# Harmonic Drive CSG-20-100-2A-GR Cup-Type Component Set

Benchmark size-20 100:1 high-torque cup-type component set (wave generator, flexspline, circular spline only) for builders who supply their own output bearing; 0.28 kg.

- Maglev ID: ac-harmonicdrive-csg-20-100-2a-gr
- Brand: Harmonic Drive
- MPN: CSG-20-100-2A-GR
- Category: actuators / Strain-Wave (Harmonic) Reducers
- Origin: JP (maker HQ, factory not confirmed)
- Maker: Harmonic Drive LLC / Harmonic Drive Systems (brand, JP)
- NDAA: unknown · Blue UAS: unknown · FCC: n/a
- HTS: 8483.40.50.10
- MOQ: unknown · Lead time: unknown
- Confidence: VERIFIED

## Price
- No public price. Request a quote via POST /api/rfq or the order pad.

## Specifications
- Ratio: 100:1
- Rated torque: 52 N·m at 2,000 rpm input
- Peak torque (repeated / momentary): 107 N·m repeated (start/stop) / 191 N·m momentary
- Backlash: Zero backlash (maker claim; no arcsec figure published)
- Outer diameter: unknown
- Hollow shaft: no (cup type)

## Links
- Product: https://www.harmonicdrive.net/products/component-sets/cup-type/csg-2a
- Datasheet: https://www.harmonicdrive.net/_hd/content/documents1/CSG-CSF_Component.pdf
- CAD: none

## Equivalents
- Laifual FSG-20-100 High-Torque Cup-Type Strain-Wave Reducer (ac-laifual-fsg-20-100)

## Sources
- https://www.harmonicdrive.net/products/component-sets/cup-type/csg-2a (CSG-2A table: CSG-20-100-2A-GR torques, mass)