HMCG-I consists of three basic components: flexible gear, rigid gear, and wave generator. The flexible gear is a cup-shaped standard structure, and its input shaft directly cooperates with the inner hole of harmonic drive gear box and connects with it through flat key or fastening screw."
Three basic components
Compact design
Zero backlash
Input and output coaxial
Excellent positioning accuracy and rotation accuracy
30%higher torque capacity than the HMCS series
43%longer lifetime than the HMCS series
Competitive quality with the above advantages of strain wave gearing, inquiry Hansmotion to buy harmonic drive
Industrial Robots
Grinding Machines
Machining Centers
Rehabilitation
Humanoid Robots
| Model | Reduction ratio | Rated torque at input 2000r/min | Permissible peak torque at start / stop | Permissible max.value | Instantaneous permissible max. torque | Permissible max.rotational speed | Permissible ave. rotational speed | Back clearance (arc sec) | Transmission accuracy (arc sec) |
| Nm | Nm | Nm | Nm | r/min | r/min | ≤ | ≤ | ||
| 14 | 50 | 7 | 23 | 9 | 46 | 8000 | 3500 | 20 | 90 |
| 80 | 10 | 30 | 14 | 51 | 20 | 90 | |||
| 100 | 10 | 36 | 14 | 70 | 10 | 90 | |||
| 17 | 50 | 21 | 44 | 34 | 91 | 7000 | 3500 | 20 | 90 |
| 80 | 29 | 56 | 35 | 113 | 20 | 90 | |||
| 100 | 31 | 70 | 51 | 143 | 10 | 90 | |||
| 20 | 50 | 33 | 73 | 44 | 127 | 6000 | 3500 | 20 | 60 |
| 80 | 44 | 96 | 61 | 165 | 20 | 60 | |||
| 100 | 52 | 107 | 64 | 191 | 10 | 60 | |||
| 120 | 52 | 113 | 64 | 161 | 10 | 60 | |||
| 25 | 50 | 51 | 127 | 72 | 242 | 5500 | 3500 | 20 | 60 |
| 80 | 82 | 178 | 113 | 332 | 20 | 60 | |||
| 100 | 87 | 204 | 140 | 369 | 10 | 60 | |||
| 120 | 87 | 217 | 140 | 395 | 10 | 60 | |||
| 32 | 50 | 99 | 281 | 140 | 497 | 4500 | 3500 | 20 | 60 |
| 80 | 153 | 395 | 217 | 738 | 10 | 60 | |||
| 100 | 178 | 433 | 281 | 841 | 10 | 60 | |||
| 120 | 178 | 459 | 281 | 892 | 10 | 60 | |||
| 40 | 50 | 178 | 523 | 255 | 892 | 4000 | 3000 | 10 | 60 |
| 80 | 268 | 675 | 369 | 1270 | 10 | 60 | |||
| 100 | 345 | 738 | 484 | 1400 | 10 | 60 | |||
| 120 | 382 | 802 | 586 | 1530 | 10 | 60 | |||
| Symbol/Model | 14 | 17 | 20 | 25 | 32 | 40 | |
| ∅A H6 | 50 | 60 | 70 | 85 | 110 | 135 | |
| B _−0.1^0 | 18.5 | 20.7 | 21.5 | 21.6 | 23.6 | 29.7 | |
| C | 6 | 6.5 | 7.5 | 10 | 14 | 17 | |
| D | - | - | 4 | 6 | 7 | 7 | |
| ∅E | - | - | 3.6 | 4.5 | 5.5 | 6.6 | |
| F | C0.3 | C0.4 | C0.4 | C0.4 | C0.4 | C0.4 | |
| ∅G H6 | 38 | 48 | 54 | 67 | 90 | 110 | |
| ∅H | 23 | 27.2 | 32 | 40 | 52 | 64 | |
| ∅I H6 | 11 | 10 | 16 | 20 | 26 | 32 | |
| J | 2.4 | 3 | 3 | 3 | 3.2 | 4.1 | |
| K | 28.6±0.2 | 32.2±0.2 | 33.5±0.2 | 37.2±0.2 | 44±0.2 | 53±0.2 | |
| L1 | 17.5 | 20 | 21.5 | 24 | 28 | 34 | |
| L2 | 11.1 | 12.2 | 12 | 13.2 | 16 | 19 | |
| M | 2 | 2.5 | 3 | 3 | 3 | 4 | |
| ∅N | 14 | 18 | 21 | 26 | 26 | 32 | |
| O | 0.4 | 0.3 | 0.1 | 2.1 | 2.5 | 3.3 | |
| P | 8 | 16 | 16 | 16 | 16 | 16 | |
| ∅Q | 3.5 | 3.4 | 3.5 | 4.5 | 5.5 | 6.6 | |
| R | 6 | 6 | 8 | 8 | 8 | 8 | |
| ∅S | 4.5 | 5.5 | 5.5 | 6.6 | 9 | 11 | |
| T(PCD) | 17 | 19 | 24 | 30 | 40 | 50 | |
| U(PCD) | 44 | 54 | 62 | 75 | 100 | 120 | |
| Vc | M3 | M3 | M3 | M4 | M5 | M6 | |
| Vf | M3 | M3 | M3 | M4 | M5 | M6 | |
| ∅W | standard(H7) | 6 | 8 | 11 | 14 | 14 | 14 |
| maximum size | 8 | 10 | 13 | 15 | 15 | 15 | |
| XJS9 | - | - | 4 | 5 | 5 | 5 | |
| Y | - | - | 12.8﹢0.10 | 16.3﹢0.10 | 16.3﹢0.10 | 16.3﹢0.10 | |
| ∅Z1 | 0.25 | 0.2 | 0.25 | 0.25 | 0.25 | 0.25 | |
| ∅Z2 | 0.25 | 0.25 | 0.25 | 0.3 | 0.5 | 0.25 | |
| ∅a | 38 | 45 | 53 | 66 | 86 | 106 | |
| b | 17.1 | 19 | 20.5 | 23 | 26.8 | 33 | |
| c | 1 | 1 | 1.5 | 1.5 | 1.5 | 2 | |
| Cd1 | 0.4 | 0.4 | 0.4 | 0.4 | 0.4 | 0.5 | |
| Cd2 | 0.4 | 0.4 | 0.4 | 0.4 | 0.4 | 0.5 | |
| Cd3 | 0.5 | 0.5 | 0.5 | 0.5 | 0.5 | 0.5 | |
| e | 2.5 | 3 | - | - | - | - | |
| f | M3X4 | M3X6 | - | - | - | - | |
| weight（kg) | 0.1 | 0.17 | 0.26 | 0.43 | 0.91 | 1.8 | |
