80 mm integrated robotic joint modules for compact, high-precision motion axes in humanoid, collaborative, and industrial robots. The family combines motor, harmonic reducer, and 24-bit encoder in one unit, with 101:1 reduction, 30 Nm rated torque, 66 Nm peak torque, 48 VDC supply, and EtherCAT/CAN/CANFD connectivity.
| Parameter | Unit | HJ2-80F101D24-NK-EC | HJ2-80F101D24-BK-EC |
|---|---|---|---|
| Reduction ratio | 101 | 101 | |
| Rated current | A | 3.7 | 5 |
| Resistance | Ω | 0.26 | 0.33 |
| Inductance | mH | 0.19 | 0.074 |
| Pole pairs | 10 | 10 | |
| Torque constant | Nm/A | 10.8 | 9.6 |
| Encoder resolution | bit | 24 | 24 |
| Field bus | EtherCAT, CAN, CANFD | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 80 | 80 |
| Inner diameter | mm | 17 | 17 |
| Length | mm | 68.2 | 84.2 |
| Peak torque | Nm | 66 | 66 |
| Mass | g | 958.2 | 1170 |
| Inertia | g·cm² | 240 | 400 |
| Outer diameter | mm | 80 | 80 |
| Max allowable torque | Nm | 49 | 49 |
| Rated torque | Nm | 30 Speed: 20 RPM |
30 Speed: 20 RPM |
| Peak speed | RPM | 48 | 41 |
| Speed | RPM | 36 Torque: 15 Nm |
34 Torque: 15 Nm |
| Backlash | arcsec | 10 | 10 |
| Supply voltage | VDC | 48 | 48 |
| Max current | A | 8 | 6.7 |
| Characteristics | Unit | 80mm Harmonic Drive Integrated Joint HJ2-80 |
|---|---|---|
| – |
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 | HJ2-80F101D24-NK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 3.7 |
| Resistance | Ω | 0.26 |
| Inductance | mH | 0.19 |
| 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 | 17 |
| Length | mm | 68.2 |
| Peak torque | Nm | 66 |
| Mass | g | 958.2 |
| Inertia | g·cm² | 240 |
| Outer diameter | mm | 80 |
| Max allowable torque | Nm | 49 |
| Rated torque | Nm | 30 Speed: 20 RPM |
| Peak speed | RPM | 48 |
| Speed | RPM | 36 Torque: 15 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 8 |
| Characteristics | Unit | HJ2-80F101D24-NK-EC |
|---|---|---|
| – |
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 | HJ2-80F101D24-BK-EC |
|---|---|---|
| Reduction ratio | 101 | |
| Rated current | A | 5 |
| Resistance | Ω | 0.33 |
| Inductance | mH | 0.074 |
| Pole pairs | 10 | |
| Torque constant | Nm/A | 9.6 |
| Encoder resolution | bit | 24 |
| Field bus | EtherCAT, CAN, CANFD | |
| Outer diameter | mm | 80 |
| Inner diameter | mm | 17 |
| Length | mm | 84.2 |
| Peak torque | Nm | 66 |
| Mass | g | 1170 |
| Inertia | g·cm² | 400 |
| Outer diameter | mm | 80 |
| Max allowable torque | Nm | 49 |
| Rated torque | Nm | 30 Speed: 20 RPM |
| Peak speed | RPM | 41 |
| Speed | RPM | 34 Torque: 15 Nm |
| Backlash | arcsec | 10 |
| Supply voltage | VDC | 48 |
| Max current | A | 6.7 |
| Characteristics | Unit | HJ2-80F101D24-BK-EC |
|---|---|---|
| – |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
