Integrated robotic joint family for compact, high-precision motion axes in humanoid, collaborative, and industrial robots. These modules combine motor, harmonic reducer, and 24-bit encoder in one unit, delivering 50 Nm rated torque, 102 Nm peak torque, 101:1 reduction, 48 VDC operation, and EtherCAT/CAN/CANFD connectivity.
| Parameter | Unit | HJ2-90F101D24-NK-EC | HJ2-90F101D24-BK-EC |
|---|---|---|---|
| Reduction ratio | 101 | 101 | |
| Rated current | A | 6.1 | 6.1 |
| Resistance | Ω | 0.27 | 0.38 |
| Inductance | mH | 0.31 | 0.33 |
| Pole pairs | 10 | 10 | |
| Torque constant | Nm/A | 10.8 | 11.8 |
| Encoder resolution | bit | 24 | 24 |
| Field bus | EtherCAT, CAN, CANFD | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 80 | 90 |
| Inner diameter | mm | 18 | 18 |
| Length | mm | 71.2 | 88.3 |
| Peak torque | Nm | 102 | 102 |
| Mass | g | 1229.4 | 1600 |
| Inertia | g·cm² | 370 | 635 |
| Outer diameter | mm | 80 | 90 |
| Max allowable torque | Nm | 61 | 61 |
| Rated torque | Nm | 50 Speed: 20 RPM |
50 Speed: 20 RPM |
| Peak speed | RPM | 50 | 40 |
| Speed | RPM | 36 Torque: 25 Nm |
30 Torque: 25 Nm |
| Backlash | arcsec | 10 | 10 |
| Supply voltage | VDC | 48 | 48 |
| Max current | A | 12.4 | 8.4 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | HJ2-90F101D24-NK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 6.1 |
| Resistance | Ω | 0.27 |
| Inductance | mH | 0.31 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 10.8 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 80 |
| Inner diameter | mm | 18 |
| Length | mm | 71.2 |
| Peak torque | Nm | 102 |
| Mass | g | 1229.4 |
| Inertia | g·cm² | 370 |
| Outer diameter | mm | 90 |
| Max allowable torque | Nm | 61 |
| Rated torque | Nm | 50 Speed: 20 RPM |
| Peak speed | RPM | 50 |
| Speed | RPM | 36 Torque: 25 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 12.4 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
| Parameter | Unit | HJ2-90F101D24-BK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 6.1 |
| Resistance | Ω | 0.38 |
| Inductance | mH | 0.33 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 11.8 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 90 |
| Inner diameter | mm | 18 |
| Length | mm | 88.3 |
| Peak torque | Nm | 102 |
| Mass | g | 1600 |
| Inertia | g·cm² | 635 |
| Outer diameter | mm | 90 |
| Max allowable torque | Nm | 61 |
| Rated torque | Nm | 50 Speed: 20 RPM |
| Peak speed | RPM | 40 |
| Speed | RPM | 30 Torque: 25 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 8.4 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
