RH-Hollow harmonic series integrated servo actuators combine a hollow harmonic drive with 48 V operation, low backlash below 40 arcsec, dual 17-bit absolute encoders, and EtherCAT/CAN bus communication. Across RH-14 to RH-32, they provide precise positioning and compact high-torque motion control for demanding automation axes.
| – |
|---|
| Parameter | Unit | RH-14 | RH-17 | RH-20 | RH-32 |
|---|---|---|---|---|---|
| Gear ratio | 100 | 100 | 100 | 100 | |
| Peak current | A | 5.7 | 7.4 | 10.6 | 32.1 |
| Motor Back-EMF constant | Vdc/Krpm | 19.2 | 19.2 | 19.2 | 26.7 |
| Module torque constant | Nm/A | 4 | 7.4 | 7.3 | 6.9 |
| Motor phase resistance | Ohm | 0.62 | 0.70 | 0.36 | 0.08 |
| Motor phase inductance | mH | 0.43 | 0.47 | 0.51 | 0.18 |
| Pole pair | 10 | 10 | 10 | 10 | |
| 3 phase connection | Y | Y | Y | Y | |
| Backlash | Arcsec | <40 | <40 | <40 | <40 |
| Radial load static load | KN | 8.6 | 16.3 | 22 | 65.4 |
| Radial load dynamic load | KN | 5.8 | 10.4 | 14.6 | 38.2 |
| Input voltage | V | 48 | 48 | 48 | 48 |
| Axial load static load | KN | 58.7 | 78.2 | 132.7 | 342.6 |
| Axial load dynamic load | KN | 16.2 | 20.8 | 34 | 81.8 |
| Inertia N | kg⋅m² | 0.29 | 0.52 | 0.87 | 6.86 |
| Inertia B | – | 0.56 | 0.95 | 8.32 | |
| Encoder type | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | |
| Repeat position accuracy | < 0.01 | < 0.01 | < 0.01 | < 0.01 | |
| Communication | EtherCAT & CAN BUS | EtherCAT & CAN BUS | EtherCAT & CAN BUS | EtherCAT & CAN BUS | |
| Weight N | kg | 0.78 | 1.11 | 1.45 | 4.32 |
| Weight B | – | 1.28 | 1.75 | 4.74 | |
| Insulation grade | F | F | F | F | |
| No load speed | RPM | 30 | 30 | 30 | 30 |
| No load current | A | 0.4 | 0.6 | 1.2 | 2.8 |
| Rated speed | RPM | 25 | 25 | 25 | 18 |
| Rated torque | Nm | 11 | 35 | 50 | 150 |
| Rated power | W | 28 | 91 | 130 | 282 |
| Rated current | A | 2.8 | 4.7 | 6.8 | 21.8 |
| Peak torque | Nm | 28 | 54 | 80 | 229 |
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 | RH-14 |
|---|---|---|
| Gear ratio | 100 | |
| Peak current | A | 5.7 |
| Motor Back-EMF constant | Vdc/Krpm | 19.2 |
| Module torque constant | Nm/A | 4 |
| Motor phase resistance | Ohm | 0.62 |
| Motor phase inductance | mH | 0.43 |
| Pole pair | 10 | |
| 3 phase connection | Y | |
| Backlash | Arcsec | <40 |
| Radial load static load | KN | 8.6 |
| Radial load dynamic load | KN | 5.8 |
| Input voltage | V | 48 |
| Axial load static load | KN | 58.7 |
| Axial load dynamic load | KN | 16.2 |
| Inertia N | kg⋅m² | 0.29 |
| Inertia B | – | |
| Encoder type | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | |
| Repeat position accuracy | < 0.01 | |
| Communication | EtherCAT & CAN BUS | |
| Weight N | kg | 0.78 |
| Weight B | – | |
| Insulation grade | F | |
| No load speed | RPM | 30 |
| No load current | A | 0.4 |
| Rated speed | RPM | 25 |
| Rated torque | Nm | 11 |
| Rated power | W | 28 |
| Rated current | A | 2.8 |
| Peak torque | Nm | 28 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 16.5 Nm | 3 K | 15 s | 3.7 A |
| 22 Nm | 4 K | 10 s | 4.8 A |
| 27.5 Nm | 6 K | 8 s | 6.6 A |
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 | RH-17 |
|---|---|---|
| Gear ratio | 100 | |
| Peak current | A | 7.4 |
| Motor Back-EMF constant | Vdc/Krpm | 19.2 |
| Module torque constant | Nm/A | 7.4 |
| Motor phase resistance | Ohm | 0.70 |
| Motor phase inductance | mH | 0.47 |
| Pole pair | 10 | |
| 3 phase connection | Y | |
| Backlash | Arcsec | <40 |
| Radial load static load | KN | 16.3 |
| Radial load dynamic load | KN | 10.4 |
| Input voltage | V | 48 |
| Axial load static load | KN | 78.2 |
| Axial load dynamic load | KN | 20.8 |
| Inertia N | kg⋅m² | 0.52 |
| Inertia B | kg⋅m² | 0.56 |
| Encoder type | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | |
| Repeat position accuracy | < 0.01 | |
| Communication | EtherCAT & CAN BUS | |
| Weight N | kg | 1.11 |
| Weight B | kg | 1.28 |
| Insulation grade | F | |
| No load speed | RPM | 30 |
| No load current | A | 0.6 |
| Rated speed | RPM | 25 |
| Rated torque | Nm | 35 |
| Rated power | W | 91 |
| Rated current | A | 4.7 |
| Peak torque | Nm | 54 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 52.5 Nm | 15 K | 15 s | 6.9 A |
| 70 Nm | 7 K | 10 s | 9.8 A |
| 87.5 Nm | 35 K | 8 s | 11.9 A |
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 | RH-20 |
|---|---|---|
| Gear ratio | 100 | |
| Peak current | A | 10.6 |
| Motor Back-EMF constant | Vdc/Krpm | 19.2 |
| Module torque constant | Nm/A | 7.3 |
| Motor phase resistance | Ohm | 0.36 |
| Motor phase inductance | mH | 0.51 |
| Pole pair | 10 | |
| 3 phase connection | Y | |
| Backlash | Arcsec | <40 |
| Radial load static load | KN | 22 |
| Radial load dynamic load | KN | 14.6 |
| Input voltage | V | 48 |
| Axial load static load | KN | 132.7 |
| Axial load dynamic load | KN | 34 |
| Inertia N | kg⋅m² | 0.87 |
| Inertia B | kg⋅m² | 0.95 |
| Encoder type | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | |
| Repeat position accuracy | < 0.01 | |
| Communication | EtherCAT & CAN BUS | |
| Weight N | kg | 1.45 |
| Weight B | kg | 1.75 |
| Insulation grade | F | |
| No load speed | RPM | 30 |
| No load current | A | 1.2 |
| Rated speed | RPM | 25 |
| Rated torque | Nm | 50 |
| Rated power | W | 130 |
| Rated current | A | 6.8 |
| Peak torque | Nm | 80 |
| Torque | Temperature rise | Stall time | Phase current |
|---|---|---|---|
| 75 Nm | 8 K | 15 s | 10.5 A |
| 100 Nm | 12 K | 10 s | 13.5 A |
| 125 Nm | 15 K | 8 s | 18 A |
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 | RH-32 |
|---|---|---|
| Gear ratio | 100 | |
| Peak current | A | 32.1 |
| Motor Back-EMF constant | Vdc/Krpm | 26.7 |
| Module torque constant | Nm/A | 6.9 |
| Motor phase resistance | Ohm | 0.08 |
| Motor phase inductance | mH | 0.18 |
| Pole pair | 10 | |
| 3 phase connection | Y | |
| Backlash | Arcsec | <40 |
| Radial load static load | KN | 65.4 |
| Radial load dynamic load | KN | 38.2 |
| Input voltage | V | 48 |
| Axial load static load | KN | 342.6 |
| Axial load dynamic load | KN | 81.8 |
| Inertia N | kg⋅m² | 6.86 |
| Inertia B | kg⋅m² | 8.32 |
| Encoder type | Dual Encoder ABS-17Bit (Input) | ABS-17BIT (Output) | |
| Repeat position accuracy | < 0.01 | |
| Communication | EtherCAT & CAN BUS | |
| Weight N | kg | 4.32 |
| Weight B | kg | 4.74 |
| Insulation grade | F | |
| No load speed | RPM | 30 |
| No load current | A | 2.8 |
| Rated speed | RPM | 18 |
| Rated torque | Nm | 150 |
| Rated power | W | 282 |
| Rated current | A | 21.8 |
| Peak torque | Nm | 229 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
