Series selection matrix

ES-HG-S20 Standard Cup Gear Units

Choose a frame size first, then review ratio and interface availability for this collection.

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Shared platform specifications

Shared harmonic gearbox platform data

These values describe the public series platform. Select the technical variant, frame size and ratio before opening the exact size-level product page.

Product form: unit
Mechanical form: cup
Performance class: standard
Technical variants: Standard Cup Unit Type I / Special Standard Cup Unit
Frame sizes: Size 14 / 17 / 20 / 25 / 32 / 40
Ratio coverage: 30, 50, 80, 100, 120, 160:1
Structured configurations: 60 structured / 0 under review

Selection ranges

Rated torque: 5.4 Nm - 294 Nm
Start/Stop peak torque: 18 Nm - 647 Nm
Instant max torque: 35 Nm - 1180 Nm
Max input speed: 8500 rpm - 4000 rpm
Average input speed: 3500 rpm - 3000 rpm
Backlash: ≤20 arc-sec - ≦20 arc-sec
Weight: 0.25 kg - 4.6 kg
Design life: 10000 h - 15000 h

Configuration Guide

How to choose within this collection

Step 1: Choose technical variant

Type I and Type II stay on separate series paths where the integration interface differs.

Step 2: Choose frame size

Frame size narrows the size-level product family. Larger sizes do not always carry the same ratio set as smaller sizes.

Step 3: Choose ratio

Ratio options filter the public SKU workspace and update the known torque, speed, backlash and weight context.

Step 4: Open exact size page

The size page carries the lowest public product context for variant selection, controlled files and RFQ review.

SKU Selection Workspace

Filter by frame size, technical variant, and ratio

Use the data-backed filters to reduce the matrix to matching public SKUs. Each row links to one size-level product page for controlled file and RFQ review.

60 matching products

Frame size Technical variant Ratio

Public SKU	Frame size	Ratio	Technical variant	Rated torque	Start/Stop peak	Instant max	Max input speed	Backlash	Weight	Status	Action
ES-HG-S22-F14-R30	Size 14	30:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F14-R50	Size 14	50:1	Standard Cup Unit Type I	5.4 Nm	18 Nm	35 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S22-F14-R80	Size 14	80:1	Standard Cup Unit Type I	7.8 Nm	23 Nm	47 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S22-F14-R100	Size 14	100:1	Standard Cup Unit Type I	7.8 Nm	28 Nm	54 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S22-F14-R120	Size 14	120:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S21-F14-R30	Size 14	30:1	Special Standard Cup Unit	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S21-F14-R50	Size 14	50:1	Special Standard Cup Unit	5.4 Nm	18 Nm	35 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S21-F14-R80	Size 14	80:1	Special Standard Cup Unit	7.8 Nm	23 Nm	47 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S21-F14-R100	Size 14	100:1	Special Standard Cup Unit	7.8 Nm	28 Nm	54 Nm	8500 rpm	≤20 arc-sec	0.25 kg	Structured	View Product
ES-HG-S21-F14-R120	Size 14	120:1	Special Standard Cup Unit	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F17-R30	Size 17	30:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F17-R50	Size 17	50:1	Standard Cup Unit Type I	16 Nm	34 Nm	70 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S22-F17-R80	Size 17	80:1	Standard Cup Unit Type I	22 Nm	43 Nm	87 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S22-F17-R100	Size 17	100:1	Standard Cup Unit Type I	24 Nm	54 Nm	108 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S22-F17-R120	Size 17	120:1	Standard Cup Unit Type I	24 Nm	54 Nm	86 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S21-F17-R30	Size 17	30:1	Special Standard Cup Unit	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S21-F17-R50	Size 17	50:1	Special Standard Cup Unit	16 Nm	34 Nm	70 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S21-F17-R80	Size 17	80:1	Special Standard Cup Unit	22 Nm	43 Nm	87 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S21-F17-R100	Size 17	100:1	Special Standard Cup Unit	24 Nm	54 Nm	108 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S21-F17-R120	Size 17	120:1	Special Standard Cup Unit	24 Nm	54 Nm	86 Nm	7300 rpm	≤20 arc-sec	0.67 kg	Structured	View Product
ES-HG-S22-F20-R30	Size 20	30:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F20-R50	Size 20	50:1	Standard Cup Unit Type I	25 Nm	56 Nm	98 Nm	6500 rpm	≦20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S22-F20-R80	Size 20	80:1	Standard Cup Unit Type I	34 Nm	74 Nm	127 Nm	6500 rpm	≦20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S22-F20-R100	Size 20	100:1	Standard Cup Unit Type I	40 Nm	82 Nm	147 Nm	6500 rpm	≦20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S22-F20-R120	Size 20	120:1	Standard Cup Unit Type I	40 Nm	87 Nm	147 Nm	6500 rpm	≦20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S22-F20-R160	Size 20	160:1	Standard Cup Unit Type I	40 Nm	92 Nm	147 Nm	6500 rpm	≦20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S21-F20-R30	Size 20	30:1	Special Standard Cup Unit	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S21-F20-R50	Size 20	50:1	Special Standard Cup Unit	25 Nm	56 Nm	98 Nm	6500 rpm	≤20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S21-F20-R80	Size 20	80:1	Special Standard Cup Unit	34 Nm	74 Nm	127 Nm	6500 rpm	≤20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S21-F20-R100	Size 20	100:1	Special Standard Cup Unit	40 Nm	82 Nm	147 Nm	6500 rpm	≤20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S21-F20-R120	Size 20	120:1	Special Standard Cup Unit	40 Nm	87 Nm	147 Nm	6500 rpm	≤20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S21-F20-R160	Size 20	160:1	Special Standard Cup Unit	40 Nm	92 Nm	147 Nm	6500 rpm	≤20 arc-sec	0.96 kg	Structured	View Product
ES-HG-S22-F25-R30	Size 25	30:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F25-R50	Size 25	50:1	Standard Cup Unit Type I	39 Nm	98 Nm	186 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S22-F25-R80	Size 25	80:1	Standard Cup Unit Type I	63 Nm	137 Nm	255 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S22-F25-R100	Size 25	100:1	Standard Cup Unit Type I	67 Nm	157 Nm	284 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S22-F25-R120	Size 25	120:1	Standard Cup Unit Type I	67 Nm	167 Nm	304 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S22-F25-R160	Size 25	160:1	Standard Cup Unit Type I	67 Nm	176 Nm	314 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S21-F25-R30	Size 25	30:1	Special Standard Cup Unit	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S21-F25-R50	Size 25	50:1	Special Standard Cup Unit	39 Nm	98 Nm	186 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S21-F25-R80	Size 25	80:1	Special Standard Cup Unit	63 Nm	137 Nm	255 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S21-F25-R100	Size 25	100:1	Special Standard Cup Unit	67 Nm	157 Nm	284 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S21-F25-R120	Size 25	120:1	Special Standard Cup Unit	67 Nm	167 Nm	304 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S21-F25-R160	Size 25	160:1	Special Standard Cup Unit	67 Nm	176 Nm	314 Nm	5600 rpm	≤20 arc-sec	1.46 kg	Structured	View Product
ES-HG-S22-F32-R30	Size 32	30:1	Standard Cup Unit Type I	Under review	Under review	Under review	Under review	Under review	Under review	Structured	View Product
ES-HG-S22-F32-R50	Size 32	50:1	Standard Cup Unit Type I	76 Nm	216 Nm	382 Nm	4800 rpm	≤20 arc-sec	3.11 kg	Structured	View Product
ES-HG-S22-F32-R80	Size 32	80:1	Standard Cup Unit Type I	118 Nm	304 Nm	568 Nm	4800 rpm	≤20 arc-sec	3.11 kg	Structured	View Product
ES-HG-S22-F32-R100	Size 32	100:1	Standard Cup Unit Type I	137 Nm	333 Nm	647 Nm	4800 rpm	≤20 arc-sec	3.11 kg	Structured	View Product
ES-HG-S22-F32-R120	Size 32	120:1	Standard Cup Unit Type I	137 Nm	353 Nm	686 Nm	4800 rpm	≤20 arc-sec	3.11 kg	Structured	View Product
ES-HG-S22-F32-R160	Size 32	160:1	Standard Cup Unit Type I	137 Nm	372 Nm	686 Nm	4800 rpm	≤20 arc-sec	3.11 kg	Structured	View Product
ES-HG-S22-F40-R50	Size 40	50:1	Standard Cup Unit Type I	137 Nm	402 Nm	686 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S22-F40-R80	Size 40	80:1	Standard Cup Unit Type I	206 Nm	519 Nm	980 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S22-F40-R100	Size 40	100:1	Standard Cup Unit Type I	265 Nm	568 Nm	1080 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S22-F40-R120	Size 40	120:1	Standard Cup Unit Type I	294 Nm	617 Nm	1180 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S22-F40-R160	Size 40	160:1	Standard Cup Unit Type I	294 Nm	647 Nm	1180 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S21-F40-R50	Size 40	50:1	Special Standard Cup Unit	137 Nm	402 Nm	686 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S21-F40-R80	Size 40	80:1	Special Standard Cup Unit	206 Nm	519 Nm	980 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S21-F40-R100	Size 40	100:1	Special Standard Cup Unit	265 Nm	568 Nm	1080 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S21-F40-R120	Size 40	120:1	Special Standard Cup Unit	294 Nm	617 Nm	1180 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product
ES-HG-S21-F40-R160	Size 40	160:1	Special Standard Cup Unit	294 Nm	647 Nm	1180 Nm	4000 rpm	≤20 arc-sec	4.6 kg	Structured	View Product

Engineering Files

Product-specific controlled documentation

Recorded files remain controlled records. Select the exact size-level product and submit the application context before any drawing or CAD release is reviewed.

2D Dimension Drawing

Recorded, controlled review

11 recorded

STEP / STP CAD

By request

0 recorded

OEM INTEGRATION RESPONSIBILITY

This product is a component or configurable module intended for integration into an OEM, commercial, industrial or research system.

The customer is responsible for final product selection, system-level risk assessment, safety functions, mechanical and electrical integration, validation, certification and regulatory compliance.

Published ratings apply only under the stated conditions. Confirm the operating point, interfaces, control compatibility, thermal conditions, duty cycle and required documentation before final selection.

This product is not approved for a safety-critical or restricted application unless expressly authorized in writing.

TRANSMISSION INTEGRATION

Confirm rated and peak torque, backlash, stiffness, radial and axial loads, mounting accuracy, lubrication, temperature, duty cycle, shock loading and expected service life.

Published service-life information depends on the stated load and operating assumptions and does not constitute a complete system-life guarantee.

Read Product & Service Compliance Notice