Integrated 110 mm 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, with 101:1 reduction, 84 Nm rated torque, 194 Nm peak torque, 48 VDC supply, and EtherCAT/CAN/CANFD connectivity.
| Parameter | Unit | HJ2-110F101D24-NK-EC | HJ2-110F101D24-BK-EC |
|---|---|---|---|
| Reduction ratio | 101 | 101 | |
| Rated current | A | 8.6 | 9 |
| Resistance | Ω | 0.13 | 0.13 |
| Inductance | mH | 0.22 | 0.25 |
| Pole pairs | 10 | 10 | |
| Torque constant | Nm/A | 12.8 | 14.3 |
| Encoder resolution | bit | 24 | 24 |
| Field bus | EtherCAT, CAN, CANFD | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 110 | 110 |
| Inner diameter | mm | 25 | 25 |
| Length | mm | 80.2 | 97.6 |
| Peak torque | Nm | 194 | 194 |
| Mass | g | 1981.2 | 2600 |
| Inertia | g·cm² | 1010 | 1550 |
| Outer diameter | mm | 110 | 110 |
| Max allowable torque | Nm | 133 | 133 |
| Rated torque | Nm | 84 Speed: 20 RPM |
84 Speed: 20 RPM |
| Peak speed | RPM | 40 | 36 |
| Speed | RPM | 31 Torque: 42 Nm |
27 Torque: 42 Nm |
| Backlash | arcsec | 10 | 10 |
| Supply voltage | VDC | 48 | 48 |
| Max current | A | 19.9 | 10.4 |
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 | HJ2-110F101D24-NK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 8.6 |
| Resistance | Ω | 0.13 |
| Inductance | mH | 0.22 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 12.8 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 110 |
| Inner diameter | mm | 25 |
| Length | mm | 80.2 |
| Peak torque | Nm | 194 |
| Mass | g | 1981.2 |
| Inertia | g·cm² | 1010 |
| Outer diameter | mm | 110 |
| Max allowable torque | Nm | 133 |
| Rated torque | Nm | 84 Speed: 20 RPM |
| Peak speed | RPM | 40 |
| Speed | RPM | 31 Torque: 42 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 19.9 |
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 | HJ2-110F101D24-BK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 9 |
| Resistance | Ω | 0.13 |
| Inductance | mH | 0.25 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 14.3 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 110 |
| Inner diameter | mm | 25 |
| Length | mm | 97.6 |
| Peak torque | Nm | 194 |
| Mass | g | 2600 |
| Inertia | g·cm² | 1550 |
| Outer diameter | mm | 110 |
| Max allowable torque | Nm | 133 |
| Rated torque | Nm | 84 Speed: 20 RPM |
| Peak speed | RPM | 36 |
| Speed | RPM | 27 Torque: 42 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 10.4 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
