Beschreibung
The 90mm Harmonic Drive Integrated Joint HJ2-90 family is an integrated robotic joint module for compact, high-precision motion axes. It combines motor, harmonic reducer, and 24-bit encoder in one assembly to simplify axis design and support closed-loop motion control. Typical applications include humanoid robots, collaborative robots, industrial robots, machine tools, and industrial automation.
Across the family, the modules use a 101:1 reduction ratio, deliver 50 Nm rated torque at 20 RPM, 102 Nm peak torque, and 10 arcsec backlash, and operate from a 48 VDC supply. Encoder resolution is 24 bit, and supported field bus interfaces are EtherCAT, CAN, and CANFD. Depending on version, peak speed reaches 40 to 50 RPM, speed at 25 Nm is 30 to 36 RPM, maximum current is 8.4 to 12.4 A, and maximum allowable torque is 61 Nm.
- Integrated motor, harmonic reducer, and encoder for compact axis construction
- 50 Nm rated torque and 102 Nm peak torque for demanding joint axes
- 24-bit encoder and 10 arcsec backlash for precise positioning
- EtherCAT, CAN, and CANFD support for industrial network integration
- Compact family dimensions from 80 to 90 mm outer diameter, 71.2 to 88.3 mm length, and 18 mm inner diameter
Family variants differ mainly in size, speed, and electrical data. One version has an 80 mm outer diameter, 71.2 mm length, 1229.4 g mass, 50 RPM peak speed, and 370 g·cm² inertia. Another has a 90 mm outer diameter, 88.3 mm length, 1600 g mass, 40 RPM peak speed, and 635 g·cm² inertia. Both are designed for compact, high-torque robotic joints where precision, integration, and industrial communication are required.
