Harmonic Integrated Joint Module
Full Hardware FOC Technology, Chip-Level FPGA Development
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) | |||||
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