This series of robotic joint modules integrates six important components, including torque motor, harmonic reducer, controller, driver and encoder. We have achieved lighter weight, higher torque density, reduced weight by more than 1/3, greatly reducing operation energy consumption, and can be applied to the job robot market and industrial automation market.
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| Model | TD-30-40-PRO-XX | TD-30-40-PRO-XXB | TD-40-52-PRO-XX | TD-40-52-PRO-XXB | TD-50-60-PRO-XX | TD-50-60-PRO-XXB |
| Ratio | 51/101 | 51/101 | 51/101 | 51/101 | 51/81/101 | 51/81/101 |
| Start-stop peak Torque (N.m) | 3.3/4.8 | 3/4 | 8.3/11 | 8.3/11 | 23/29/34 | 23/29/34 |
| Max. allowable torque at average load (N.m) | 2.3/3.3 | 2/3 | 5.5/8.9 | 5.5/8.9 | 8.6/13.5/13.5 | 8.6/13.5/13.5 |
| Rated torque at 2000rpm/ (reduction ratio)(Nm) | 1.8/2.8 | 1.8/2.8 | 4/6.5 | 4/6.5 | 6.6/9.6/9.6 | 6.6/9.6/9.6 |
| OutpuT Peak Speed (RPM) | 118/59 | 118/59 | 118/59 | 118/59 | 97/61/49 | 97/61/49 |
| Rated speed (RPM) | 90/45 | 90/45 | 80/40 | 80/40 | 75/46/37 | 75/46/37 |
| Motor power (W) | 36 | 36 | 90 | 90 | 150 | 150 |
| Supply voltage (V) | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 |
| Rated current (A) | 1 | 1 | 2 | 2 | 3.6 | 3.6 |
| Max. continuous current(A) | 2 | 2 | 3 | 3 | 5 | 5 |
| Encoder Resoluton (Bit) | 17 | 17 | 17 | 17 | 17 | 17 |
| Backlash (arcsec) | 40 | 40 | 40 | 40 | 20/20/10 | 20/20/10 |
| communication bus | CAN | CAN | CAN | CAN | CAN | CAN |
| Length(mm) | 55.3±0.5 | 72.5±0.5 | 60.3±0.5 | 76.1±0.5 | 60±0.5 | 82±0.5 |
| Through hole(mm) | 5 | 5 | 12 | 11 | 12 | 10 |
| Weight(kg) | 0.17 | 0.23 | 0.3 | 0.4 | 0.42 | 0.59 |
| Torque constant(N.m/A) | 0.024 | 0.024 | 0.05 | 0.05 | 0.089 | 0.089 |
| Resistance(ohm) | 0.024 | 0.024 | 1.96 | 1.96 | 0.47 | 0.47 |
| Inductance(mH) | 0.409 | 0.409 | 0.788 | 0.788 | 0.215 | 0.215 |
| Number of pole-pairs | 7 | 7 | 7 | 7 | 10 | 10 |
| Inertia(g * c㎡) | 16 | 21 | 80 | 100 | 112 | 146 |
| Model | TD-50-70-PRO-XX | TD-50-70-PRO-XXB | TD-60-70-PRO-XX | TD-60-70-PRO-XXB | TD-60-80-PRO-XX | TD-60-80-PRO-XXB |
| Ratio | 51/81/101 | 51/81/101 | 51/81/101/121 | 51/81/101/121 | 51/81/101/121 | 51/81/101/121 |
| Start-stop peak Torque (N.m) | 23/29/34 | 23/29/34 | 42/53/61/61 | 42/53/61/61 | 42/53/61/61 | 42/53/61/61 |
| Max. allowable torque at average load (N.m) | 8.6/13.5/13.5 | 8.6/13.5/13.5 | 29/30/44/44 | 29/30/44/44 | 29/30/44/44 | 29/30/44/44 |
| Rated torque at 2000rpm/ (reduction ratio) | 6.6/9.6/9.6 | 6.6/9.6/9.6 | 19.8/27.5/30/30 | 19.8/27.5/30/30 | 19.8/27.5/30/30 | 19.8/27.5/30/30 |
| Output Peak Speed (RPM) | 97/61/49 | 97/61/49 | 70/45/35/30 | 70/45/35/30 | 70/45/35/30 | 70/45/35/30 |
| Rated speed (RPM) | 75/46/37 | 75/46/37 | 50/30/25/20 | 50/30/25/20 | 50/30/25/20 | 50/30/25/20 |
| Motor power (W) | 150 | 150 | 300 | 300 | 300 | 300 |
| Supply voltage (V) | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 |
| Rated current (A) | 3.6 | 3.6 | 5 | 5 | 5 | 5 |
| Max. continuous current(A) | 5 | 5 | 6.7 | 6.7 | 6.7 | 6.7 |
| Encoder Resolution (Bit) | 17 | 17 | 17 | 17 | 17 | 17 |
| Backlash (arcsec) | 20/20/10 | 20/20/10 | 20/20/10/10 | 20/20/10/10 | 20/20/10/10 | 20/20/10/10 |
| communication bus | CAN | CAN | CAN | CAN | CAN | CAN |
| Length(mm) | 60±0.5 | 81.7±0.5 | 70.3±0.5 | 93.3±0.5 | 70.4±0.5 | 92.8±0.5 |
| Through hole(mm) | 12 | 10 | 14 | 13 | 15 | 14.5 |
| Weight(kg) | 0.63 | 0.8 | 0.65 | 0.9 | 0.97 | 1.2 |
| Torque constant(N.m/A) | 0.089 | 0.089 | 0.096 | 0.096 | 0.096 | 0.096 |
| Resistance(ohm) | 0.47 | 0.47 | 0.45 | 0.45 | 0.45 | 0.45 |
| Inductance(mH) | 0.215 | 0.215 | 0.43 | 0.43 | 0.43 | 0.43 |
| Number of pole-pairs | 10 | 10 | 14 | 14 | 14 | 14 |
| Inertia(g * c㎡) | 124 | 147 | 213 | 299 | 213 | 299 |
| Model | TD-70-80-PRO-XX | TD-70-80-PRO-XXB | TD-70-90-PRO-XX | TD-70-90-PRO-XXB | TD-80-110-PRO-XX | TD-80-110-PRO-XXB |
| Ratio | 51/81/101/121 | 51/81/101/121 | 51/81/101/121 | 51/81/101/121 | 51/81/101/121/161 | 51/81/101/121/161 |
| Start-stop peak Torque (N.m) | 63/91/102/108 | 63/91/102/108 | 63/91/102/108 | 63/91/102/108 | 121/169/194/207/217 | 121/169/194/207/217 |
| Max. allowable torque at average load (N.m) | 42/58/61/61 | 42/58/61/61 | 42/58/61/61 | 42/58/61/61 | 68.5/107/133/133/133 | 68.5/107/133/133/133 |
| Rated torque at 2000rpm/ (reduction ratio) | 32/42/50/50 | 32/42/50/50 | 32/42/50/50 | 32/42/50/50 | 48/78/84/84/84 | 48/78/84/84/84 |
| Output Peak Speed (RPM) | 77/48/40/30 | 77/48/40/30 | 77/48/40/30 | 77/48/40/30 | 65/43/36/30/22 | 65/43/36/30/22 |
| Rated speed (RPM) | 61/38/30/25 | 61/38/30/25 | 61/38/30/25 | 61/38/30/25 | 54/35/27/23/17 | 54/35/27/23/17 |
| Motor power (W) | 500 | 500 | 500 | 500 | 750 | 750 |
| Supply voltage (V) | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 | 24-48 |
| Rated current (A) | 6.1 | 6.1 | 6.1 | 6.1 | 9 | 9 |
| Max. continuous current(A) | 8.4 | 8.4 | 8.4 | 8.4 | 10.4 | 10.4 |
| Encoder Resolution (Bit) | 17 | 17 | 17 | 17 | 17 | 17 |
| Backlash (arcsec) | 20/20/10/10 | 20/20/10/10 | 20/20/10/10 | 20/20/10/10 | 20/20/10/10/10 | 20/20/10/10/10 |
| communication bus | CAN | CAN | CAN | CAN | CAN | CAN |
| Length(mm) | 71.4±0.5 | 96.9±0.5 | 71.9±0.5 | 97.4±0.5 | 82.4±0.5 | 102.4±0.5 |
| Through hole(mm) | 15 | 15 | 14.5 | 14.5 | 27 | 27 |
| Weight(kg) | 0.95 | 1.3 | 1.3 | 1.6 | 2.1 | 2.6 |
| Torque constant(N.m/A) | 0.118 | 0.118 | 0.118 | 0.118 | 0.143 | 0.143 |
| Resistance(ohm) | 0.38 | 0.38 | 0.38 | 0.38 | 0.21 | 0.21 |
| Inductance(mH) | 0.33 | 0.33 | 0.33 | 0.33 | 0.3 | 0.3 |
| Number of pole-pairs | 10 | 10 | 10 | 10 | 10 | 10 |
| Inertia(g * c㎡) | 569 | 679 | 594 | 682 | 1255 | 1484 |
| Model | TD-100-142-PRO-XX | TD-100-142-PRO-XXB | TD-110-170-PRO-XX | TD-110-170-PRO-XXB |
| Ratio | 51/81/101/121/161 | 51/81/101/121/161 | 51/121/161 | 51/121/161 |
| Start-stop peak Torque (N.m) | 267/376/411/436/459 | 267/376/411/436/459 | 523/802/841 | 523/802/841 |
| Max. allowable torque at average load (N.m) | 120/185/267/267/267 | 120/185/267/267/267 | 255/586/586 | 255/586/586 |
| Rated torque at 2000rpm/ (reduction ratio) | 94/146/169/169/169 | 94/146/169/169/169 | 169/363/363 | 169/363/363 |
| Output Peak Speed (RPM) | 55/37/29/24/18 | 55/37/29/24/18 | 34/14/10 | 34/14/10 |
| Rated speed (RPM) | 44/29/22/18/12 | 44/29/22/18/12 | 22/12/7 | 22/12/7 |
| Motor power (W) | 1000 | 1000 | 1500 | 1500 |
| Supply voltage (V) | 24-48 | 24-48 | 24-48 | 24-48 |
| Rated current (A) | 15.8 | 15.8 | 14.1 | 14.1 |
| Max. continuous current(A) | 16.9 | 16.9 | 30.2 | 30.2 |
| Encoder Resolution (Bit) | 17 | 17 | 17 | 17 |
| Backlash (arcsec) | 20/20/10/10/10 | 20/20/10/10/10 | 20/20/10 | 20/20/10 |
| communication bus | CAN | CAN | CAN | CAN |
| Length(mm) | 95.7±0.5 | 115.7±0.5 | 119.7±0.5 | 144.7±0.5 |
| Through hole(mm) | 32 | 32 | 41 | 41 |
| Weight(kg) | 3.8 | 4.5 | 6.85 | 7.5 |
| Torque constant(N.m/A) | 0.175 | 0.175 | 0.293 | 0.293 |
| Resistance(ohm) | 0.07 | 0.07 | 0.23 | 0.23 |
| Inductance(mH) | 0.184 | 0.184 | 0.25 | 0.25 |
| Number of pole-pairs | 10 | 10 | 15 | 15 |
| Inertia(g * c㎡) | 3601 | 4237 | 9242 | 11751 |
