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Components › Unclassified › Harmonic Drive Systems
HPG-20R-6Add to cart
Series reference image, not this exact model · from harmonicdrive.netHPG-20R-6 — HPG-20R-6 — manufacturer part page image1 / 1
哈默纳科（上海）商贸有限公司 · Harmonic Drive Systems

HPG-20R-6

Unclassified · active · sources 2
specs 19evidence [n]sources 2

No verified public price. Request a quotation from the seller.

53 N·mAllowable average load torque
126 N·mAllowable start/stop torque
1.2 N·mBackdriving torque
1

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Specs.

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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
Allowable average load torqueallowable_average_load_torque
value
as printed 5353 N·m
source sentenceLimit for Average Torque 53 Nm
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox/20/hpg-20r-6 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Allowable start/stop torqueallowable_startstop_torque
value
as printed 126126 N·m
source sentenceLimit for Repeated Peak Torque 126 Nm
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox/20/hpg-20r-6 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Backdriving torquebackdriving_torque
value
as printed 1.21.2 N·m
source sentenceBackdriving Torque 1.2 Nm
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox/20/hpg-20r-6 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Transmission accuracytransmission_accuracy
value
as printed 44 arcmin
source sentenceStandard Accuracy 4 arc min
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox/20/hpg-20r-6 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Allowable start/stop torqueallowable_startstop_torque
valuemeasured at Reduction ratio 06
as printed 126126 N·m
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Backdriving torquebackdriving_torque
valuemeasured at Reduction ratio 06
as printed 1.21.2 N·m
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Transmission accuracytransmission_accuracy
valuemeasured at Reduction ratio 06
as printed 44 arcmin
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Weightweight
valuemeasured at Reduction ratio 06
as printed 1.31.3 kg
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Reduction ratioreduction_ratio
value
as printed 066
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Rated torquerated_torque
valuemeasured at Reduction ratio 06 · Rated life basis Rated Torque L10
as printed 2323 N·m
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Rated torquerated_torque
valuemeasured at Reduction ratio 06 · Rated life basis Rated Torque L50
as printed 3737 N·m
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Peak torquepeak_torque
valuemeasured at Reduction ratio 06
as printed 217217 N·m
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Max input speedmax_input_speed
valuemeasured at Reduction ratio 06
as printed 6,0006000 r/min
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Backlashbacklash
valuemeasured at Backlash grade Gear Backlash · Reduction ratio 06
< 3
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Backlashbacklash
valuemeasured at Backlash grade Gear Backlash Reduced · Reduction ratio 06
< 1
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Reduction ratio 06 · Stiffness region K1 Torsional Stiffness
as printed 1.818000 N·m/rad
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Output moment stiffnessoutput_moment_stiffness
valuemeasured at Reduction ratio 06
as printed 16.8168000 N·m/rad
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Radial loadradial_load
valuemeasured at Reduction ratio 06
as printed 1,5101510 N
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
Axial loadaxial_load
valuemeasured at Reduction ratio 06
as printed 2,2502250 N
source sentenceHPG-20R-6 20 90 06 23 37 126 217 6,000 < 3 < 1 1.2 4 1.3 1.8 16.8 1,510 2,250
sourcehttps://www.harmonicdrive.net/products/servo-mount-gearheads/harmonic-planetary/hpg-r-planetary-gearbox · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-08Changed —
specs 19, 19 shown

Source documents.

2 sources the values were read from

2 documents
DownloadSource files are not published yet: which documents may be published is undecided.
No change
2026-09-06first collected · 2 sources
Next update2026-10-01

Change history kept

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JOINT · HPG-20R-6 · Unclassified
StatusNot applicable
  • Family not yet set

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Supplier.

WRC 2026 Beijing exhibitors, and other suppliers.

哈默纳科（上海）商贸有限公司Harmonic Drive Systems
WRC2026-B-008Hall BBooth B110CNharmonicdrive.net · official
This supplier's parts 1,815Supplier page

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