# Harmonic Drive CSF

Human: https://roboterminal.app/hardware/hd-csf · Agent: https://roboterminal.app/hardware/hd-csf.md

Cup strain-wave component set. Wrist and cobot default. Ratio 30–160. Hysteresis 1–2.5 arcmin. Flexspline is SNCM439 / 40CrNiMoA class steel, wall <1 mm. Grease SK-2 (≤sz17, lithium + Mo EP) or SK-1A (≥sz20). Rated 0.9–137 Nm on common sizes.

- Family: Harmonic Drive
- Layer: Reduce
- Maker: Harmonic Drive Systems
- Buses: none
- Typical: $900–4,000
- Do not: Zero-backlash in the catalog is tooth preload, not zero lost motion. Do not fill with random EP2 grease.

## Buy

- [Harmonic Drive CSF/CSG](https://www.harmonicdrive.net/)
- [CSF/CSG component PDF](https://www.harmonicdrive.net/_hd/content/documents1/CSG-CSF_Component.pdf)

## Derivatives

- [Harmonic Drive CSG-2UH](https://roboterminal.app/hardware/hd-csg)
- [Harmonic Drive SHD](https://roboterminal.app/hardware/hd-shd)
- [Harmonic Drive FHA-17C](https://roboterminal.app/hardware/fha-17c)

## Compatible

- [Elmo Gold Twitter](https://roboterminal.app/hardware/elmo-gold) (stack: Six-axis industrial arm)
- [Harmonic Drive CSG-2UH](https://roboterminal.app/hardware/hd-csg) (family: Harmonic Drive family)
- [Harmonic Drive FHA-17C](https://roboterminal.app/hardware/fha-17c) (paired: Called out as a known pair)
- [Harmonic Drive SHD](https://roboterminal.app/hardware/hd-shd) (family: Harmonic Drive family)
- [Jetson AGX Orin](https://roboterminal.app/hardware/orin-agx) (paired: Called out as a known pair)
- [Nabtesco RV-E](https://roboterminal.app/hardware/nabtesco-rv) (stack: Six-axis industrial arm)
- [NXP i.MX 8M Plus](https://roboterminal.app/hardware/imx8mp) (paired: Called out as a known pair)

## Stacks

- Six-axis industrial arm — RV on the base, harmonic on the wrist. That is the actual BOM, not a Pi and a servo.