Harmonic Drive LLC | 42 Dunham Ridge, Beverly, MA 01915 | 800-921-3332
Harmonic Drive and Harmonic Planetary are registered trademarks of Harmonic Drive LLC.

Series Size Version Ratio Type
HPG 11 B 21 U1
  • High Efficiency
  • Low Backlash
  • High load capacity output bearing
**Drawing does not include modified features for mounting the selected motor.

Gear Model Number
Gear Dimensions (see drawing)
Flange Dim A - Motor Adapter Flange Bore Dia. {{foundMotor.flangeDimA}} mm
Flange Dim B - Motor Adapter Flange Bore Depth {{foundMotor.flangeDimB}} mm
Motor Dim C - Motor Bolt Circle Dia. {{foundMotor.dimC}} mm
Flange Dim D - Bolt Size {{foundMotor.flangeDimD}}
Coupling Dim F - Motor Coupling Bore Dia. {{foundMotor.couplingDimF}} mm
Mass kg
Gear Performance Data
Rated Torque L10 3.4 Nm
Rated Torque L50 8 Nm
Limit for Average Torque 6 Nm
Limit for Repeated Peak Torque 10 Nm
Limit for Momentary Peak Torque 20 Nm
Starting Torque 6.8 Ncm
Backdriving Torque 1.4 Nm
Max. Input Speed 10,000 rpm
Ave. Input Speed 3,000 rpm
Standard Accuracy 5 arc min
Gear Backlash < 3 arc min
Mass 0.26 kg
Torsional Stiffness
K1 0.22 10^4 Nm / rad
Output Bearing
Pitch Circle Diameter (dp) 0.02 m
Basic Dynamic Rated Load (C) 31.16 10^2 N
Basic Static Rated Load (Co) 40.87 10^2 N
Allowable Moment Load (Mc) 9.5 Nm
Moment Stiffness (Km) 0.88 10^4 Nm / rad
Permissible Radial Load 440 N
Permissible Axial Load 660 N


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