Robot joint

HR Series Harmonic Joint Module

by Zhidongli · Wuhan, Hubei (also Wuxi, Jiangsu) · Joint modules

Hollow-shaft harmonic joint modules in five sizes, peak torque from 16 to 841 N.m, 48 VDC with EtherCAT or CANopen and optional dual encoder and torque sensor.

Key specs

Weight

6.7 kg15 lb

Protection

IP40

Power supply

48 VDC

5 models in this family

HR0090HR0120HR0240HR0680HR1000

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Full specifications

Models	HR0090-052H101-48M0, HR0120-070H081-48M0, HR0240-080H101-48M0, HR0680-110H101-48M0, HR1000-142H161-48M0
Joint diameter	52 / 70 / 80 / 110 / 142 mm
Joint length	80 / 86.5 / 91.5 / 122 / 153 mm
Hollow bore diameter	6 / 9.8 / 12 / 20 / 22 mm
Joint weight	0.4 / 1.1 / 1.4 / 2.9 / 6.7 kg
Gear ratio	101 / 81 / 101 / 101 / 161 (configurable)
Reducer backlash	≤20 arcsec
Transmission accuracy	<1 arcmin
Average service life	20,000 h
Start/stop allowable torque	8.5 / 30 / 70 / 204 / 433 N·m
Average load torque	6.5 / 14 / 46 / 140 / 281 N·m
Maximum instantaneous torque	16 / 61 / 138 / 369 / 841 N·m
Rated speed	34 / 43 / 34 / 34 / 20 rpm
Maximum speed	50 / 52 / 42 / 42 / 25 rpm
Repeatability	<60 arcsec
Absolute positioning accuracy	<300 arcsec
Motor power	90 / 120 / 240 / 680 / 1000 W
Rated voltage	48 VDC
Rated current	2.5 / 3.7 / 6.5 / 18 / 23.2 A (rms)
Peak current	8 / 5.5 / 14 / 37 / 53 A (rms)
Communication	EtherCAT, CANopen
Encoder	Single multi-turn absolute encoder; dual encoder optional
Torque sensor	Optional
Protection rating	IP40