70 mm integrated robotic joint family for compact, high-precision motion axes in humanoid, collaborative, and industrial robots. It combines motor, harmonic reducer, and 24-bit encoder in one unit, with 101:1 reduction, 9.6 Nm rated torque, 34 Nm peak torque, 10 arcsec backlash, and EtherCAT/CAN/CANFD connectivity.
| Parameter | Unit | HJ2-70F101D24-NK-EC | HJ2-70F101D24-BK-EC |
|---|---|---|---|
| Reduction ratio | 101 | 101 | |
| Rated current | A | 2.3 | 3.6 |
| Resistance | Ω | 0.37 | 0.47 |
| Inductance | mH | 0.19 | 0.215 |
| Pole pairs | 10 | 10 | |
| Torque constant | Nm/A | 5.6 | 8.9 |
| Encoder resolution | bit | 24 | 24 |
| Field bus | EtherCAT, CAN, CANFD | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 70 | 70 |
| Inner diameter | mm | 12 | 12 |
| Length | mm | 61.3 | 82.3 |
| Peak torque | Nm | 34 | 34 |
| Mass | g | 598 | 800 |
| Inertia | g·cm² | 100 | 125 |
| Outer diameter | mm | 70 | 70 |
| Max allowable torque | Nm | 13.5 | 13.5 |
| Rated torque | Nm | 9.6 Speed: 20 RPM |
9.6 Speed: 20 RPM |
| Peak speed | RPM | 64 | 49 |
| Speed | RPM | 52 Torque: 4.8 Nm |
37 Torque: 4.8 Nm |
| Backlash | arcsec | 10 | 10 |
| Supply voltage | VDC | 48 | 48 |
| Max current | A | 8 | 5 |
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 | HJ2-70F101D24-NK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 2.3 |
| Resistance | Ω | 0.37 |
| Inductance | mH | 0.19 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 5.6 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 70 |
| Inner diameter | mm | 12 |
| Length | mm | 61.3 |
| Peak torque | Nm | 34 |
| Mass | g | 598 |
| Inertia | g·cm² | 100 |
| Outer diameter | mm | 70 |
| Max allowable torque | Nm | 13.5 |
| Rated torque | Nm | 9.6 Speed: 20 RPM |
| Peak speed | RPM | 64 |
| Speed | RPM | 52 Torque: 4.8 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 8 |
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 | HJ2-70F101D24-BK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 3.6 |
| Resistance | Ω | 0.47 |
| Inductance | mH | 0.215 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 8.9 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 70 |
| Inner diameter | mm | 12 |
| Length | mm | 82.3 |
| Peak torque | Nm | 34 |
| Mass | g | 800 |
| Inertia | g·cm² | 125 |
| Outer diameter | mm | 70 |
| Max allowable torque | Nm | 13.5 |
| Rated torque | Nm | 9.6 Speed: 20 RPM |
| Peak speed | RPM | 49 |
| Speed | RPM | 37 Torque: 4.8 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 5 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
