Abstract: A gearbox 22 has a driving part 1 fixedly connected to an eccentric 2, on which circulates a planet wheel 3. The output driven body 11 of a cycloidal gearbox 22 is in the form of a disc and is provided with pins 10, which are engaged with a planet wheel 3. Between the surface at the circumference of a driven body 11 and an adjoining inner surface of a gearbox 22 case 7 at least one bearing 12 is arranged. In such a way is the axial dimension of a driving unit many times shorter, the weight of a gearbox and a quantity of work invested are smaller. A gearbox is preferably manufactured in one unit with a driving and driven elements, a case 7 being directly coupled to a driving element and said driven body 11 being directly coupled to a driven element.