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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
Weightweight
value
as printed 0.490.49 kg
source sentenceMass (kg) 0.49 0.66 0.84 1.4 2.7 4.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.10 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Reduction ratioreduction_ratio
value
Calculation formula
source sentenceReduction ratio Calculation formula
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.43 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Weightweight
value
as printed 0.490.49 kg
source sentenceMass (kg) 0.49 0.66 0.84 1.4 2.7 4.6
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.10 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Reduction ratioreduction_ratio
value
Calculation formula
source sentenceReduction ratio Calculation formula
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.43 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.00.01 N·m
source sentence14 +1.0 +0.2 –
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.20.002 N·m
source sentence14 +1.0 +0.2 –
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.60.016 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.30.003 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.2-0.002 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 50; 40 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +2.40.024 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.50.005 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.3-0.003 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +4.00.04 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.80.008 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.5-0.005 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +7.00.07 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.40.014 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -1.0-0.01 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 40 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +130.13 N·m
source sentence40 +13 +2.4 -1.7
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 40 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -1.7-0.017 N·m
source sentence40 +13 +2.4 -1.7
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.00.01 N·m
source sentence14 +1.0 +0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.20.002 N·m
source sentence14 +1.0 +0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.60.016 N·m
source sentence17 +1.6 +0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.30.003 N·m
source sentence17 +1.6 +0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 50; 40 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +2.40.024 N·m
source sentence20 +2.4 +0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.50.005 N·m
source sentence20 +2.4 +0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +4.00.04 N·m
source sentence25 +4.0 +0.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.80.008 N·m
source sentence25 +4.0 +0.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +7.00.07 N·m
source sentence32 +7.0 +1.4
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.40.014 N·m
source sentence32 +7.0 +1.4
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantity Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 40 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +130.13 N·m
source sentence40 +13 +2.4
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.275 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.00.01 N·m
source sentence14 +1.0 +0.2 –
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 14 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.20.002 N·m
source sentence14 +1.0 +0.2 –
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.60.016 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.30.003 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 17 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.2-0.002 N·m
source sentence17 +1.6 +0.3 -0.2
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 50; 40 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +2.40.024 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.50.005 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 20 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.3-0.003 N·m
source sentence20 +2.4 +0.5 -0.3
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +4.00.04 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +0.80.008 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 25 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -0.5-0.005 N·m
source sentence25 +4.0 +0.8 -0.5
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +7.00.07 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 80 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +1.40.014 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 32 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -1.0-0.01 N·m
source sentence32 +7.0 +1.4 -1.0
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 40 / 50 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed +130.13 N·m
source sentence40 +13 +2.4 -1.7
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2SH · Run-in time Torque value is measured after 2 hours at 2000rpm input. · Measurement load No-load running torque is the torque which is required to rotate the
input side (high speed side), when there is no load on the output side
(low speed side). · Run-in input speed Torque value is measured after 2 hours at 2000rpm input. · How it was measured Ratio 100
Lubricant Grease
lubrication Name Harmonic Grease SK-1A (size 20 or more)
Harmonic Grease SK-2 (size 14, 17)
Quantiy Recommended quantity (See page 281）
Torque value is measured after 2 hours at 2000rpm input. · Compensation method No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2). · Catalogue configuration Size / Ratio: 40 / 120 · Reference reduction ratio No-load running torque of the gear varies with ratio. Graphs 276-1
to 276-4 show the values for a reduction ratio of 100. For other
gear ratios, add the compensation values in the right-hand table
(Table 275-2).
as printed -1.7-0.017 N·m
source sentence40 +13 +2.4 -1.7
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.13 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 50
as printed 7.32.51 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
as printed 5.81.994 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
as printed 2.90.997 arcmin
source sentence80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.02 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.93.9 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.07 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1414 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2929 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5454 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.96.9 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1212 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2525 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4848 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 108108 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 196196 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.292900 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.676700 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.111000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.888000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.373700 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.888800 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.474700 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.212000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.484000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 15150000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.92.372 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.81.994 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.42.2 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.22.131 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.12.097 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 144.813 arcmin
source sentenceθ2 ×10-4rad 19 14 19 18 18 18
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.44000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.848400 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.444400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.949400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.717000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.878000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 14140000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.616100 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.525000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 20200000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.01.719 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.61.581 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.41.856 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.21.788 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.81.65 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.91.684 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 165.5 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more; 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 134.469 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 155.157 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-03Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 50
as printed 7.32.51 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
as printed 5.81.994 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
as printed 2.90.997 arcmin
source sentence80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.02 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.93.9 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.07 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1414 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2929 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5454 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.96.9 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1212 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2525 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4848 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 108108 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 196196 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.292900 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.676700 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.111000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.888000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.373700 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.888800 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.474700 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.212000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.484000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 15150000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.92.372 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.81.994 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.42.2 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.22.131 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.12.097 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 144.813 arcmin
source sentenceθ2 ×10-4rad 19 14 19 18 18 18
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.44000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.848400 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.444400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.949400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.717000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.878000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 14140000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.616100 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.525000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 20200000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.01.719 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.61.581 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.41.856 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.21.788 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.81.65 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.91.684 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 165.5 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more; 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 134.469 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates torsion almost proportional to
the torque on the output side. Figure 018-1 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 – Aʼ – Bʼ – 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 020-1, this “Torque – torsional angle diagram”
is divided into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 155.157 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdf · p.11 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 50
as printed 7.32.51 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 14 / 80 or more; 17 / 50; 20 / 50; 25 / 50; 32 / 50; 40 / 50
as printed 5.81.994 arcmin
source sentence50 ×10-4rad 7.3 5.8 5.8 5.8 5.8 5.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Hysteresis losshysteresis_loss
valuemeasured at Hysteresis test load ■ Hysteresis loss (Silk hat and cup style only)
As shown in Figure 020-1, 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. · Catalogue configuration Size / Ratio: 17 / 80 or more; 20 / 80 or more; 25 / 80 or more; 32 / 80 or more; 40 / 80 or more
as printed 2.90.997 arcmin
source sentence80 or
more ×10-4rad 5.8 2.9 2.9 2.9 2.9 2.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.02 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.93.9 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.07 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1414 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2929 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5454 N·m
source sentenceT1 Nm 2.0 3.9 7.0 14 29 54
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 14 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.96.9 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 17 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1212 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 20 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2525 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 25 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4848 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 32 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 108108 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition torquetorsional_transition_torque
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Catalogue size symbol Size: 40 · Stiffness region T2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 196196 N·m
source sentenceT2 Nm 6.9 12 25 48 108 196
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.292900 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.676700 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.111000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.888000 N·m/rad
source sentenceRatio
50 K1 ×104Nm/rad 0.29 0.67 1.1 2.0 4.7 8.8
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.373700 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.888800 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK2 ×104Nm/rad 0.37 0.88 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.474700 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.212000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.020000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 8.484000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 15150000 N·m/rad
source sentenceK3 ×104Nm/rad 0.47 1.2 2.0 3.7 8.4 15
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.92.372 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.81.994 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.42.2 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.22.131 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 50 · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.12.097 arcmin
source sentenceθ1 ×10-4rad 6.9 5.8 6.4 7.0 6.2 6.1
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 50; 32 / 80 or more; 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 144.813 arcmin
source sentenceθ2 ×10-4rad 19 14 19 18 18 18
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.44000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.848400 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.727000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 6.161000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceRatio
80 or
more K1 ×104Nm/rad 0.4 0.84 1.3 2.7 6.1 11
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.444400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.949400 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.717000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 3.737000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 7.878000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 14140000 N·m/rad
source sentenceK2 ×104Nm/rad 0.44 0.94 1.7 3.7 7.8 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 0.616100 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 1.313000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 2.525000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.747000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 11110000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional stiffnesstorsional_stiffness
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region K3 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 20200000 N·m/rad
source sentenceK3 ×104Nm/rad 0.61 1.3 2.5 4.7 11 20
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.01.719 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.61.581 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.41.856 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 5.21.788 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 32 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.81.65 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ1 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 40 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 4.91.684 arcmin
source sentenceθ1 ×10-4rad 5.0 4.6 5.4 5.2 4.8 4.9
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 14 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 165.5 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 17 / 80 or more; 25 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 134.469 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
Torsional transition angletorsional_transition_angle
valuemeasured at Nature of the values * The values in this table are reference values. The minimum value is approximately 80% of the displayed value. · Stiffness region θ2 · How it was measured ■ Stiffness
Fixing the input side (wave generator) and applying torque to the
output side (flexspline) generates a torsional angle almost
proportional to the torque on the output side. Figure 020-1 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 – Aʼ – Bʼ – 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 020-2 “Spring Constant Diagram” is divided
into 3 regions, and the spring constants in the area are
represented by K1, K2 and K3.
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]
■ See the corresponding pages of each series for values of the
spring constants (K1, K2, K3) and the torque-torsional angles
(T1, T2, - θ1, θ2). · Catalogue configuration Size / Ratio: 20 / 80 or more · Minimum-value ratio * The values in this table are reference values. The minimum value is approximately 80% of the displayed value.
as printed 155.157 arcmin
source sentenceθ2 ×10-4rad 16 13 15 13 14 14
sourcehttps://www.harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdf · p.273 · Maker's document
EvidenceSourced
Retrieved · Changed2026-09-06Changed —
specs 245, 245 shown
Source documents.
2 sources the values were read from
2 documents
harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdfMaker's document · 168 valuesRetrieved 2026-09-03
harmonicdrive.net/_hd/content/documents1/reducer%20catalog_US.pdfMaker's document · 77 valuesRetrieved 2026-09-06
DownloadSource files are not published yet: which documents may be published is undecided.
No change
2026-09-03first collected · 2 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 · SHD-2SH · Unclassified
StatusNot applicable
- Family not yet set
To settle before a verdict
Supplier.
WRC 2026 Beijing exhibitors, and other suppliers.
This supplier's parts 1,815Supplier page
Alternatives in preparation
Keep this part in your BOM.
When the BOM opens, you can collect parts and send one enquiry.