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field · keyvaluesource sentencesourceEvidenceRetrieved · Changed
No-load torque compensationno_load_torque_compensation
valuemeasured at Catalogue section SHD-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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-2UH · 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 241, 241 shown
Source documents.
2 sources the values were read from
2 documents
harmonicdrive.net/_hd/content/documents1/SHD-2UH-2SH_GearUnits.pdfMaker's document · 164 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.
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Check joint combinationsJOINT · SHD-2UH · Unclassified
StatusNot applicable
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