Harmonic Integrated Joint Module

Description

Product Advantages

Full Hardware FOC Technology, Chip-Level FPGA Development

Hollow Cabling

Triple-Loop Control with All Frequencies at 20KHz for Fast Response

etherCat/canOpen Bus

16-bit ADC with 1MHz Sampling Rate

Power-Off Brake

Core Product Technologies

The core technology of the product lies in the harmonic integrated joint module, featuring a drive-control integrated design. The inner rotor structure enables hollow cabling, while diversified model options including 11, 14, 17, 20, 25, 32 and 40 series ensure flexible applications. With a compact and miniaturized profile and low power consumption, it adopts a pin-type brake mechanism that triggers mechanical locking instantly upon power loss, with an action time of less than 10ms.

The dual steel wheel design, integrating cross-roller bearings with steel wheels, reduces axial space occupation. By meshing two steel wheels with one flexspline, it mitigates stress from flexspline deformation, achieving smooth operation, high efficiency and positioning accuracy up to 20 arcseconds.

Performance Curve

Model	Rh08	Rh11	Rh14	Rh17	Rh20	Rh25
Motor Type	Outer Rotor Torque Motor	Inner Rotor Torque Motor
Diameter	40mm	52mm	70mm	80mm	90mm	110mm
Hollow Inner Diameter	4.5mm	8mm	14mm	14mm	18mm	18mm
Weight	188g	495g	1108g	1350g	1991g	3098g
Reverse Backlash	15arcsec
Noise	<70db< /td>
Temperature Range	-20-80℃
Working Voltage	24-36V	24-36V	24-48V	24-48V	24-48V	24-48V
Rated Power	36w	120w	168w	200w	300w	500w
Speed Ratio	51 / 101	51 / 101	51 / 101	51 / 101	81 / 121	81 / 121
Rated Speed	72rpm / 36rpm	85.5rpm / 34.2rpm	90rpm / 45rpm	54rpm / 27rpm	40.5rpm / 27rpm	34.2rpm / 27rpm
No-load Speed	80rpm / 40rpm	95rpm / 38rpm	100rpm / 50rpm	60rpm / 30rpm	45rpm / 30rpm	38rpm / 30rpm
Rated Torque	1.05Nm / 1.68Nm	6.93Nm / 9.03Nm	18.9Nm / 23.1Nm	31.5Nm / 39.9Nm	54.6Nm / 81.9Nm	100.8Nm / 151.2Nm
Peak Torque	2.31Nm / 3.675Nm	22.05Nm / 25.2Nm	39.9Nm / 47.25Nm	54.6Nm / 69.3Nm	109.2Nm / 163.8Nm	213.6Nm / 231Nm
Phase Current Full Scale	4.0a	14.0a	20.0a	22.5a	36.0a	58.0a
Rated Bus Current	1.5a	5.0a	7.0a	8.4a	12.5a	20.0a
Static Bus Current	0.04a	0.04a	0.08a	0.08a	0.12a	0.12a
Encoder Precision	19bit
Encoder Type	Single Magnetic Encoder + Zero Positioning			Dual Magnetic Encoder
Electromagnetic Brake	Standard Version with Brake			Brake Included (Default)