# Harmonic Drive CSG-2UH

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

Housed CSF with a crossed-roller output. About 30% more torque and 10 kh L10 vs CSF. Cobot J1 and industrial J5/J6.

- Family: Harmonic Drive
- Layer: Reduce
- Maker: Harmonic Drive Systems
- Buses: none
- Typical: $1,200–7,000

## Buy

- [Harmonic Drive gear units](https://www.harmonicdrive.net/)

## Compatible

- [Harmonic Drive CSF](https://roboterminal.app/hardware/hd-csf) (paired: Called out as a known pair)
- [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)