N (kgf) 30
See35Table 40
133-1 and -3
Cr
0
5
10
15
Basic
dynamic
rated load
Pci
20
Input torqueNm
TRi Input torque corresponding to output torque
20
25
30
HPG
50
10
65
0
0
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
10
15
25
32
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av
20
25
Input torqueNm
Dynamic equivalent
radial load
Size
Table 134-1
0.444 Mi
Reduction ratio0.071
= 45 Mi
32
40
Pci
14
20
35
Graph 119-8
11
40
20
Hour
15
Input torqueNm
Size
60
30
10
80
30
Life
TRi TRi
100
Efciency %
80
Graph 119-7 Formula

TRi
Calculate
the bearing lifeTRiaccording
to Calculation
100
132-5 and
90 check the life.
Formula 134-5
Formula 134-4
20
Time: t
10
Ni av
40
30
20
Efciency %
80
30
35
HPF
40
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

215
See Formula 134-2
Gearheads 119
See Formula 134-3
Efciency %
Input speed
80
30
L10
Graph 119-6
90
90
10
TRi
100
Formula 134-3
Technical
Data
Technical
Data
Technical
Data
Size 50 RA5
HPG
Input Bearing
Specifications
and Checking
Procedure
Reduction ratio = 5
Check the maximum load and life of

the input
side if the reducer is anTRiHPG input shaft unit Graph
or an120-2
HPF hollow
120-1
TRithe bearing on Graph
100
100
shaft unit.
90
90
Efciency %
HPG
80
HPF
Efciency %
Checking procedure
70
80
60
load
50
Calculate:
40
30
20
Maximum load radial
load (Fri max)
10
0
70
60
50
Maximum load moment load (Mi40

max) Permissible moment load (Mc)
10
0
0
20
40
60
80
100
20
40
60
Input torqueNm
Input torqueNm
Calculate:
it.
Reduction
ratio = 33, 45
Average axial load (Fai av) TRi TRi
Graph 120-3
TRi TRi
100
100
Average input speed
(Ni av)
90
90
80
80
Efciency %
Efciency %
70
Specication 60
80
100
Graph 120-4
70
60
The specication 50
of the input side main bearing of the input shaft unit is 50
shown below.
40
30
HPG
20 shaft bearing
10
Size
11
2700
N
14
20
40
60
kgf
Input torqueNm
80
Table 133-1
100
275
TRi Input
5800
590
torque corresponding to output torque
0
Basic static rated
load Cor
0
20
kgf
1270
129
3150
320
9700
990
5600
570
32
22500
2300
14800
1510
25100
HPG
2560
51000
3600 Gearhead
Right Angle
5200
Reduction ratio = 5
Size
39500
TRi
Allowable
moment load Mc
100
11
0.16
0.016
245
14
6.3
0.64
657
13.5
50
1.38
1206
44.4
40
4.53
3285
30
96.9
9.88
5540
21.4
8600
32
50
65
Efciency %
20
70
20
210
10
0
20
Size
60
HPF
40
Input torqueNm
TRi TRi
14500
1480
10100
29700
70
3030
20100
25
32
Efciency %
Size
60
40
kgfm
10
20
1538
1.93
3263
30
19
10
67
500
kgf
51
902
92
1970
201
3226
329
878
5267
537
20
40
60
Table
133-3
Input
torqueNm
kgf
90
2050
70
60
40
100
1030
80
30
80
Graph 120-8
TRi TRi
100
Table 133-2
30 565
Table 133-4
50 1
*
Nm
Graph 120-6
Reduction
Basic static
rated loadratio
Cor = 40, 50
32
50
Allowable
moment load Mc
TRi TRi
20.6
40 335
100
100
25
50 123
10
25
80
70
60
20
Graph 120-7
kgf
90
80
Basic rated load
Reduction
ratio = rated
20, 25
Basic dynamic
load Cr
100
80
80
4050
90 kgf
kgfm
60
60
1
100 *
90
Nm
80
40
Input torqueNm
Graph 120-5
Efciency %
35500
Size
65 RA5
Efciency %
65
10
20
50
120
30
20
Basic rated load
40
kgf
20 157
Reduction
ratio = 50
10 333
kgf
522
53.2
966
98.5
NoteTable 133-2 and 0133-4 20
40
60
80
100
20
40
60
80
100
Input torqueNm
Input
oftorqueNm
an axial load applied to the shaft center.
*3 The allowable
loadcorresponding
of HPG series
is torque
the tolerance of a radial load applied to the point of 20 mm from the shaft edge (input ange edge).
TRi radial
Input torque
to output
216
Gearheads
HPN
HPG

Reduction ratio = 4
Reduction ratio = 5
Check that the following formulas are
established
in all circumstances:
Graph
121-1
3
Max. 2radial load
Fai max
Max. axial load
Lri,Lai
1
See Fig. 134-1.
Efciency %
2
N (kgf)
See Fig. 134-1.

Reduction
= 16
See Fig.ratio
134-1.
Graph 121-5
100
90
80
70
60
50
40
30
20
10

Fai max Fac (Permissible axial load)
0
0.5
1.5
0.5
Input torqueNm
Fri
100
90
80
70
60
50
40
30
20
10
0
Fri
Graph 121-6
Lri
HPG
1.5
Input torqueNm
Lri
Fai
Lai
Formula 134-1
Graph 121-3
Fai
100
90
80
70
60
50
40
30
20
10
Input torqueNm
Graph 121-4
Graph 121-2
Efciency %
Efciency %
5
N (kgf)
Input torqueNm
Figure 134-1
External load inuence

Reduction diagram
ratio = 7
Efciency %
0
Fri max
100
90
80
70
60
50
40
30
20
10
100
90
80
70
60
50
40
30
20
10
0
Efciency %
100
90
80
70
60
50
40
30
20
10
0
HPF
Lai
Gearhead
Size 11A
Efciency %
Technical
DataData
Technical
Data
Technical
HPF
0.5
Input torqueNm
Reduction
ratio = 30average load
How
to calculate
Graph 121-7
100
(Average
moment
load, average axial load, average input rotational frequency)
90
1.5
Input torqueNm
HPG
HPF
M1
0.2
0.4
0.6
0.8
Gearhead
Efciency %
Input speed
100
90
80
70
60
50
40
30
n1
20
10
0
0
t3
Graph 121-9
n2
n3
2
Input torqueNm
Reduction ratio = 7
10
Graph 0121-12
100
90
80
70
60
50
40
30
20
10
t4
Reduction
ratio = 4
100
90
80
70
60
50
40
30
20
10
0
Graph 121-10
n4
Input torqueNm
Time: t
Calculating life of input side bearing
Input torqueNm
Efciency %
Graph 121-15
Life
Hour
rpm
N (kgf)
Dynamic equivalent
radial 2load
1
Input torqueNm
100
90
80
70
60
50
40
See
30
20
See
10
See0
Size
14
32
50
65
Formula 134-4
Table 134-1
and -2
0.5
Formula 134-4
Input torqueNm
100
90
80
70
60
50
40
30
20
10
0
Input torqueNm
Size
25
10
Graph 121-14
HPG
Pci
Table 134-1
3
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

1.5
Input torqueNm
11
32
222
Graph 121-16
Table 133-1 and -3
10
20
Graph 121-11
100
90
80
70
60
50
40
30
20
10
Input torqueNm
Efciency %
Graph 121-13
100
90
80
70
60
50
40
30
20
10
Calculate the bearing life according to Calculation Formula

132-5 and check the life.
Formula 134-5
0
Reduction ratio = 5
How to calculate the average output rotational frequency (Niav)
Efciency %
Efciency %
Time: t
HPN
t1
Reduction
ratio = 3t2
Pci
Formula 134-3
M4
Efciency %
Moment load
Size 14A
100
90
80
70
60
L10 50
40
Ni av
30
Cr 20
10
1.2
Input torqueNm
M2
Formula 134-2
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 121
See Formula 134-3
M3
Efciency %
Graph 134-1
Efciency %
Efciency %
80
70
60
50
40
30
20
10
Size 20A
Gearhead
Input Bearing
SpecificationsHPNand Checking Procedure
Check the maximum

load
and
the inputratio
side
input shaft
Reduction
ratio
= 3life of the bearing onReduction
= 4if the reducer is an HPG
Reduction
ratio =unit
5 or an HPF hollow
Graph 122-1
Graph 122-3
Graph 122-2
shaft unit.
100
100
100

Calculate:
0
10
20
Maximum load axial
load (Fai max)
Maximum load radial load (FriInput
max)torqueNm
Reduction ratio = 7
30
90
80
70
60
50
40
30
20
10
0
Graph 122-5
100
90
80
70
60
50
40
30
20
10
Specication of inputInput
shaft
bearing
torqueNm
0
Efciency %
Efciency %
Calculate:
5
10
15
90
80
70
60
50
40
30
20
10
0
Maximum0 load axial load
(Fai max)20 Permissible
0 (Fac) 5
10
15
10
30 axial load
Maximum load radial
load
(Fri max) Permissible radial load (Frc) Input torqueNm
Input
torqueNm
Graph 122-4

100
90
80
70
60
50
40
30
20
10
0
Efciency %
HPF
20
10
Input torqueNm
14
5800
20
9700
32
22500
50
Size35500
32A
65
51000
kgf
275
20
32
50
65
2560
4050
Graph -9
1.38
4.53
210
9.88
60
Reduction ratio = 7
122
32
Efciency %
25
100
Graph 122-12
HPF
dynamic rated load Cr
Basic
kgf
1480
0
29700
0
20
Reduction ratio = 4
Allowable axial load Fac *1 Graph 122-10
100
90 N
80
70245
60
50657
40
1206
30
20
3285
10
0
5540
0
3030
40
8600
Size
25
32
Allowable ratio
moment
Reduction
= 21load Mc
Nm
kgfm
100
NoteTable 133-2
90
1.02
70
19
60
1.93
10
80
50
40
30
and
20
10
133-4
kgf
25
67
123
335
20
40
60
565
Input torqueNm
878
100
90
80
rated 70
load
60
50
40
30
20
10
0
60
Input torqueNm
Efciency %
Size
80
Input torqueNm
21.4
100
shaft bearing
90
80
70
60
Basic
50
40
N
30
20
14500
10
320
25100
0.64
40
39500
HPN
0.016
20
570
80
Allowable radial load FrcGraph

*2 122-11
100
90
80
70
60
50
40
30
20
10
0
100
Graph 122-13
kgf
20.6
2.1
500
51
902
92
1970
0
3226
5267
kgf
10100
1030
2010010
2050
30
20
Allowable
axial
load Fac *
Reduction
ratio
= 31
Graph 122-16
kgf
100 N
90
80 1538
70
3263
60
50
40
30
20
10
0
0
201
20
329
60
40
80
Input torqueNm537
Graph 122-14
100
Table90133-3
Graph 12-15
Table 133-2
Reduction ratio = 5
80
70
60
50
40
30
20
10
0
10
Input torqueNm
Efciency %
Efciency %
14
3150
Input torqueNm
1510
kgfm
80
70
0.16
60
6.3
50
40
13.5
30
20
44.4
10
0
96.9
0
Efciency %
11
100
kgf
129
5600
90
Nm
N
1270
14800
5200
10
990
3600
Gearhead
Table 133-1
2300
Reduction ratio = 3
Size
590
Input torqueNm
Efciency %
load Cr
Graph 122-8
Efciency %
2700
0
Basic
Input torqueNm
Efciency %
11
HPG
100
90
80
70
60
rated load
50
40
30
20
10
0
0
Efciency %
Size
Efciency %
Specification of
Graph 122-7
25
Graph 122-6
100
90
80
70
60
50
40
30
20
10
The specication
of the ratio
input= side
the inputratio
shaft
unit is shown below.
Reduction
21 main bearing of Reduction
= 31
100
90
input
80 shaft bearing
70
60
50
40 Basic dynamic rated
30
20N
10
20
Efciency %
Efciency %
Checking procedure
HPG
Efciency %
90
80
70
60
50
40
30
20
10
0
Technical
Data
Technical
Data
Technical
Data
20
30
Input torqueNm
Table 133-4
kgf
157
522
53.2
333
966
98.5
0 load of HPG series is the tolerance of a radial load applied to the shaft length center.
5
10
15
0
5
10
15
20
*3 The allowable radial load of HPG
series is the tolerance of a radial load applied
to the point of 20 mm from the shaft edge (input ange edge).
Input torqueNm
Input torqueNm
Gearheads
223
load HPN
moment load to input shaft
HPG

Check
that the following
Reduction
ratio = 3 formulas are established
Reduction
ratio = 4
Fai max
50
Max.100
radial load
150
N (kgf)
250
N (kgf)
Graph 123-4
See Fig.
50 134-1.
100
150
200
30
60
90
40
100
150
200
Fri
60
80
Input torqueNm
Graph 123-6
100
90
80
70
60
50
40
30
20
10
Efciency %
20
50
Reduction
ratio = 13
Fri
Lri
Input torqueNm
Lri
HPG
0
H
lo
Fai
Graph 123-3
Input torqueNm
Graph 123-5
100
90
80
70
60
50
40
30
20
10
120
250

0
Fai
100
90
80
70
60
50
40
30
20
10
HP
Lai
Formula 134-1
See Fig.ratio
134-1.
Reduction
= 10
Reduction ratio = 5
Graph 123-2
See Fig. 134-1.

Input torqueNm
Efciency %
Efciency %
200
Max. axial
load
Input
torqueNm
Lri,Lai
Reduction ratio
=7
100
90
80
70
60
50
40
30
20
10
100
90
80
70
60
50
40
30
20
10
0
Figure 134-1
Efciency %
Graph 123-1
Efciency %
100
90
80
70
60
50
40
30
20
10
0
Fri max
0
HPF
Lai
Size
40A
maximum
Gearhead
Calculating
Efciency %
Technical
Data
Technical
Data
Technical
Data
HPF
20
How
to calculate average load
Graph 123-7 axial load, average input rotational
Graph 123-8
(Average
moment load, average
frequency)
100
100
40
60
80
Input torqueNm
HPG
HPF
M3
M1
0
10
Moment load
Efciency %
Efciency %
90
80
70
60
50
40
30
20
10
20
30
40
50
InputMtorqueNm
2
90
80
70
60
50
40
30
20
10
0
M4
Graph 134-1
10
20
30
Formula 134-2
40
Input torqueNm
Time: t
Input speed
t1
t2
t3
Formula 134-3
t4
n2
n3
n1
Formula 134-4
n4
Time: t

Size
11
14
20
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
65
25
32
224
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

Size
HPG
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 123
See Formula 134-3

Formula 134-5
Outp
HPF
Size 25
Hollow Shaft Unit
Input Bearing
Specifications and
Checking Procedure
Check the maximum load and life of the

the input
124-1 side if the reducer is an HPG input shaft unit or an HPF hollow
TRi bearing on Graph
100
shaft unit.
90
Checking procedure
70
Efciency %
80
HPG
HPF
60
load
50
Calculate:
40
30
20
10
Technical
Data
Technical
Data
Technical
Data
Calculate:
Size 32
Input torqueNm
Hollow Shaft Unit
HPF

Graph
124-2 shaft unit is shown below.
The specication100
of the input side main
input
TRi bearing of the
90
HPG
Size
11
Efciency %
80 shaft bearing
70
60
50
Table 133-1
Basic rated load
40
N
kgf
kgf
30
2700
275
1270
129
320
20
14
5800
590
3150
20
9700
990
5600
570
32
225000
2300
3
614800
1510
10
50
35500
65
51000
3600
Input torqueNm
5200
25100
2560
39500
4050
Table 133-2
Size
Nm
kgfm
kgf
kgf
11
0.16
0.016
245
25
20.6
2.1
14
6.3
0.64
657
67
500
51
20
13.5
1.38
1206
123
902
92
32
44.4
4.53
3285
335
1970
201
50
96.9
9.88
5540
565
3226
329
65
210
21.4
8600
878
5267
537
HPF
Size
124
Basic rated load
Table 133-3
kgf
kgf
25
14500
1480
10100
1030
32
29700
3030
20100
2050
Table 133-4
Size
Nm
kgfm
kgf
kgf
25
10
1.02
1538
157
522
53.2
32
19
1.93
3263
333
966
98.5
Gearheads
217
Size 14
maximum
Gearhead load moment
CSG-GHload to
CSF-GH
Calculating
input shaft
HPG

Check that the following formulas are established in all circumstances:
60
50
40
Fri 30
max
N (kgf)
Max. radial load
20
Fai 10
max
.05
.1
.15
60
50
40
Input torqueNcm
See Fig. 134-1.
30
20
See Fig. 134-1.
10
.25
.2
.1
.12
.14
Gearhead
1000 rpm
CSG-GH
.16
Input torqueNcm
70
60
50
40
30
20
.18
.2
Fri
0
2000 rpm

Size 20
80
10
See
.02Fig.
.04 134-1.
.06 .08
500 rpm
Input rotational speed
100
90
70
N (kgf)
Max. axial load
0
Lri,Lai
0
Fri
10
12
14
Input torqueNcm
3500 rpm
HPG
CSF-GH
Graph 125-5
16
18
Lri
Lri
HPF
How to calculate average load

ratio = 100HPG
(Average
moment load, average axial
load, average input rotationalReduction
frequency)
Graph 125-4
Fai
Graph 125-3
Lai
80
Efciency %
90
80
70
Formula 134-1
100
90
Fai
Graph 125-2
Efciency %
100
Figure 134-1
Graph 125-1
HPF
Lai
Efciency %
Technical
Data
Technical
Data
Technical
Data
HPF
Graph 125-6
100
90
90
70
M3
60
50
M1
40
30
70
50
40
30
.1
.2
.3
M2
20
.4
.5
.6
.7
Input torqueNcm
Reduction
ratio = t120
t1
2
.8
.9
1.0
t3
Graph 125-7
100
M4
n2
60
50
n3
n1
20
10
n4
0
10
20
30
40
50
60
70
Input torqueNcm
Input rotational speed
500 rpm
10
20
30
40
50
60
70
Input torqueNcm
Time: t
20
80
90
10
20
30
40
50
60
Input torqueNcm
70
80
Formula 134-3
Graph 125-8
80
70
60
50
40
30
Formula 134-4
20
10
0
10
15
20
25
30
35
40
Time: t
Input torqueNcm
1000 rpm

Formula 134-5
45
14
20
32
50
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
55
3500 rpm

11
L10
50
2000 rpm
Size
65
Size
32
HPG
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

25
218
40
30
10
100
Efciency %
Efciency %
Input speed
70
50
90
80
40
Reduction
ratio = 160
t4
90
30
10
Formula 134-2
60
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 125
See Formula 134-3
Moment load
80
How to calculate the70average moment load (Miav)
60
20
10
90
Graph 134-1
80
Efciency %
Efciency %
80
100
Efciency %
100
Size 32
Gearhead
CSG-GH
CSF-GH

Check the maximum
load
and= life
the inputratio
side =if80
the reducer is an HPG input shaft unit or an HPF hollow
Reduction
ratio
50 of the bearing onReduction
shaft unit.
Graph 126-1
Checking procedure
80
Efciency %
70
load
60
50
Calculate:
40
Maximum load moment
load (Mi max)
30
Maximum load axial
20 load (Fai max)
10
Maximum load radial
load (Fri max)
50
100
150
90
80
80
70
60
50
Graph 126-3
100
90
70
60
50
40
40 load moment load (Mi max) Permissible moment
Maximum
load (Mc)
30
30
Maximum
load axial load (Fai max) Permissible axial load
(Fac)
20
20
Maximum
10 load radial load (Fri max) Permissible radial10load (Frc)
200
250
300
350
Input torqueNcm
Calculate:
Reduction
Average moment
load (Miratio
av) = 120
100
Average input speed
(Ni av)
50
100
150
200
250
300
50
100
150
200
250
300
Input torqueNcm
Input torqueNcm
Graph 126-4
Graph 126-5
100
90
90
80
Efciency %
Efciency %
Graph 126-2
100
HPF
Efciency %
HPG
90
Efciency %
100
Technical
Data
Technical
Data
Technical
Data
70
Specication50of input shaft bearing

60
40
80
70
60
50
40
The specication30of the input side main bearing of the30input shaft unit is shown below.
20
10
0 shaft bearing
0
50
100
11
N
Input rotational
speed
kgf
500 rpm
2700
20
40
60
80
100 120 140 160 180 200
Input torqueNcm
1000 N
rpm
275
2000 rpmkgf
1270
129
320
14
5800
590
3150
9700
990
5600
570
32
22500
2300
14800
1510
Size
45
35500
65
51000
Gearhead
Reduction
= 50
Allowableratio
moment
load Mc
Nm
100
kgfm
0.016
6.3
70
0.64
65
80
60
13.5
1.38
44.4
40
4.53
50
96.9
9.88
210
10
21.4
30%
20
0
100
200
300
400
500
Graph 126-6
600
Input torqueNcm
Size
25
32
Allowable
Reduction
ratio =radial
100 load Frc *2
kgf Graph 126-7
90245
25
657
67
60
1206
123
3285
40
335
5540
565
8600
10
878
80
70
50
30
20
0
800
100
200
300
400
500
600
800
80
10100
1030
70
29700
3030
70
20100
2050
40
Allowable
moment load Mc
30
1.02
19
100
200
300
400
500
1.93
Input torqueNcm
90
50
kgfm
40
20
0
0
51
902
92
1970
201
3226
329
5267
100
537
200
300
400
500
600
700
800
Input torqueNcm
Graph 126-10
1480
20
50
30
2.1
500
14500
80
100
60
Graph
kgf 126-8
20.6
Table 133-3
100
Nm
10
70
10
700
kgf
60
80
Table 133-2
Graph 126-9
90
100
90
Input torqueNcm
Basic rated load
Efciency %
32
4050
HPF

100N
25
700
Efciency %
Size
100
Efciency %
90
0.16
50
2560
39500
Reduction
ratio
= 80
Allowable
axial
load Fac *1
11
32
CSF-GH
25100
5200
14
20
CSG-GH
3600
3500 rpm
Efciency %
50
Table 133-1
20
Size
Basic rated load
Efciency %
200
Input torqueNcm
Size
10
HPG250
150
20
60
50
700
Table 133-4
40
30 Allowable
20
10
600
kgf
axial load Fac *1
0
1538
0
3263
kgf
100
200
300
157
400
333
Input torqueNcm
500
600
kgf
522
53.2
966
98.5
rpm
rpm
2000 rpm
3500 rpm
speed
*1 The allowableInput
axial rotational
load is the
tolerance of an500
axial
load applied to1000
the shaft
center.
219
126
Gearheads
Technical
Data
Technical
Data
Technical
Data
Gearhead
CSG-GH
CSF-GH
HPG
HPF
Figure 134-1

Check that Reduction
the followingratio
formulas
= 80 are established in all circumstances: Reduction ratio = 100
90
50
40
Fri max
30
Fai max
20
200
400
600
See Fig. 134-1.
N (kgf)
Max. axial load
10
0
N (kgf)
Max. radial load
See Fig. 134-1.
Lai
80
70
60
50
40
30
20
Fri
10
See Fig. 134-1.
800 1000 1200 1400 1600 1800 2000
Input torqueNcm
200
400
600
Fri
800 1000 1200 1400 1600 1800 2000
Input torqueNcm

Lri
100
90
90
80
80
Efciency %
Efciency %
Reduction
= 120
Mi
max ratio
Mc (Permissible
moment load)
Graph 127-3
Fai max
Fac
(Permissible
axial
load)
100
70
60
50
Lai
60
Efciency %
80
70
Fai
Graph 127-2
100
Formula 134-1
90
Lri,Lai
Fai
Graph 127-1
100
Efciency %
Size 65
NO
Graph 127-4
HPG
Lri
HPF
70
60
50
40
40
How to calculate
average load
30
30
(Average moment
load,
average
axial
load,
average
input
rotational frequency)
20
20
HPG
HPF
10
10
0
200
400
600
1000 1200 1400 1600 1800
Graph 134-1
200
400
600
800
1000
1200
1400
How to calculate
the torqueNcm
average moment load (Miav)
Input
Formula 134-2
M3
M1 speed
Input rotational
Moment load
800
Input torqueNcm
500 rpm
M2
1000 rpm
2000 rpm
3500 rpm
M4
Time: t
Input speed
t1
t2
t3
Formula 134-3
t4
n2
n3
n1
Formula 134-4
n4
Time: t

Formula 134-5

Size
11
14
20
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
65
25
32
220
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

Size
HPG
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 127
See Formula 134-3
Technical
Data
Technical
Data
Output Shaft
Bearing Load
Input Bearing
Specifications
andLimits
Checking Procedure
HPN Series Output Shaft Load Limits are plotted below.
shaft unit.
HPN uses radial ball bearings to support the output shaft. Please use the curve on the graph for the appropriate
load
coefcient (fw) HPG
that represents
the expected operating condition.
HPF
Checking
procedure

load
HPN-11A
Graph 128-1
600
Calculate:
500
00
HPN-14A
700
Radial load N
Radial load N
1400
600
Calculate:
Average moment
300 load (Mi av)
1200
500
1000
200
400
300
400
100
200
100
200
300
400

Axial load N
HPN-32A
N
14
20
11
14
20
32
Radial load N
Size
HPG
275
4000
5800
590
9700
990
22500
2300
3000
35500
3600
51000
2500
5200
kgfm
0.16
0.016
6.3
0.64
13.5
1.38
1000
500
44.4
0
50
0
96.9
65
210
Axial load N
6000
2000
4000
Axial load N
21.4
128
2000
5600
570
14800
1510
fw=1
25100
2560
fw=1.2
39500
4050
fw=1.5
3000
Table 133-2

2000
2500
320
kgf
245
25
Allowable
radial load Frc *2
Load coefcient
fw=1~1.2 Smooth operation

kgf
without impact
20.6 fw=1.2~1.5 Standard operation
2.1
67
123
03285
0
1000
5540
335
2000
3000
4000
565 5000
Axial load N
6000
878
HPF
500
51
902
92
1970
201
3226
329
5267
537
Table 133-3
Basic rated load
Size
1500
129
3150
8600
1000
Axial load N
kgf
Graph 128-5
1270
1206
9.88 3000
500
1000 657
4.53
1000
Table 133-1
HPN-40A N
4000
100 200 300 400 500 600 700 800 900 1000
5000
2000
1500
Nm
Basic rated load
2700
3500
32
700
kgf
Graph 128-4
4500
11
65
600
Size
50
500
Radial load N
800
600
200
100 of input shaft bearing

Specication
Graph 128-3
2000
Maximum
load (Fac)
800 load axial load (Fai max) Permissible axial1800
Maximum load radial load (Fri max) Permissible radial
load (Frc)
1600
(2) Checking the 400

life
HPN-20A
Graph 128-2
900
Radial load N
Technical Data
dynamic
rated
load
static is
rated
load
Output shaftBasic
speed
- 100 rpm,
shaft
lifeCris based on 20,000 hours. TheBasic
load-point
based
onCor
shaft center of radial load and axial load.
kgf
kgf
25
14500
1480
10100
1030
32
29700
3030
20100
2050
Table 133-4
Size
Nm
kgfm
kgf
kgf
25
10
1.02
1538
157
522
53.2
32
19
1.93
3263
333
966
98.5
Gearheads
225
HPG
HPF
Calculating
maximum
load moment load and
to input
shaft
Output
Bearing
Specifications
Checking
Procedure
CS
Figure 134-1

ACheck
precision
roller bearing
supports
the external
(output ange).
that cross
the following
formulas
are established
in allload
circumstances:
Fai
Check the maximum load, moment load, life of the bearing and static safety coefcient to maximize performance.
Fai
Formula 134-1
Checking procedure
(1) Checking the maximum load moment load (M max )
Maximum load moment load (Mmax ) Permissible moment (Mc)
Obtain the maximum load moment load (Mmax ).
Fri max the life

N (kgf)
Max. radial load
(2) Checking
Fai max
(kgf)
Obtain
the average
load (Frav ) N
and
Max. radial
axial load
the
average axial
load (Fa av ).
Lri,Lai
(3) Checking the static safety coefcient

Obtain the static equivalent radial load
coefcient (Po).
See Fig. 134-1.
See
Fig. 134-1.
Obtain
the radial load coefcient (X) and
theFig.
axial
load coefcient (Y).
See
134-1.
Fri
Fri
HP
Check the static safety coefcient. (fs)

Fai max ofFac
(Permissible
axial load)
Specication
output
bearing
HPGP/HPG Series
Lai
Lai
Technical
Data
Technical
Data
Technical
Data
Lri
Lri
HPG
HPF
Table 129-1, -2 and -3 indicate the specications for gearhead, right angle and input shaft unit, and cross roller bearing.
Table 129-1
circle
Allowable moment load Mc*
Offset amount
HowPitch
todpcalculate
average
load
Basic dynamic load rating C* Basic static load rating Co*
Size
R
Nmfrequency)
Kgfm
(Average
momentmload, average
axialkgfload, average
inputkgfrotational
m
N
N
Basic rated load
Moment stiffness Km*4

104
HPG
Nm/rad
Kgfm/
HPF
arc min
If moment
load and axial
they318
should be 4087
converted into
load0.97
to check the
bearing.
0.26
0.88life of the
9.50
417 the average
3116
0.006 load uctuate,
0.0275
11
Graph
7060134-1
5110
521
10600
M3
20500
1082
17300
2092
32800
720
32.3
3.30
3.0
0.90
1765
183
18.7
16.8
5.0
3347
452
46.1
42.1
12.5
110
100
29.7
398
364
108
0.0405
0.011
0.064
0.0115
32
0.014
50
0.085
M1
0.123
0.019
41600
4245
76000
7755
1076
65
0.170
0.023
90600
9245
148000
15102
3900
Size
M2
Reduction
ratio
9
t21
1
11
Input speed
430
t2
340
440
1900
2830
3590
3940
21
2920
4360
600
33
3340
4990
700
45
3670
5480
890
3700
5570
11
5500
8220
9030
830
400
470
11
600
15
650
21
720
33
830
45
910
1360
840
32
1080
1240
15
6050
21
6690
9980
1250
33
7660
11400
Time: t
50
980
1460
45
8400
12500
11
1240
1850
8860
13200
Calculating
life of input
1360 side bearing
15
20
2030
2250
21 bearing life1510
Calculate the
according to Calculation
Formula
2580
132-5 and 33
check the life.1729
Formula 134-5 65
45
2830
1890
* The ratio specied in parentheses is for the HPG Series.
9470
14100
12
12300
18300
15
13100
19600
HPG
Dynamic
radial load
20 equivalent 14300
Pci
15300
17600
0.444 Mi
26300
Fai av
av 1.426
50
14
18900
0.137 Mi
28200
Fai av
av 1.232
* The ratio specied

HPGSeries.
0.109
Mi av
20 in parentheses is for the
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
21400
Size
25
40
11
65
Formula 134-3
Size
32
Formula 134-4
Table 134-1
22900
1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

25
226
*1 T
*2 T
b
*3 T
a
*4 T
*5 T
lo
c
How to 5calculate the average

(Niav)
6490
4350 output rotational frequency
980
n4
1630
3
How to
calculate the average
axial load (Faiav) 2430
2410
550
n3
Allowable axial load *5
2640
45
n1
Allowable radial load *5
11
780
n2
Reduction
ratio
15
520
Time: t
Note
Formula 134-2
Table 129-3
Size
510
t4 660
t3
37
3
14
Allowable axial load *5
280
Table 129-2
M4
Allowable radial load *5
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 129
See Formula 134-3
Moment load
14
20
Table 130-1 indicates the specications for cross roller bearing.

Series
Input CSG-GH/CSF-GH
Bearing Specifications
and Checking Procedure
Table 130-1
Check the maximumPitch

load
and Offset
life of the bearing on
input stiffness
shaft unit
or an HPF hollow
Basicthe
loadinput
rating side if the reducer is an HPG Moment
Km*4
circle
Allowable Allowable
Allowable
amount
shaft unit.
3
5
5
Size
dp
Checking procedure
m
(1)
Basic dynamic
load rating C*1
HPG
m
0.011
0.0405
14
Checking maximum load
0.0115
0.064
20
Calculate: 32
0.014
0.085
Maximum load
load (Mi max)
0.019
45 moment0.123
Maximum load
(Fai max)0.0225
0.170
65 axial load

HPF Series
dp
m
0.085
0.1115
m
0.0153
0.015
Basic load rating
Basic dynamic
load rating C*1
N
11400
22500
kgf
1163
2296
Basic static
load rating Co*2
kgf
2071
4071
N
20300
39900
Allowable
moment load Mc*3
Nm
410
932
kgfm
41.8
95
HPG
NoteTable 129-1, -2 and -3Table 130-1 and -2
Size
11
14
129-3
20
d *5
32
50
65
*1
*2
*3
*4
*5
radial load* axial load*

N
732
1519
2938
5962
11693
N
1093
2267
4385
8899
17454
Table 130-2
Offset
amount
32
The specication
of the input side main bearing of the input shaft unit is shown below.
/
in
kgfm/
arc min
Specication
25
129-1
*4
104
Nm/rad
Table 130-2 indicates the specications for cross roller bearing.
Calculate:
Pitch circle
Size
moment load Mc*
kgf
Nm
kgfm
N HPF kgf
N
0.89
3.0
2.76
27
720
7060
521
5110
5.0
17
14.8
145
1765
17300
1082
10600
12
42
26.3
258
3347
32800
2092
20500
30
100
81.3
797
7755
76000
4245
41600
96
323
220
2156
15204
149000
8327
81600
k it.
Basic static
load rating Co*2
Technical
Data
Technical
Data
Technical
Data
Moment stiffness Km*4

10
Nm/rad
kgfm/
arc min
37.9
86.1
11.3
25.7
Allowable Allowable
radial load*5 axial load*5
N
1330
2640
N
1990
3940
Table 133-1
Basic rated
The basic dynamic load rating means a certain
static load
radial load so that the basic dynamic rated life of the roller bearing is a million rotations.
Basic
dynamic
ratedmeans
load Cra static load that gives a certain
Basic
static
rated load
Cor(4kN/mm2) in the center of the contact area
The basic
static
load rating
level
of contact
stress
between
rolling
element
receiving
the
maximum
load
and
orbit.
N
kgf
N
kgf
The allowable moment load is a maximum moment load applied to the bearing. Within the allowable range, basic performance is maintained
2700
275
129
and the
bearing is operable. Check
the bearing life based on 1270
the calculations shown on the
next page.
The value
is the average value.
5800of the moment stiffness590
3150
320
The allowable radial load and allowable axial load are the values that satisfy the life of a speed reducer when a pure radial load or an axial
9700
990
5600
570
load applies to the main bearing. (Lr + R = 0 mm for radial load and La = 0 mm for axial load) If a compound load applies, refer to the
22500 shown on the next page.
2300
14800
1510
calculations
35500
3600
25100
2560
51000
5200
39500
4050
Table 133-2
Size
Nm
kgfm
kgf
kgf
11
0.16
0.016
245
25
20.6
2.1
14
6.3
0.64
657
67
500
51
20
13.5
1.38
1206
123
902
92
32
44.4
4.53
3285
335
1970
201
50
96.9
9.88
5540
565
3226
329
65
210
21.4
8600
878
5267
537
HPF
Size
130
Basic rated load
Table 133-3
kgf
kgf
25
14500
1480
10100
1030
32
29700
3030
20100
2050
Table 133-4
Size
Nm
kgfm
kgf
kgf
25
10
1.02
1538
157
522
53.2
32
19
1.93
3263
333
966
98.5
Gearheads
227
How to calculate the maximum load moment load

HPG
CSG-GH

HPF
CSF-GH
max
max
Formula 134-1
Fai
Max. radial load
Max. axial load

N (kgf)
FaLri,Lai
max
Lr, La
R
m
m
Offset amount
See Fig. 131-1.
Lai
See Fig. 134-1.
See Fig. 134-1.
See Fig. 131-1.
(kgf)
Fai
Load
Radial load
N (kgf)
N (kgf)
axial
loadSee Fig. 131-1. N
Fr
See Fig. 134-1.
See Fig. 131-1.
Fri
Fri
Axial load

See Specication of main bearing of each series
Fa
Lri Lr
HPG
How to calculate the radial load coefcient and

the axial load coefcient
Lri
Load
HPF
Du
Du
Du
HPGP
HPG
CSG-GH
How
to calculate
average
load
HPF
CSF-GH
(Average moment load, average axial load, average input rotational frequency)
HPG
HPF
The
radial
load
coefcient
(X)
and
the
axial
load
coefcient
(Y)
Formula 131-2Graph 134-1
Formula
M3
Fa av
M1
Fr av 2FravLr+RFa avLadp
Moment load
Fa av
Fr av 2FravLr+RFa avLadp
M2
1.5
0.45
1.5
0.67
0.67
Fr av
N (kgf) See How to obtain the average load.
Fa av
Average axial load
N (kgf) See How to obtain the average load.
t1
t3
See Fig. 131-1.
t2
Offset amount
dp
Circlar pitch of roller
Input speed
See Fig. 131-1.
m
m
Formula 134-2
Formula 134-3
Calc
M4
Average radial load
Lr, La
Calc
usin
dp
Fri max
load
max maxMax. radialMax.
FrFai
Figure 134-1
Formula 131-1
M max =Fr maxLr+R+Fa max

La
Figure 131-1
HPF
Lai
HPGP
HPG
La
Technical
Data
Technical
Data
Technical
Data
Time: t
t4
See Output Shaft Bearing Specications of each series.

See Fig. 131-1.
See Output Shaft Bearing Specications of each series.
No
n2
How ton calculate the average nload (Average radial load, average
load,the
average
rotational
frequency)
Howaxial
to calculate
averageoutput
output rotational
frequency
(Niav)
3
HPGP
HPG
CSG-GH
Formula 134-4
HPF
CSF-GH
n4
If the radial load and the axial load uctuate, they shouldTime:
be converted
into the average load to check the life of the cross
t
roller bearing.
Fr1
How to obtain the average radial load (Frav )
Calculating life ofFr input side bearing
Formula 131-3
Radial load
Calculate the bearing life according to FrCalculationTime

Formula
Note
that the maximum axial load within the t1 section is Fr1 and the maximum
HPGaxial load
Formula
134-5
Dynamic
is Fr3.
within the t3 section
Fr3
Axial load
Life
Ni av
Output rotational
frequency
Pci
228
Fa 4
t1
t2
n 2 load
Basic dynamic rated
Fa 3
t3
n1
Dynamic
equivalent radial load n 3
Hour
rpm
t4
N (kgf)
N
n4
av 1.426 Fai av
Formula 131-4
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
32
0.071 Mi
av 1.232 Fai av
65
0.041 Mi
20
Time
0.053
1Mi
1.232
Fai
avmaximum
Note that the maximum50
axial load within the t1 section
is Fr
and the
axial
load
within the t3 section is Fr3.
See Formula 134-4
Time

Size
25
32
Stati
av
av 1.232 Fai av
See Table 133-1 and

How-3to obtain the average output rotational frequency (Nav )
Table 134-1
Pci
0.444 Mi
11
How to obtain the average
axial load (Faav )
0.137 Mi
14
Fa 2
L10
equivalent radial load
Size
HPF
Formula 131-5
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

Fa1
Cr
In ge
obta
bear
Gen
(Po)
See Formula 134-2

Gearheads 131
See Formula 134-3
How to calculate the life
e 131-1
CSG-GH
HPF
CSF-GH
using Formula 132-2.
Formula 132-1
Formula 132-2
shaft unit.
Checking procedure
HPG
HPF
Life
Calculate: L10
N avmoment
Ave. output
Maximum load
loadspeed
(Mi max)
C axial
Basic
dynamic
rated load
Maximum load
load
(Fai max)
Maximum load
loadequi.
(Fri radial
max) load
Dynamic
Pc radial
fw
Load coefcient
hour
rpm
N (kgf)
N (kgf)
Fr av
Average radial load
N (kgf)
See Formula 132-2.
See Table 132-1.
Radial load coefcient
Axial load coefcient
See How to calculate the radial load

coefcient and the axial load coefcient.
See Figure 131-1.

See External load inuence diagram.
See Figure 131-1.

See External load inuence diagram and
Output Bearing Specs of each series.
See "How to calculate the ave. load."

Maximum load moment load (MiFa
max)
Permissible moment
load (Mc)
N (kgf)
av Average axial load
See Output Bearing Specs.
m
dp
See Output Bearing Specs.
Circlar pitch of roller
See How to calculate the ave. load.
Lr, La
Calculate:
Load
coefcient
Average
moment
load (Mi av)
Average axial load (Fai av)Load status
Average input
av) without impact or vibration
Duringspeed
smooth (Ni
operation
132-1
Calculate theTable
life and
check it. R
fw
Offset amount
1 to 1.2
During normal operation
1.2 to 1.5
During operation with impact or vibration
1.5 to 3
The specication of the input side main bearing of the input shaft unit
is shown below.
HPGP
HPG
How to calculate the life during oscillating movement
CSG-GH
HPF
CSF-GH
Calculate the life of the cross roller bearing during oscillating movement by Formula 132-3.
HPG
11
14
20
32
50
65
Size
11
14
20
32
50
65
Basic
Size
ss
kgf
kgf
275
1270
129
3150
320
590
hour
n1 9700
cpm
No. of reciprocating oscillation per min. 990
C 22500
5600
570
1510
2300
N (kgf) See Output Bearing Specs.14800
Pc 35500
fw 51000
Load coefcient
N (kgf) See Formula 132-2.

3600
25100
5200
39500
Deg.
Oscillating angle /2
Note: When the oscillating angle is small

(5 or less), it is difcult to generate
an oil lm on the contact surface of
the orbit ring, and the rolling
element and fretting may be
generated. Contact us if this
happens.
2700
Loc 5800
Rated life under oscillating movement
See Table 132-1.

See Figure 132-1.
2560
4050
Oscillating angle
6.3
0.64
657
1.38 safety coefcient

1206
How13.5
to calculate the static
44.4
4.53
HPGP
3285
67
500
123
HPG
335
1970
32
92
HPF
201
Table 133-3
Basic ratedFormula
load 132-4
Formula 132-5
kgf
kgf
14500
1480
10100
1030
Co 29700
Basic static rated load
Po
25
51
CSG-GH902 CSF-GH
In general, the basic static rated load (Co) is considered to be the permissible limit of the static equivalent load. However,
5540 conditions. Calculate
565 the static safety3226
obtain 96.9
the limit based on the9.88
operating and required
coefcient (fs) of the329
cross roller
21.4
8600
878
5267
537
bearing210
using Formula 132-4.
General values under the operating condition are shown in Table 132-2. You can calculate the static equivalent radial load
(Po) using Formula 132-5.
HPF
25
Size
Table 133-2

When
it
is
used
for
a
long
time
while
the
rotation
speed
of
the
output
shaft
is
in
the
ultra-low
operation
range
(0.02rpm
the bearing
kgfm
N
kgf
N or less), the lubrication ofkgf
Note Nm
becomes insufcient, resulting in deterioration of the bearing or increased load in the driving side. When using it in the ultra-low operation range, contact us.
0.16
0.016
245
25
20.6
2.1
Size
32
Figure 132-1
Table 133-1
ratedFormula
load 132-3
-3
-5
HPG
InputCalculate
Bearing
Checking
Procedure
the lifeSpecifications
of the cross roller bearingand
using Formula
132-1. You
can obtain the dynamic equivalent radial load (Pc)
ency)
-4
HPGP
Technical
Data
Technical
Data
Technical
Data
3030See Output Bearing Specs.20100

N (kgf)
Static equivalent radial load N (kgf)
See Formula 132-5.
Fa max
M *max
Nm coefcient
Static safety
10
Load status
kgfm
1.02
1538
fs
Table 132-2
19 rotation precision is required

1.93
When high
33263
When impact or vibration is expected
Under normal
operating condition
NoteTable 133-2
and 133-4
Fr max
dpkgf
157
333
2050
Max. radial load
N (kgf)
See How to calculate

Table 133-4
the max. load moment
Nm (kgfm)radial
load Frc *3
Max. load moment loadAllowable
load.
Max. axial load
N (kgf)
Circlar pitch of roller N m
522
966
See Outputkgf
Bearing
Specs of each series.
53.2
98.5
1.5
229
132
Gearheads
Technical
Data
Technical
Data
Technical
Data
Input
Bearing
Specifications
and
Checking
Procedure
HPG
Calculating
maximum
load moment load
to input
shaft
HPF
Figure 134-1
The maximum
load moment
loadlife
(Miofmax
is calculated
follows.
Check
the maximum
load and
the) bearing
on theasinput
side if theExternal
reducer load
is an inuence
HPG inputdiagram
shaft unit or an HPF hollow
Check
that the following formulas are established in all circumstances:
shaft
unit.
Fai
HPG
HPF
Formula 134-1
Lai

Calculate:
Fri maxload radial
Max.
radial
load
Maximum
load
(Fri max)
Fai max
Max. axial load
Maximum
radial load (Fri max) Permissible radial load (Frc)
See Fig.load
134-1.
N (kgf)
N (kgf)
(2) Checking
Lri,Lai the life
See Fig. 134-1.
Fri
See Fig. 134-1.
Calculate:
Average Mi
inputmax
speed
(NiMc
av) (Permissible
Fai
Lai
Checking procedure
The m
Chec
Fri
moment load)
Lri
Lri
HPG
HPF
H
(A
How to calculate average load HPG

Table 133-1
Basic rated load
HPG
If mo
HPF
If Size
moment load and
axial
load
uctuate,
load to check the life of the bearing.
Basic
dynamic
rated
load Cr they should be converted
Basic staticinto
ratedthe
loadaverage
Cor
N
kgf
GraphN134-1
11
2700
275
1270
14
5800
590
3150
Moment load
32
50
65
t1
11
9700
990
5600
570
2300
14800
1510
35500 M 2
51000
3600
25100
2560
39500
4050
Nm
0.16
t2
kgfm
t3
0.016
t4
Table 133-2
Time: t
Allowable axial load
Facto
*1 calculate the averageAllowable
radial
load Frc *2
How
axial load
(Faiav)
Formula 134-3
N
kgf
N
kgf
245
25
20.6
14
6.3
0.64
657
67
500
51
20
13.5
1.38
1206
123
902
92
32
Input speed
44.4
50
65
96.9
n1
n2
210
4.53
3285
335
1970
201
5540
565
3226
329
21.4
n3
8600
878
5267
537
25
Formula 134-4
HPFn 4
Size
Basic rated load

Time: t
Table 133-3
kgf
kgf
1480
10100
1030
20100
2050
3030
Calculating29700
32

132-5
Size and check the life.
Formula 134-5
kgfm
Calc
132Table 133-4
Dynamic
kgf equivalent radial
N load
25
10
1.02
1538
Size
157
32
19
1.93
3263
333
11
14
522
HPG
Pci
kgf
Table 134-1
53.2
0.444
966 Mi
Fai av
av 1.42698.5
0.137 Mi
av 1.232 Fai av
av 1.232 Fai av
0.071 Mi av 1.232 Fai av
32
0.053
Mi
1.232
Fai av
50 of 20 mm from the
*3 The L
allowable
tolerance of a radial load applied to the point
shaft
edgeav(input
ange
edge).
10
Liferadial load of HPG series is the
Hour
0.041
Mi
1.232
Fai av
av
65
See Formula 134-4
rpm
Ni av Average input rotational speed
20
Cr
N (kgf)
Pci
0.109 Mi

Size
25
32
230
14500
Nm
2.1
9.88
M4
Size
320
22500
5200
Formula 134-2
129
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 133
See Formula 134-3
M1
20
M3
kgf
Technical
Data
Technical
Data
Technical
Data
HPG
HPF
InputTheBearing
Specifications and Checking Procedure
maximum load moment load (Mi max ) is calculated as follows.
llow
Figure 134-1
Fai
Check the maximum load and life of the bearing on the input side if the reducer is an HPG input shaft
unit or an HPF hollow
Fai
shaft unit.
Formula 134-1
HPF
Lai
HPG
Lai
Checking procedure
Calculate:
Fri max
Max. radial load
Fai max
Max. axial load
Lri,Lai
Maximum load radial load
(Fri max)
N (kgf) Maximum
See Fig.
134-1.
load
moment load (Mi max) Permissible moment load (Mc)
N (kgf) Maximum
See Fig.
134-1.
load
axial load (Fai max) Permissible axial load (Fac)
Maximum
load
radial load (Fri max) Permissible radial load (Frc)
See Fig.
134-1.
Fri
Fri

Calculate:
Fai max
Average moment load
(Mi av) Fac (Permissible axial load)

Lri
Lri
HPG
HPF
Specication
of input
shaft
bearing
(Average
moment
load,
average axial load, average input rotational frequency)
HPG
HPF
The specication
theand
input
side
main
bearing
of should
the input
shaft unit into
is shown
below.
If momentofload
axial
load
uctuate,
they
be converted
the average
load to check the life of the bearing.
M3
M1
kgf
M2
590
9700
990
32
22500
2300
50
35500
65
51000
11
kgf
129
3150
320
14800
t4
3600
5200
25100
2560
39500
4050
kgfmn 3
0.16
0.016
14
6.3
0.64
20
13.5
1.38
N
n4
657
67
500
51
Time: t
1206
123
902
92
32
44.4
4.53
3285
335
1970
201
96.9
9.88
5540
565
3226
329
8600
878
5267
537
210
Calculating
life of input21.4
side bearing

HPF
Formula 134-5
Basic rated load
Size
N
kgf
N
kgf
25
20.6
2.1Formula 134-4
245
Specification
of input
shaft bearing
132-5
and check
the life.
kgf
Size
25
14500
1480
10100
32
29700
3030
20100
Life
10
Size
25
32
moment
loadspeed
Mc
Average input
rotational
Ni avAllowable
Cr Nm Basic dynamic rated load kgfm

load
Pci 10 Dynamic equivalent radial 1.02
19
1.93
Hour
rpm
N (kgf)
N
Table 133-3
Dynamic equivalent radial
load
11
14
20
32
50
65 *1
axial load Fac
See FormulaAllowable
134-4
N and -3
See Table 133-1
See Table1538
134-1 and -2
3263
kgf
1030
2050
333
25
32
Table 134-1
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
FaiFrc
av 1.232
av*3
Allowable
radial load
kgf
N
157
522
Size
HPG
Pci
966
kgf
HPF
53.2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av
Table 133-4
Table 134-2
98.5
See Formula 134-2
134
Formula 134-3
50
65
133-4
570average axial load (Faiav)

How to calculate the
1510
Table 133-2
n2
Nm
n1
N
1270
5600
t3
t2
Time: t
Input speed
Size
t1
M4
275
5800
20
133-2
2700
Formula 134-2
14
Moment load
11

Table 133-1
Basic rated load
Size
Graph 134-1
HPG
See Formula 134-3
231
Gearheads
Assembly
HPG
HPF
Figure 134-1

External
load inuence
Assemble and mount your gearhead in accordance with these instructions
to achieve
the best diagram
performance.
Be sure to use the recommended bolts and use a torque wrench to achieve the proper tightening torques
Fai as recommended in the
Fai
tables below.
Motor assembly procedure
Formula 134-1
HPGP
HPG
CSG-GH
CSF-GH
HPN
Lai
To properly mount the motor to the gearhead, follow the procedure outlined below, refer to gure 135-1
(1)
Turn the input shaft coupling and align the bolt head with the rubber cap hole.
Num
Fri max
N (kgf)
See Fig. 134-1.
Max. radial load
(2) Fai
Formax
HPG/HPGP/HPN series, apply a Nsealant
surface of the motor ange that will contact the gearhead mounting ange.
(kgf) to the
See Fig. 134-1.
Max. axial load
Fri
(Recommended sealant: LOCTITE 515)
Lri,Lai
See Fig. 134-1.
Fri motor shaft into the coupling of

(3) With the speed reducer in an upright position as illustrated in the gure below, slowly insert the
speed reducer. Slide the motor shaft into the input shaft coupling by guiding the motor shaft into it without letting it drop down. If
the speed reducer cannot be positioned upright, slowly insert the motor shaft into the coupling of speed reducer, then tighten the
motorMi
bolts
evenly
(little
by little) until the
motor ange
the
max
Mc
(Permissible
moment
load)and gearhead ange are in full contact. Exercise care to avoid tilting Lri
motor when inserting it into the gear head.
Lri
Bolt
Mou
Tigh
Tran
* Rec
(4) Tighten the input shaft coupling bolt to the recommended torque specied in the table below. The bolt(s) or screw(s) is (are)
HPG
already inserted into the input shaft coupling when delivered. Check the bolt size on the conrmation
drawing provided. HPF
Bolt tightening torque
Table 135-1
Bolt size
M3
M4
M5
M6
M8
M10
How to calculate
average
load 4.5
Nm
2.0
9.0
15.3
37.2
73.5
Tightening moment
torque
(Average
load, 0.20
average axial
load, average
input
rotational
frequency)
kgfm
0.46
0.92
1.56
3.8
7.5
Som
orien
atten
Whe
tapp
Bolt*
Lai
Assembly
Instructions
Assembly
Instructions
Technical
Data
Follo
M12
128
HPG
HPF
13.1
If moment
load
and
axial
they
should
be inconverted
intoIf the
average
load toto check
the
liferecommended
of the bearing.
Caution:
Always
tighten
theload
bolts uctuate,
to the tightening
torque
specied
the table above.
the bolt
is not tightened
the torque
value
slippage of the motor shaft in the shaft coupling may result.
The
bolt size will vary depending on the size of the gear and the shaft diameter
Graph
134-1
of the mounted motor. Check the bolt size on the conrmation drawing provided.
Two setscrews need to be tightened

on size 11. See the outline dimensions on page 22 (HPGP) and page 34 (HPG) for size 11.
M3
Tighten
M1the screws to the tightening torque specied below.
Formula 134-2
Table 135-2
Moment load
Bolt size
(5)
Nm
Tightening torque M2
kgfm
M4
0.07
Fasten the motor to the gearhead ange with bolts.
Time: t
Bolt* tightening torque

t1 Bolt size
Input speed
Tightening torque
(6)
M3
0.69
t2
Nm
M2.5t3
0.59
M3t4
1.4
M4
3.2
M5
6.3
kgfm
0.06
0.14
0.32
0.64
M6
Table 135-3 Formula 134-3
10.7
M8
26.1
M10
51.5
89.9
1.09
2.66
5.25
9.17
Recommended bolt: JIS B 1176 Hexagon socket head bolt, Strength: JIS B 1051 12.9 or higher
Caution: Be sure to tighten
the bolts to the tightening torques specied in the table.
n2
M12
Insert the rubber cap provided. This completes the assembly. (Size 11: Fasten screws with a gasket in two places)
n3
n1
How to calculate the average output rotational frequency

Figure(Niav)
135-1
Formula 134-4
(5)
n4
Ou
Bolt*
Time: t
Num
Bol
Mo
(3)
(6)
Size
(4)
11
14
20
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
65
Size
32
HPG
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

25
232
Tig
HPF
* Rec
Bolt*
Num
Bol
Mo
Table 134-2
Tig
Tra
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

Tra
Calculate the bearing life according

to Calculation Formula
(1)
(2)
Formula 134-5
See Formula 134-2

Gearheads 135
See Formula 134-3
* Rec
Speed reducer assembly
HPGP
HPG
CSG-GH
HPF
CSF-GH
HPN
InputSome
Bearing
Checking
Procedure
right angleSpecifications
gearhead models weigh and
as much
as 60 kg. No thread
for an eyebolt is provided because the mounting
nded in the
orientation varies depending on the customer's need. When mounting the reducer, hoist it using a sling paying extreme
Check theattention
maximum
load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow
to safety.
shaft unit.When assembling gearheads into your equipment, check the atness of your mounting surface and look for any burrs on
tapped holes. Then fasten the ange (Part A in the diagram below) using appropriate bolts.
HPG
HPF
Checking
procedure
Bolt* tightening torque for ange (Part A in the diagram below)

Size
11
Calculate:
Number
of bolts load (Mi max)4
Maximum
load moment
Maximum
load
Bolt
sizeaxial load (Fai max) M3
Maximum
load radial
max) 50
mm
Mounting
PCDload (Fri
Tightening
(2) Checking
the lifetorque
If
he
Nm
kgfm
Table 136-1
HPN
HPGP / HPG / CSG-GH / CSF-GH
HPF
20
32
40
11
14
20
32
45/50
100
130
165
46
70
105
135
190
14
65
Maximum4 load moment

load4(Mi max)4 Permissible
moment
load 4(Mc)
4
4
4
M12
M10
M8
M5
M3
M6
M8
M10
M5
70
25
32
12
12
M16
M4
M5
260
127
157
1.4
6.3
10.7
26.1
51.5
1.4
6.3
26.1
51.5
103
255
4.5
9.0
0.14
0.64
1.09
2.66
5.26
0.14
0.64
2.66
5.25
10.5
26.0
0.46
0.92
2030
5180
531
1060
207
528
54.2
108
Nm
Calculate:
868
428
110
26.3
27.9
110
223
528
1063
Transfer torque
kgfm
88.6
43.6
11.3
2.69
2.85
11.3
22.8
53.9
108.5
Average
axial load (Fai bolts:
av) JIS B 1176 "Hexagon socket head bolts." Strength classication 12.9 or higher in JIS B 1051.
* Recommended
Assembly Data
Instructions
Assembly
Instructions
Technical
Mounting the load to the output ange
Follow the specications in the table below when mounting the load onto the output ange.
HPG
d
ter
Size
35-3
kgf
kgf
2700
275
1270
129
320
14
5800
590
3150
20
9700
990
5600
570
32
22500
2300
14800
1510
50
35500
3600
25100
2560
65
51000
5200
39500
4050
Table 133-2
AllowablePart
axialB load Fac *1
Part A
Nm
kgfm
kgf
kgf
11
0.16
0.016
245
25
20.6
2.1
14
6.3
0.64
657
67
500
51
20
13.5
1.38
1206
123
902
92
3285
335
1970
201
565
3226
329
32
50
65
44.4
4.53
Output
ange mounting specications
96.9
9.88
5540
Bolt* tightening torque for output ange (Part B in the Figure 136-1)
210
21.4
8600
Size
Number of bolts
SpecificationBolt
of input
size shaft bearing
Mounting PCD
Size
11
Size
e 135-1
Table 133-1
Basic rated load
Figure 136-1
25
32
Size
25
32
11
4
mm
29700
Nm
kgfm
1480
3030
878
20
M4
M6
18
Basic rated load 30
45
HPF
M4
Basic dynamic ratedNm

load Cr
Tightening torque
kgfm
N
kgf
14500 torque
Transmission
14
HPGP
4.5
32
8
M8 133-3
Table
4.5 Basic static rated

15.3 load Cor
0.46
1.56
0.46
25.3
84
2.58
8.6
10100
20100
286
29.2
5267
kgf
1030
2050
50
537
M12
M16
120
60
90
37.2
128.4
319
3.8
13.1
32.5
697
2407
5972
71.2
245
609
* Recommended bolts: JIS B 1176 "Hexagon socket head bolts." Strength classication 12.9 or higher in JIS B 1051.
HPG
Bolt* tightening
torque
for output
136-1)
Allowable
moment
load Mcange (Part B in the Figure
Allowable
axial load Fac
*1
Size
Nm
Number10
of bolts
Bolt size
19
Mounting PCD
NoteTableTightening
133-2 andtorque
133-4
kgfm
1.02
1.93
mm
Nm
11
3
M4
18
4.5
14
1538 6
3263 M4
30
4.5
20
kgf
6157
Table 136-2
65
Table 133-4

32
6
M6
333
M8
45
60
15.3
37.2
N
522
966
Table 136-3
50
kgf 65
14
53.2 6
M8
100
37.2
98.5M16
120
319
kgfm
0.46shaft center. 1.56
3.8
3.80
32.5
of an axial0.46
load applied to the
19.0 of a radial load
63 applied to the215
524
2036
4480
*2 The allowable
radial load
of HPG seriesNm
is the tolerance
shaft length center.
Transmission
torque
kgfm
*3 The allowable radial load of HPG series
is the tolerance
point of 20 mm from
(input ange edge).
1.9 of a radial load
6.5 applied to the21.9
53.4 the shaft edge
207.8
457
* Recommended bolts: JIS B 1176 "Hexagon socket head bolts." Strength classication 12.9 or higher in JIS B 1051.
233
136
Gearheads
Mounting the load to the output ange

14
20
Check that the Size
following formulas are established
8
Number of bolts
M4
Bolt size
Mounting PCD
Tightening torque
M6
Formula
134-1
10
M12
M16
94
120
4.5
15.3
37
128
kgfm
0.46
1.56
3.8
3.1
32.5
Nm
84
287
867
3067
7477
88.5
313
763
Nm
8.6
N (kgf)
See29.3
Fig. 134-1.
N (kgf)
Size
Number of bolts
20
Mi max Mc (Permissible
M4moment load)
M6
Fai
max
Fac
(Permissible
mm
Mounting PCD
30 axial load) 45
Fri
Table 137-2
45
65
16
M8
M8
M16
100
120
Lri
60
4.5
15.3
37.2
kgfm
0.46
1.56
3.80
3.80
32.5
37.2HPG
Nm
63
215
524
2326
5981
6.5
21.9
53.4
237
610

Bolt size
Mounting PCD
Moment load
Tightening torque
M2
Transmission torque
12
M4
M5
mm
77
100
Nm
4.5
kgfm
0.46
Nm
322
32.9
HPG
HPF
Graph 134-1
Formula 134-2
9.0
M4
0.92
675
68.9Time: t
* Recommended bolts: JIS B 1176 "Hexagon socket head bolts." Strength classicationHow
12.9 or
in JIS
B 1051.
to higher
calculate
the
average axial load (Faiav)
t1
t2
t3
HPN
HPG
HPGP
CSG-GH
HPF
CSF-GH
Do not subject the output shaft to any impact when mounting a pulley, pinion or other parts.
An impact to the the output
bearing will deteriorate the speed reducer precision and may cause reduced life
n2
or failure.
Input speed
Formula 134-3
t4
Gearheads with an output shaft
n3
n1
Table 137-3
32
M 3 12
kgfm
HPF
should be converted into the average load to check the life of the bearing.
25
M1
Lri
319
kgfm
Number of bolts
Ou
319
Nm
Bolt* tightening torque for output flange

HPF
If moment load and axial load uctuate, they
(Part B in Figure 136-1)
Sup
sing
Fri
CSF-GH
32
Bolt size
Size
Fai
See Fig. 134-1.
14
Figure 134-1
10 Fai
60
Max. axial load
Transmission torque
10
M8
30
Lri,Lai
B in Figure
See136-1)
Fig. 134-1.
Bolt* tightening torque

for output flange (Part
Tightening torque
HPF
45
mm
Transmission torque
kgfm
Fri max
Max. radial
load
Fai max
HPG
CSG-GH
Table 137-1
External load 45
inuence diagram
32
65
Lai
Bolt* tightening torque for output flange (Part B in Figure 136-1)
Lai
Assembly
Instructions
Assembly
Instructions
Technical
Data
CS
Formula 134-4
n4
Time: t

Formula 134-5

Size
11
14
20
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
65
25
32
234
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

Size
HPG
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 137
See Formula 134-3
* T.I.R
Tolerances and Checking Procedure

Input Mechanical
Bearing Specifications
mechanical
is achieved
by the
integrating
the ifoutput
ange with
high-precision
cross
bearing
as a
Check theSuperior
maximum
load andprecision
life of the
bearing on
input side
the reducer
is ana HPG
input shaft
unitroller
or an
HPF hollow
shaft unit.single component. The mechanical tolerances of the output shaft and mounting ange are specied below.
HPG
Checking
procedure
Output Flange: F0 (flange)
Output shaft: J2 [J20], J6 [J60] (shaft output)
Calculate:
Figure 138-2
Figure 138-1
HPF
Assembly
Instructions
Technical
Assembly Data
Instructions

Calculate:

HPG
HPGP
Size
14
20
32
50
65
11
14
20
32
11
14
20
32
50
65
275
0.020
0.020
9700
0.020
22500
0.050
0.060
0.050
0.060
0.050
5600
570
14800
1510
25100
2560
39500
4050
0.040
0.040
0.040
0.040
Table 138-2
0.020
0.040
0.060
0.050
Allowable axial load Fac *
Nm
kgfm
kgf
0.016
245
25
20.6
0.64
657
67
500
0.040
0.16
CSG-GH
CSF-GH
6.3
45 13.5
65
0.020 1.38
0.020
96.9
44.4
HPF210
25
0.020
32
0.020
0.060
0.040
1206
123
4.53
3285
335
9.88
5540
565
21.4
8600
878
0.040
HPF
* T.I.R.: Total indicator reading
138
0.060
0.050
320
990

Size
Concentricity of mounting flange

d
0.0303150
5200
HPG
Perpendicularity of
kgf flange
mounting
129c
590
3600
Table 138-1
Radial runout of output flange

pilot or outputNshaft
b 1270
2300
0.020
35500
51000
65
5800
HPGP
50
Size
2700
Table 133-1
CSG-GH Basic
CSF-GH
rated load
N Axial runout of output flange

kgf
Size
11
HPG
0.090
0.060
0.060
Allowable radial load Frc *
902
1970
3226
5267
0.080
kgf
2.1
51
0.050
201
329
537
0.060
0.050
0.040
0.060
0.050
Table 133-3
Table 138-3
0.05092
0.040
Basic rated load
Table 133-2
2
Table 138-4
T.I.R.* Unit: mm
kgf
kgf
25
14500
1480
10100
1030
32
29700
3030
20100
2050
Table 133-4
Size
Nm
kgfm
kgf
kgf
25
10
1.02
1538
157
522
53.2
32
19
1.93
3263
333
966
98.5
Gearheads
235
Lubrication
Prevention
offollowing
grease and
oil leakage
Check
that the
formulas
are established in all circumstances:
HPG
HPF
CS
Figure 134-1
The
All g
nece
Fai
Common to all models

Formula 134-1
Only use the recommended greases.
Provisions for proper sealing to prevent grease leakage are incorporated into the gearheads. However, please note that some
leakage may occur depending on the application or operating condition. Discuss other sealing options with our applications
engineers.
When mounting the gearhead horizontally position the gearhead so the rubber cap in the adapter flange is facing upwards.
Fai
Lub
Lai
Lai
Product
Handling
Product
Handling
Technical
Data
Harm
Manu
This h
excel
gener
Fri max
N (kgf)
See Fig. 134-1.
Max. radial load
CSG/CSF-GH
Series
Fai
max
N
(kgf)
See Fig. 134-1.
Max.
axial
load
Contact us when using HarmonicDrive CSG/CSF-GH
series with the output shaft facing downward (motor on top) atFria
Lri,Lai load or
See Fig. 134-1.
constant
rotating continuouslyin one direction.
Fri
Ba
So
Ad
Sealing
Lri
Mc (Permissible moment load)
CommonMi
to max
all models
Lri
Fai
max
Fac
(Permissible
axial
load)
Provisions for proper sealing to prevent grease leakage from the input shaft are incorporated into the gearhead.
A double lip Teflon oil seal is used for the output shaft (HPGP/HPG uses a single lip seal),
HPGgaskets or o-rings are used
HPF on all
mating surfaces, and non contact shielded bearing are used for the motor shaft coupling (Double sealed bearings (DDU type)
are available as an option*) . On the CSG/CSF-GH series, non contact shielded bearing and a Teflon oil seal with a spring is
used.

* DDU type: Bearing with a rubber contact seal on both sides
HPG
Sta
Am
The
distr
The
affec
HPF
Wh
The
perf
temp
the g
oper
indi
temp
aver
torq
calc
torqu
Time: t
Lubricant
t1

t2
t3
Formula 134-3
t4
HPG/HPGP/HPF/HPN Series
The standard lubrication for the HPG/HPGP/HPF/HPN series gearheads is grease.
All gearheads are lubricated
at the factory prior to shipment and additional application of grease during assembly is not
n2
required.
The gearheads
are lubricated for the
n 3 life of the gear and do not require re-lubrication.
n1
High efciency is achieved through the unique planetary gear design and grease selection .
Formula 134-4
Input speed
Form
torqu
n4
Lubricants
Harmonic Grease SK-2 (HPGP/HPG-14, 20, 32)
Manufacturer: Harmonic Drive Systems Inc.
Time: t
Form
EPNOC Grease AP (N) 2 (HPGP/HPG-11, 50, 65HPF-25, 32)
Manufacturer: Nippon Oil Co.
Base oil: Rened mineral oil

Consistency: 265 to 295 at 25C
Soap radical: Lithium soap
Dropping point: 198C
Additive: Extreme pressure agent
Product appearance: Green
and other
Calculate
the
bearing
life
according
to Calculation Formula
Standard: NLGI No. 2
PYRONOC UNIVERSAL 00 (HPG right angle gearhead/HPN)

Manufacturer: Nippon Oil Co.
Soap radical: Urea
Formula 134-5
Consistency: 420 at 25C

Dropping point: 250C or higher
Product appearance: Light yellow

and other
11
14
20
32
Ambient
temperature range:
Life
Hour 10 to +40
L10 operating
50
65
HPG
32
236
Tr
Tav
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av
See Formula
134-4
input rotationalifspeed
rpm operating
Ni av Average
The lubricant
may deteriorate
the ambient
temperature
is too high or too low. Please contact our sales office or
See
Table
133-1
and -3
Basic
dynamic
rated
load
N
(kgf)
Cr
distributor for operation outside of the ambient operating temperature
range.
HPF
134-1 andcycle,
-2
Dynamic
equivalent
N uponSee
Pci
The temperature
rise
of the radial
gearload
depends
theTable
operating
ambient temperature and heat conduction and radiation as
Size
Pci
affected by the customers installation of the gear. A housing surface temperature of 70C is the maximum allowable limit.
25
L GTn
Consistency: 282 at 25C

Product appearance: Light brown

Size
L GT
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

Moment load
HPG/HPGP/HPF/HPN
Series
If moment load and axial
load uctuate, they should be converted into the average load to check the life of the bearing.
Using the doubled sealed bearing (DDU type) for the HPGP/HPG
series gearhead will result in a slightly lower efficiency
Graph 134-1
compared to the standard product.
Formula 134-2
An oil seal without a spring is used
M 3 in the input shaft side of HPG series with an input shaft (HPG-1U) and HPF series hollow
M1
shaft reducer.
An option for an oil seal with a spring is available for improved seal reliability, however, the efficiency will be
slightly lower (available for HPF and HPG series for sizes 14 and larger).
Do not remove the screw plug and seal cap of the HPG series right angle gearhead. Removing them may cause leakage of
M2
grease or affect the precision
of the gear.
M4
Pre
Stric
runn
Note
as a
Table 134-2
Rem
See Formula 134-2

Gearheads 139
See Formula 134-3
gear
mea
CSG-GH/CSF-GH Series
InputTheBearing
Specifications and Checking Procedure
standard lubrication for the CGS-GH / CSF-GH series gearheads is grease.
gearheads are lubricated at the factory prior to shipment and additional application of grease during assembly is not
Check theAllmaximum
load and life of the bearing on the input side if the reducer is an HPG input shaft unit or an HPF hollow
shaft unit.necessary.
Lubricants
Checking procedure
ome
ions
(1)
HPG
HPF
Harmonic Grease SK-2 (Size 14)

Harmonic Grease SK-1A (Size 20, 32, 45, 65)
Checking
maximum
load Drive Systems Inc.
Manufacturer: Harmonic Drive Systems Inc.
Manufacturer:
Harmonic
This has been developed exclusively for HarmonicDrive gears and is
This has been developed exclusively for smaller sized HarmonicDrive
Calculate:
Maximum load moment load
(Mi max)
Permissible
moment
load (Mc)
excellent
in durability
compared to commercial
gears
and allows
smooth wave
generator
rotation.
Maximum
load moment
loadand
(Mi efficiency
max)
general-purpose grease.

at a
(2)

CheckingAdditive:
the lifeExtreme pressure agent
and other
Calculate:Standard: NLGI No. 2

Product appearance: Yellow

on all
type)
ng is

and other
ProductData
Handling
Product
Handling
Technical

Product appearance: Green
Ambient operating temperature range: 10 to +40
The lubricant may deteriorate if the ambient operating temperature is too high or too low. Please contact our sales office or
Specication
shaftoutside
bearing
distributorofforinput
operation
of the ambient operating temperature range.
The temperature rise of the gear depends upon the operating cycle, ambient temperature and heat conduction and radiation as
affected by the customers installation of the gear. A housing surface temperature of 70C is the maximum allowable limit.
HPG
When to change the grease
ollow
ll be
Size
11
ge of
14
20
32
50
65
Size
11
The life of Basic

the Harmonic
Drive
dynamic rated
load gear
Cr is affected by the grease
p e r f o r mN
a n c e . T h e g r e a s e pkgf
er formance varies w
Ni t h
kgf load torque is equal to or less than the rated torque)
LGTn (when the average
temperature and deteriorates with temperatures. Therefore,
2700
275
1270
1010 129
the grease will need to be changed sooner than usual when
5800
590
3150
320
Life of grease
operating at higher temperatures. The graph on the right
9700
990
5600
570
indic ate s whe n to cha nge the gre a se ba se d up on the
22500and the total number
2300
14800
1510
temperature
of input rotations when
the
25100
2560
average35500
load torque is less than3600
or equal to the rated output
109
51000
39500
4050
torque at
2000 rpm. Also, using5200
the formula below, you
can
calculate when to change the grease when the average load
Table 133-2
SK-1A
torque exceeds
the rated output torque at 2000 rpm.
SK-2
N
Formula Nm
to calculate the grease kgfm
change interval when the average
load
torque exceeds
0.16 the rated torque 0.016
245
Formula 140-1
14
6.3
20
13.5
32
50
65
0.64
44.4
4.53
Formula 96.9
symbols
L GT
n as
25
32
Size
25
32
Tr
Tav
210
Grease change interval when 21.4
Tav > Tr
3285
Input
HPF
rotations
Output torque at 2000 rpm
Nm, kgfm
Tav
N
Average
load torque
kgf
Nm, kgfm
14500
1480
29700
3030
108
335
8600
565
878
107
2.1
20
40
500
51
902
92
1970
201
3226
329
60
5267
80
100
120
537
Grease temperature (oC)

Table 133-3
Grease quantity for Reference value of grease rell amount

for replacement
Basic static
rated load Cor
Calculation formula: See

N
page 090.
10100
Table 140-2
Size
kgf 14
20
32
45
65
Amount: g
1030 0.8
3.2
6.6
11.6
78.6
20100
Precautions when changing the grease
kgf
* L10 Life of wave generator bearing
See Graph 140-1

pages 067 & 077.
N
20.6
Life of wave generator
BasicSee
rated
load table" on
the "Rating
Tr
25
123
5540 Table 140-1
Input
rotations
kgf
67
1206
9.88
Grease change interval when
Size
657
LGT = LGTn
1.38
SpecificationLGTn
of input
shaft
Tav <=
Tr bearing
wn
When to change the grease:

Table 133-1
LGTn (when the average load torque is equal to or less than the rated
output torque at 2000 rpm)
Figure 140-1
Basic rated load
Number of input revolutions
ency
2050
Table 133-4
Allowable the
moment
load Mc
Allowablethe
axial
load Fac
radial
load Frc
Strictly observe
following
instructions when changing
grease
to*avoid problems suchAllowable
as grease
leakage
or*increase in
kgfm
N
kgf
N
kgf
runningNm
torque.
1
10
1.02
1538
157
522
53.2
19 the amount of grease

1.93 listed in Table 140-2
3263is the amount used
333
98.5 be used
Note that
to lubricate the gear966
at assembly. This should
as a reference. Do not exceed this amount when re-greasing the gearhead.
Remove
grease
from the gearhead and rell it with the same quantity. The adverse effects listed above normally do not occur until the
NoteTable
133-2 and
133-4
*1 The allowable
load isre-greased
the tolerance
of an axial
load
applied to 3the
shaftorcenter.
gear axial
has been
2 times.
When
re-greasing
times
more, it is essential to remove grease (using air pressure or other
*2 The allowable
radial
loadre-lubricating
of HPG serieswith
is the
tolerance
of a radial
load applied
to the
shaft length center.
means)
before
the
same amount
of grease
that was
removed.
237
140
Gearheads
Warranty
HPG
HPF
Figure 134-1

External
load
diagram
Please contact us or visit our website at www.harmonicdrive.net for warranty
details
forinuence
your specific
product.
Fai
Fai
All efforts have been made to ensure that the information in this catalog is complete and accurate. However, Harmonic Drive LLC
Formula 134-1
is not liable for any errors, omissions or inaccuracies in the reported data. Harmonic Drive LLC reserves the right to change the
product specifications, for any reason, without prior notice. For complete details please refer to our current Terms and Conditions
posted on our website.
Fri max
Disposal
Fai max
N (kgf)
Max. radial load
Th
* S
* V
* E
See Fig. 134-1.
N (kgf)
Max. axial load
Li
Lai
Lai
Product
Handling
Product
Handling
Technical
Data
See Fig. 134-1.
Pl
ap
Fa
eq
Fri
Seesort
Fig. 134-1.
WhenLri,Lai
disposing of
the product, disassemble
it and
the component parts by material type and dispose of the parts as
Fri
industrial waste in accordance with the applicable laws and regulations. The component part materials can be classified into
three categories.
Lri on input side (DDU type only)

(1) Rubber
OilFac
seals,
seal packings,
rubber
Faiparts:
max
(Permissible
axial
load) caps, seals of shielded bearings
(2) Aluminum parts: Housings, motor flanges
HPG
(3) Steel parts: Other parts
Lri
HPF

HPG
HPF
Trademark
If moment
load and axial load uctuate, they should be converted into the average load to check the life of the bearing.
HarmonicDrive is a registered trademark of Harmonic Drive Graph

LLC. 134-1
HarmonicPlanetary is a registered trademark of Harmonic Drive LLC.
Formula 134-2
M3
M1
Moment load
O
M2
M4
Time: t

t1
t2
t3
Formula 134-3
t4
Input speed
C
n2
n3
n1
Formula 134-4
n4
Time: t

Size
11
14
20
32
50
L10
Life
Hour
Ni av
rpm
See Formula 134-4
Cr
N (kgf)
Pci
65
25
32
238
Table 134-1
Pci
0.444 Mi
av 1.426 Fai av
0.137 Mi
av 1.232 Fai av
0.109 Mi
av 1.232 Fai av
0.071 Mi
av 1.232 Fai av
0.053 Mi
av 1.232 Fai av
0.041 Mi
av 1.232 Fai av

Size
HPG
HPF
Table 134-2
Pci
121 Mi
av 2.7 Fai av
106 Mi
av 2.7 Fai av

See Formula 134-2

Gearheads 141
See Formula 134-3

Formula 134-5
Safety
Warning
Caution
: Means that improper use or handling could result in a risk of death or serious injury.
: Means that improper use or handling could result in personal injury or damage to property.
Limited Applications
This product cannot be used for the following applications:

* Space ight hardware
* Aircraft equipment
* Vacuum environments
* Automotive equipment
* Equipment for transport of humans
* Nuclear power equipment

* Personal recreation equipment
* Equipment for use in a special environment
* Equipment and apparatus used in domestic homes

* Equipment that directly works on human bodies
* Medical equipment
Please consult Harmonic Drive LLC beforehand if intending to use one of our product for the aforementioned
applications.
Fail-safe devices that prevent an accident must be designed into the equipment when the products are used in any
equipment that could result in personal injury or damage to property in the event of product failure.
Design Precaution: Be certain to read the catalog when designing the equipment.
Install the equipment properly.
Use only in the proper environment.
Please ensure to comply with the following environmental conditions:

Ambient temperature 0 to 40C
No splashing of water or oil
Do not expose to corrosive or explosive gas
No dust such as metal powder
Caution
Caution
Install the equipment with the required precision.
Caution
Design and assemble parts to keep all catalog recommended tolerances

for installation.
Failure to hold the recommended tolerances can cause problems such
as vibration, reduction in life, deterioration of precision and product
failure.
Carry out the assembly and installation precisely as specied in the catalog.
Observe our recommended fastening methods (including bolts used and
tightening torques).
Operating the equipment without precise assembly can cause problems such
as vibration, reduction in life, deterioration of precision and product failure.
Use the specied lubricant.
Caution
Using other than our recommended lubricant can reduce the life of the
product. Replace the lubricant as recommended.
Gearheads are factory lubricated. Do not mix installed lubricant with other
kinds of grease.
Operational Precaution: Be certain to read the catalog before operating the equipment.
Use caution when handling the product and parts.
Caution
Do not hit the gear or any part with a hammer.

If you use the equipment in a damaged condition, the gearhead may not
perform to catalog specications. It can also cause problems including
product failure.
Operate within the allowable torque range.
Caution
Do not alter or disassemble the product or parts.
Caution
Harmonic Planetary and Harmonic Drive products are manufactured

as matched sets. Catalog rated performance may not be achieved if the
component parts are interchanged.
Do not disassemble the products.
Caution
Do not use your nger to turn the gear.
Warning
Warning
They are heavy and may cause a lower-back injury or an injury if dropped
on a hand or foot. Wear protective shoes and back support when
handling the product.
Do not disassemble and reassemble the products. Original performance

may not be achieved.
Stop operating the system if any abnormality occurs.
Do not insert your nger into the gear under any circumstances. The
nger may get caught in the gear causing an injury.
Large model Nos. (45, 50 and 65) are heavy. Use caution when
handling.
Do not apply torque exceeding the momentary peak torque. Applying

excess torque can cause problems such as loosened bolts, generation of
backlash and product failure.
An arm attached directly to the output shaft that strikes a solid object
can damage the arm or cause the output of the gearhead to fail.
Caution
Caution
Shut down the system promptly if any abnormal sound or vibration is detected, the
rotation has stopped, an abnormally high temperature is generated, an abnormal motor
current value is observed or any other anomalies are detected. Continuing to operate
the system without stopping may adversely affect the product or equipment.
Please contact our sales ofce or distributor if any anomaly is detected.
Rust-proong was applied before shipping. However, please note that
rusting may occur depending on the customers' storage environment.
Although black oxide nish is applied to some of our products, it does
not guarantee that rust will not form.
Handling Lubricant
Precautions on handling lubricants
Disposal of waste oil and containers
Warning
Lubricant in the eye can cause inammation. Wear protective glasses to

prevent it from getting in your eye.
Lubricant coming in contact with the skin can cause inammation. Wear
protective gloves when you handle the lubricant to prevent it from
contacting your skin.
Do not eat it (to avoid diarrhea and vomiting).
Use caution when opening the container. There may be sharp edges that
can cut your hand. Wear protective gloves.
Keep lubricant out of reach of children.
Caution
Storage
First-aid
Warning
Inhalation: Remove exposed person to fresh air if adverse effects are

observed.
Ingestion: Seek immediate medical attention and do not induce vomiting
unless directed by medical personnel.
Eye: Flush immediately with water for at least 15 minutes. Get immediate
medical attention.
Skin: Wash with soap and water. Get medical attention if irritation
develops.
Follow all applicable laws regarding waste disposal. Contact your

distributor if you are unsure how to properly dispose of the material.
Do not apply pressure tn an empty container. The container may blow up.
Do not weld, heat, drill or cut the container. This may cause residual oil
to ignite or cause an explosion.
Caution
Disposal
Caution
Tightly seal the container after use. Store in a cool, dry, dark place.
Keep away from open ames and high temperatures.
Please dispose as industrial waste.
Please dispose of the products as industrial waste when their useful

life is over.
239
142
Gearheads
NOTES
Gearheads 143
221
NOTES
144
Gearheads
221
NOTES
Gearheads 145
221
Major Applications of Our Products
Metal Working Machines
Processing Machine Tools
Measurement, Analytical
and Test Systems
Medical Equipment
Telescopes
Energy
Crating and Packaging

Machines
Communication
Equipment
Source: National observatory of Inter-University Research

Institute Corporation
Courtesy of Haliiburton/Sperry Drilling Services
Glass and Ceramic

Manufacturing Systems
Space Flight Hardware

Rover image created by Dan Maas, copyrighted to Cornell
and provided courtesy NASA/ JPL-Caltech.
Humanoid Robots
Robots
Source: Honda Motor Co., Ltd.
146
240
Printing, Bookbinding
and Paper Machines
Semiconductor
Manufacturing Equip.
Optical Equipment
Machine Tools
Paper-making
Machines
Flat Panel Display

Manufacturing Equip.
Printed Circuit Board

Manufacturing Machines
Aerospace
Gearheads
Experts in Precision Motion Control
Other Products
HarmonicDrive Gearing
HarmonicDrive speed reducer delivers
precise motion control by utilizing the
strain wave gearing principle.
Linear Actuators
Compact linear actuators combine
a precision lead screw and
HarmonicDrive gear. Our versatile
actuators deliver both ultra precise
positioning and high torque.
Rotary Actuators
High-torque actuators combine
performance matched servomotors with
Harmonic Drive gears to deliver excellent
dynamic control characteristics.
CSF Mini Gearheads

CSF mini gearheads provide high
positioning accuracy in a super-compact
package.
Gearheads 147
Harmonic Drive LLC

Boston US Headquarters
247 Lynnfield Street
Peabody, MA 01960
New York Sales Office
100 Motor Parkway
Suite 116
Hauppauge, NY 11788
California Sales Office
333 W. San Carlos Street
Suite 1070
San Jose, CA 95110
Chicago Sales Office
137 N. Oak Park Ave., Suite 410
Oak Park, IL 60301
T: 800.921.3332
T: 978.532.1800
F: 978.532.9406
www.HarmonicDrive.net
148
Gearheads
Group Companies
Harmonic Drive Systems, Inc.
6-25-3 Minami-Ohi, Shinagawa-ku
Tokyo 141-0013, Japan
Harmonic Drive AG
Hoenbergstrasse, 14, D-6555
Limburg/Lahn Germany
Harmonic Drive and HarmonicPlanetary are
registered trademarks and Quick Connect is a
trademark of Harmonic Drive LLC. All other trademarks are property of their respective owners.
Rev 03-03-15

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High Performance Gearheads for Servo and Stepper Motors

Revolutionary Technology for

Photo credit: NASA

Lunar Rover was

"S" Tooth Prole

Our high-precision, zero-backlash Harmonic Drive gears and Harmonic Planetary

Photo credit: NASA

Innovative High Performance

You can create a high precision actuator by

Quick Connect Gearheads

HPG Standard Series

Right Angle HPG Series

HPN Value Series

(Ratios 50:1 to 160:1)

CSF-GH Standard Series

Planetary Gear Units

Input Shaft HPG Series

Output Bearing Specications

Input Bearing Specications

Major Applications of Our Products

Quick Connect Gearheads

Peak torque 12Nm to 3940Nm

HPG Standard Series

Peak torque 5Nm to 3200Nm

HPG Right Angle Series

Peak torque 150Nm to 2200Nm

HPN Standard Series

Peak torque 9Nm to 752Nm

*1 One stage reduction ratio-3,4,5,7,10, two stage reduction ratio-13,16,20,21,30,31.

CSG-GH High Torque Series

Peak torque 23Nm to 3419Nm

CSF-GH Standard Series

Peak torque 18Nm to 2630Nm

Peak torque 100Nm to 220Nm

Hollow shaft diameter

HPG Input Shaft Series

Peak torque 3.9Nm to 2200Nm

Second-stage planet gear

First-stage carrier + Second-stage pinion

First-stage planet gear

A planetary speed reducer with

Rotation of the input pinion transfers revolution motion to the first-stage

The direction of rotation is the same as the input pinion.

A planetary speed reducer

The second-stage pinion gear is driven by the first-stage carrier and

The Flexspline is slightly smaller in

As the Wave Generator

Wave Generator (Motor shaft mounting)

Circular Spline (Casing)

Output: Flexspline (Cross roller bearing)

For every 180 degree

Each complete clockwise

Tooth behavior and engagement

Model & Code

HPGP - 11 A - 05 - BL3 - D - F0 Model Name

5, 11, 15, 21, 33, 45

Input Side Bearing

4, 5, 12, 15, 20, 25

Input Configuration & Options

F0: Flange output

This code represents the

HPG - 20 A - 05 - BL3 - D - F0 - Motor Code

3, 5, 11, 15, 21, 33, 45

Input Side Bearing