The HJ2-52 integrated joint module combines motor, harmonic reducer and 24-bit encoder in a compact 52 mm package for humanoid, collaborative and industrial robots. It delivers 5 N·m rated and 11 N·m peak torque, supports EtherCAT/CANFD, and enables closed-loop precision control with optional brake versions.
| Parameter | Unit | HJ2-52H101D24-NK-EC | HJ2-52H101D24-BK-EC |
|---|---|---|---|
| Reduction ratio | 101 | 101 | |
| Rated current | A | 0.6 | 2 |
| Resistance | Ω | 1.9 | 1.96 |
| Inductance | mH | 0.6 | 0.788 |
| Pole pairs | 10 | 10 | |
| Torque constant | Nm/A | 8.6 | 5.0 |
| Encoder resolution | bit | 24 | 24 |
| Field bus | EtherCAT, CAN, CANFD | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 52 | 52 |
| Inner diameter | mm | 10 | 10 |
| Length | mm | 56.6 | 74.1 |
| Peak torque | Nm | 11 | 11 |
| Mass | g | 326 | 380 |
| Inertia | g·cm² | 60 | 80 |
| Outer diameter | mm | 52 | 52 |
| Max allowable torque | Nm | 8.9 | 8.9 |
| Rated torque | Nm | 5 Speed: 20 RPM |
6.5 Speed: 20 RPM |
| Peak speed | RPM | 50 | 59 |
| Speed | RPM | 37 Torque: 2.5 Nm |
40 Torque: 3.25 Nm |
| Backlash | arcsec | 10 | 10 |
| Supply voltage | VDC | 48 | 48 |
| Max current | A | 1.3 | 3 |
| Family Specification | Unit | 52mm Harmonic Drive Integrated Joint HJ2-52 |
|---|---|---|
| Available sizes | mm | 52/70/80/90/110 |
| Integrated components | Motor, reducer, and encoder |
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 | HJ2-52H101D24-NK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 0.6 |
| Resistance | Ω | 1.9 |
| Inductance | mH | 0.6 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 8.6 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 52 |
| Inner diameter | mm | 10 |
| Length | mm | 56.6 |
| Peak torque | Nm | 11 |
| Mass | g | 326 |
| Inertia | g·cm² | 60 |
| Outer diameter | mm | 52 |
| Max allowable torque | Nm | 8.9 |
| Rated torque | Nm | 5 Speed: 20 RPM |
| Peak speed | RPM | 50 |
| Speed | RPM | 37 Torque: 2.5 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 1.3 |
| Family Specification | Unit | HJ2-52H101D24-NK-EC |
|---|---|---|
| Available sizes | mm | 52/70/80/90/110 |
| Integrated components | Motor, reducer, and encoder |
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 | HJ2-52H101D24-BK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 2 |
| Resistance | Ω | 1.96 |
| Inductance | mH | 0.788 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 5.0 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 52 |
| Inner diameter | mm | 10 |
| Length | mm | 74.1 |
| Peak torque | Nm | 11 |
| Mass | g | 380 |
| Inertia | g·cm² | 80 |
| Outer diameter | mm | 52 |
| Max allowable torque | Nm | 8.9 |
| Rated torque | Nm | 6.5 Speed: 20 RPM |
| Peak speed | RPM | 59 |
| Speed | RPM | 40 Torque: 3.25 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 3 |
| Family Specification | Unit | HJ2-52H101D24-BK-EC |
|---|---|---|
| Available sizes | mm | 52/70/80/90/110 |
| Integrated components | Motor, reducer, and encoder |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
