GSW 20 HP ∅ 20 mm, strain wave gearheads Zero backlash
M 1:1
Stock program Standard program Special program (on request)
Part numbers
910896 878757 50:1 100:1 0.6 1.2 1.1 1.8 2.2 3.5 6500 6500 10 000 10 000 72 74 32 32 0.75 0.75 21.5 21.5 2.4 2.4 0.3 0.3 3.0 3.0 0.013 0.020 0.018 0.027 0.025 0.030 0.075 0.075 0.220 0.220 4.0 3.0 0.21 0.27 3.8 4.6 9.8 9.8
Gearhead data (provisional) 1 Reduction 2 Max. continuous torque 3 Max. intermittent torque 4 Max. overload torque 5 Max. continuous input speed Max. intermittent input speed 6 Max. efficiency 7 Weight 8 Mass moment of inertia 9 Gearhead length L1 10 Mech. positioning accuracy 11 Mech. repeatability 12 Hysteresis loss 13 Torsional rigidity C1
Nm Nm Nm rpm rpm
% g
gcm2 mm
arcmin arcmin arcmin
104 Nm/rad 104 Nm/rad 104 Nm/rad
Torsional rigidity C2 Torsional rigidity C3
14 Torque M1 Torque M2
Nm Nm Nm mNm
15 Starting torque, no load 16 Backdriving torque, no load 17 Ratcheting torque 18 Buckling torque
Nm Nm
Technical data 19 Bearing at output 20 Tilting rigidity 21 Max. tilting torque
Modular system
Deep groove ball bearing BLDC Motors
0.2 Nm/arcmin 133–134_ECX FLAT 22 0.9 Nm/arcmin 182_ECX PRIME 16 M 100 N 184_ECX PRIME 16 L 300 N 213_ECX FLAT 22 S
22 Max. radial load 23 Max. axial load 24 Dynamic load rating 25 Static load rating 26 Distance rolling bearing center to output 27 Pitch diameter
1456 N 214–215_ECX FLAT 22 S HT 1060 N 216–217_ECX FLAT 22 L HT 4.5 mm 15 mm DC Motors
28 Ambient temperature Additional information Explanation of the line numbers and additional information on page 358.
-40…+100 °C 279–280_DCX 19 S 281–282_DCX 22 S
390 maxon
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