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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