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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
Allowable start/stop torqueallowable_startstop_torque
value
Limit for
Momentary
Torque*4
source sentenceLimit for
Momentary
Torque*4
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.2 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Allowable start/stop torqueallowable_startstop_torque
value
Limit for
Momentary
Torque*4
source sentenceLimit for
Momentary
Torque*4
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.2 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Backlashbacklash
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 5; 11 / 9; 11 / 21; 11 / 37; 11 / 45; 14 / 3; 14 / 5; 14 / 11; 14 / 15; 14 / 21; 14 / 33; 14 / 45; 20 / 3; 20 / 5; 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45; 32 / 3; 32 / 5; 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45; 50 / 3; 50 / 5; 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45; 65 / 4; 65 / 5; 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
3
source sentence11 5 3 2.5 0.59
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 5; 11 / 9
as printed 0.592028 N·m/rad
source sentence11 5 3 2.5 0.59
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 21; 11 / 37; 11 / 45
as printed 0.642200 N·m/rad
source sentence21 3.0 0.64
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5
as printed 1.274366 N·m/rad
source sentence14 3 3 2.2 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 14 / 11; 14 / 15; 14 / 21; 14 / 33; 14 / 45
as printed 1.374710 N·m/rad
source sentence11 2.7 1.37
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 20 / 3; 20 / 5
as printed 4.916840 N·m/rad
source sentence20 3 3 1.5 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45
as printed 5.3918530 N·m/rad
source sentence11 2.0 5.39
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 3
as printed 16.6657270 N·m/rad
source sentence32 3 3 1.3 16.66
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 5
as printed 19.667380 N·m/rad
source sentence5 19.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45
as printed 21.5674120 N·m/rad
source sentence11 1.7 21.56
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 3
as printed 82.71284300 N·m/rad
source sentence50 3 3 1.3 82.71
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 5
as printed 107.8370600 N·m/rad
source sentence5 107.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45
as printed 137.2471700 N·m/rad
source sentence11 1.7 137.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 65 / 4; 65 / 5
as printed 270928200 N·m/rad
source sentence65 4 3 1.3 270
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
as printed 362.61247000 N·m/rad
source sentence12 1.7 362.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Backlashbacklash
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5; 14 / 9; 14 / 21; 14 / 33; 14 / 45; 20 / 3; 20 / 5; 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45; 32 / 3; 32 / 5; 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45; 50 / 3; 50 / 5; 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45; 65 / 4; 65 / 5; 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
1
source sentence14 3 1 1.1 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5
as printed 1.274366 N·m/rad
source sentence14 3 1 1.1 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 9; 14 / 21; 14 / 33; 14 / 45
as printed 1.374710 N·m/rad
source sentence9 1.7 1.37
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 20 / 3; 20 / 5
as printed 4.916840 N·m/rad
source sentence20 3 1 0.6 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45
as printed 5.3918530 N·m/rad
source sentence11 1.1 5.39
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 3
as printed 16.6657270 N·m/rad
source sentence32 3 1 0.5 16.66
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 5
as printed 19.667380 N·m/rad
source sentence5 19.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45
as printed 21.5674120 N·m/rad
source sentence11 1.0 21.56
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 3
as printed 82.71284300 N·m/rad
source sentence50 3 1 0.5 82.71
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 5
as printed 107.8370600 N·m/rad
source sentence5 107.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45
as printed 137.2471700 N·m/rad
source sentence11 1.0 137.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 65 / 4; 65 / 5
as printed 270928200 N·m/rad
source sentence65 4 1 0.5 270
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
as printed 362.61247000 N·m/rad
source sentence12 1.0 362.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Backlashbacklash
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 5; 11 / 9; 11 / 21; 11 / 37; 11 / 45; 14 / 3; 14 / 5; 14 / 11; 14 / 15; 14 / 21; 14 / 33; 14 / 45; 20 / 3; 20 / 5; 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45; 32 / 3; 32 / 5; 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45; 50 / 3; 50 / 5; 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45; 65 / 4; 65 / 5; 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
3
source sentence11 5 3 2.5 0.59
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 5; 11 / 9
as printed 0.592028 N·m/rad
source sentence11 5 3 2.5 0.59
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 11 / 21; 11 / 37; 11 / 45
as printed 0.642200 N·m/rad
source sentence21 3.0 0.64
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5
as printed 1.274366 N·m/rad
source sentence14 3 3 2.2 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 14 / 11; 14 / 15; 14 / 21; 14 / 33; 14 / 45
as printed 1.374710 N·m/rad
source sentence11 2.7 1.37
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 20 / 3; 20 / 5
as printed 4.916840 N·m/rad
source sentence20 3 3 1.5 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45
as printed 5.3918530 N·m/rad
source sentence11 2.0 5.39
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 3
as printed 16.6657270 N·m/rad
source sentence32 3 3 1.3 16.66
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 5
as printed 19.667380 N·m/rad
source sentence5 19.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45
as printed 21.5674120 N·m/rad
source sentence11 1.7 21.56
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 3
as printed 82.71284300 N·m/rad
source sentence50 3 3 1.3 82.71
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 5
as printed 107.8370600 N·m/rad
source sentence5 107.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45
as printed 137.2471700 N·m/rad
source sentence11 1.7 137.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 65 / 4; 65 / 5
as printed 270928200 N·m/rad
source sentence65 4 3 1.3 270
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Standard backlash (BL3) (≤ 3 arc-min) · Catalogue configuration Size / Ratio: 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
as printed 362.61247000 N·m/rad
source sentence12 1.7 362.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Backlashbacklash
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5; 14 / 9; 14 / 21; 14 / 33; 14 / 45; 20 / 3; 20 / 5; 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45; 32 / 3; 32 / 5; 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45; 50 / 3; 50 / 5; 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45; 65 / 4; 65 / 5; 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
1
source sentence14 3 1 1.1 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 3; 14 / 5
as printed 1.274366 N·m/rad
source sentence14 3 1 1.1 1.27
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 14 / 9; 14 / 21; 14 / 33; 14 / 45
as printed 1.374710 N·m/rad
source sentence9 1.7 1.37
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 20 / 3; 20 / 5
as printed 4.916840 N·m/rad
source sentence20 3 1 0.6 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 20 / 11; 20 / 15; 20 / 21; 20 / 33; 20 / 45
as printed 5.3918530 N·m/rad
source sentence11 1.1 5.39
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 3
as printed 16.6657270 N·m/rad
source sentence32 3 1 0.5 16.66
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 5
as printed 19.667380 N·m/rad
source sentence5 19.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 32 / 11; 32 / 15; 32 / 21; 32 / 33; 32 / 45
as printed 21.5674120 N·m/rad
source sentence11 1.0 21.56
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 3
as printed 82.71284300 N·m/rad
source sentence50 3 1 0.5 82.71
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 5
as printed 107.8370600 N·m/rad
source sentence5 107.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 50 / 11; 50 / 15; 50 / 21; 50 / 33; 50 / 45
as printed 137.2471700 N·m/rad
source sentence11 1.0 137.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 65 / 4; 65 / 5
as printed 270928200 N·m/rad
source sentence65 4 1 0.5 270
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Backlash grade ■ Input Shaft Gear Unit - Reduced backlash (BL1) (≤ 1 arc-min) · Catalogue configuration Size / Ratio: 65 / 12; 65 / 15; 65 / 20; 65 / 25; 65 / 40; 65 / 50
as printed 362.61247000 N·m/rad
source sentence12 1.0 362.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdf · p.4 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
specs 58, 58 shown
Source documents.
1 source the values were read from
1 documents
harmonicdrive.net/_hd/content/documents1/hpg-u1-catalog.pdfMaker's document · 58 valuesRetrieved 2026-09-03
DownloadSource files are not published yet: which documents may be published is undecided.
No change
2026-09-03first collected · 1 sources
Next update2026-10-01
Change history kept
Build a joint around this part.
Once the family is set, this part can go into a joint.
Check joint combinationsJOINT · HPG-U1 · Unclassified
StatusNot applicable
- Family not yet set
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