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Location: HONPINE Precision > Robot Joint Motor > Harmonic Joint Motor > High Precision Encoders Robotic Harmonic Gear Motor with STO

High Precision Encoders Robotic Harmonic Gear Motor with STO

Name: High Precision Encoders Robotic Harmonic Gear Motor with STO
SKU: -1

● Introduction

HAG Robotic Harmonic Gear Motor is a robot joint actuator specifically designed for robotics applications. The built-in driver is integrated at the base of the gear motor, and it is equipped with high-precision encoders—20-bit resolution on the high-speed side and 19-bit on the output side—enabling full closed-loop control. Optional STO and brake functions are available to ensure safer operation of the equipment.

Features

● Optional STO and brake functions are available, providing enhanced operational safety.

● The integrated all-in-one design is more lightweight compared to traditional harmonic actuators with external drivers.

● Equipped with a 20-bit encoder, enabling smoother motion, higher precision, and lower error, achieving high-accuracy closed-loop control.

● Uses a high-precision harmonic drive, offering superior repeatability and zero-delay direction reversal.

● Features a hollow shaft design, making cable routing and management more convenient.

● Supports dual 24V digital inputs and outputs, along with ±10V analog interface for flexible control integration.

● Compatible with multiple communication protocols including EtherCAT (CiA402), CANopen (CiA402), CAN-FD, and RS485 Modbus.

● Provides USB debugging interface with real-time access to position, speed, and current loops, enabling PID parameter tuning and driver status monitoring.

● Supports multiple operation modes including profile torque, speed, position, cyclic synchronous position/velocity/current, analog control, and homing mode.

● Equipped with advanced inertia identification for variable load conditions, improving system adaptability and performance.

● Integrated comprehensive protection functions such as STO, over/under voltage, overcurrent, over-temperature, tracking errors, synchronization errors, and communication faults.

● Designed for reliable operation in industrial environments, with vibration resistance, high insulation performance, and protection class up to IP40.

Specification

Sheet 1

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HAG-11 Harmonic Gear Motor Technical
Reduction Ratio			51	81	101
DC Bus Voltage 48VDC	Peak Torque	N.m	11.4	15	18
	Rated Torque	N.m	4.6	6.2	7.3
	Maximum Speed	rpm	88	56	45
	额定转速	rpm	59	37	30
	Rated Speed	Arms	3.35	2.78	2.67
	Rated Current	Arms	1.50	1.28	1.20
	Torque Constant	N.mArms	3.06	4.86	6.06
	Motor Phase-to-Phase Resistance	Ohms(20℃)	2.56
	Motor Phase-to-Phase Inductance	mH	1.8
	Motor Back EMF Constant	Vms/krpm	9.5
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	8
Torsional Stiffness		x10°N.m/rad	0.46 0.6
Power-off Holding Brake (Motor Side)		N.m	≥0.2
Rotor Moment of Inertia	Without Brake	kg*m²	1.86*10^-5
	With Brake	kg*m²	1.94*10^-5
Mass	Without Brake	Kg	0.51
	With Brake	Kg	0.55
Motor Pole Pairs		Pole	10
Torque Sensor	Rated Range	Nm	-25-0-25Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 2

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H A G -14 Harmonic Joint Motor Datasheet
Reduction Ratio			51	81	101
DC Bus Voltage 48VDC	Peak Torque	N.m	23	29	35
	Rated Torque	N.m	10.5	16.5	21
	Maximum Speed	rpm	98	62	50
	额定转速	rpm	59	37	30
	Rated Speed	Arms	6.39	5.07	4.91
	Rated Current	Arms	2.92	2.89	2.95
	Torque Constant	N.mArms	3.60	5.71	7.13
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.89
	Motor Phase-to-Phase Inductance	mH	1.67
	Motor Back EMF Constant	Vms/krpm	7
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	8
Torsional Stiffness		x10°N.m/rad	0.46 0.6
Power-off Holding Brake (Motor Side)		N.m	≥0.65
Rotor Moment of Inertia	Without Brake	kg*m²	3.52*10^-5
	With Brake	kg*m²	3.76*10^-5
Mass	Without Brake	Kg	0.875
	With Brake	Kg	0.92
Motor Pole Pairs		Pole	16
Torque Sensor	Rated Range	Nm	-35-0-35Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 3

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H A G -17 Strain Wave Motor
Reduction Ratio			51	81	101
DC Bus Voltage 48VDC	Peak Torque	N.m	23	29	35
	Rated Torque	N.m	10.5	16.5	21
	Maximum Speed	rpm	98	62	50
	额定转速	rpm	59	37	30
	Rated Speed	Arms	6.39	5.07	4.91
	Rated Current	Arms	2.92	2.89	2.95
	Torque Constant	N.mArms	3.60	5.71	7.13
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.89
	Motor Phase-to-Phase Inductance	mH	1.67
	Motor Back EMF Constant	Vms/krpm	7
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	8
Torsional Stiffness		x10°N.m/rad	0.46 0.6
Power-off Holding Brake (Motor Side)		N.m	≥0.65
Rotor Moment of Inertia	Without Brake	kg*m²	3.52*10^-5
	With Brake	kg*m²	3.76*10^-5
Mass	Without Brake	Kg	0.875
	With Brake	Kg	0.92
Motor Pole Pairs		Pole	16
Torque Sensor	Rated Range	Nm	-35-0-35Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 4

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HAG-20 Harmonic Drive Actuator
Reduction Ratio			51	81	101	121
DC Bus Voltage 48VDC	Peak Torque	N.m	52	83	104	111
	Rated Torque	N.m	26	42	53	63
	Maximum Speed	rpm	98	62	50	41
	额定转速	rpm	59	37	30	25
	Rated Speed	Arms	17.01	17.09	17.18	15.30
	Rated Current	Arms	8.50	8.65	8.75	8.68
	Torque Constant	N.mArms	3.06	4.86	6.05	7.25
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.18
	Motor Phase-to-Phase Inductance	mH	0.45
	Motor Back EMF Constant	Vms/krpm	7.7
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	24
Torsional Stiffness		x10°N.m/rad	1.8 2.3
Power-off Holding Brake (Motor Side)		N.m	≥1
Rotor Moment of Inertia	Without Brake	kg*m²	8.81*10^-5
	With Brake	kg*m²	9.47*10^-5
Mass	Without Brake	Kg	1.43
	With Brake	Kg	1.51
Motor Pole Pairs		Pole	16
Torque Sensor	Rated Range	Nm	-140-0-140Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 5

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H A G -25 Harmonic Actuator
Reduction Ratio			51	81	101	121
DC Bus Voltage 48VDC	Peak Torque	N.m	100	158	195	235
	Rated Torque	N.m	54	85	106	127
	Maximum Speed	rpm	78	49	40	33
	额定转速	rpm	59	37	30	25
	Rated Speed	Arms	27.98	27.84	27.55	27.72
	Rated Current	Arms	14.05	13.93	13.93	13.93
	Torque Constant	N.mArms	3.84	6.10	7.61	9.12
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.1
	Motor Phase-to-Phase Inductance	mH	0.56
	Motor Back EMF Constant	Vms/krpm	8
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	38
Torsional Stiffness		x10°N.m/rad	3.4 4.6
Power-off Holding Brake (Motor Side)		N.m	≥2
Rotor Moment of Inertia	Without Brake	kg*m²	1.33*10^-4
	With Brake	kg*m²	1.45*10^-4
Mass	Without Brake	Kg	2.43
	With Brake	Kg	2.54
Motor Pole Pairs		Pole	16
Torque Sensor	Rated Range	Nm	-250-0-250Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 6

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HAG 32 Harmonic Reducer Actuator
Reduction Ratio			51	101	161
DC Bus Voltage 48VDC	Peak Torque	N.m	218	380	430
	Rated Torque	N.m	124	247	300
	Maximum Speed	rpm	55	28	17
	额定转速	rpm	43	22	14
	Rated Speed	Arms	45.82	40.33	28.63
	Rated Current	Arms	23.98	24.12	18.38
	Torque Constant	N.mArms	5.17	10.24	16.33
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.067
	Motor Phase-to-Phase Inductance	mH	0.46
	Motor Back EMF Constant	Vms/krpm	10
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
			The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	95
Torsional Stiffness		x10°N.m/rad	7.6 9.9
Power-off Holding Brake (Motor Side)		N.m	≥4.2
Rotor Moment of Inertia	Without Brake	kg*m²	8.84*10^-4
	With Brake	kg*m²	9.24*10^-4
Mass	Without Brake	Kg	4.57
	With Brake	Kg	4.8
Motor Pole Pairs		Pole	16
Torque Sensor	Rated Range	Nm	-500-0-500Nm
	Ultimate Overload	%F.S.	200%
	Safety Overload	%F.S.	150%
	Temperature Drift	%F.S.	±0.2%F.S./10℃
	Sensitivity Temperature Drift	%F.S.	±0.1%F.S./10℃
	Force Transmission Resolution	%F.S.	<0.2%
	Torque Fluctuation	Nm	<0.2
	Nonlinear error	%F.S.	±0.2%F.S.
	Sampling frequency	kHz	8K

Sheet 7

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HAG-40 Harmonic Precision Motor
Reduction Ratio			51	81	101	121	161
DC Bus Voltage 48VDC	Peak Torque	N.m	405	641	702	762	800
	Rated Torque	N.m	216	345	430	515	557
	Maximum Speed	rpm	49	31	25	21	16
	额定转速	rpm	35	22	18	15	11
	Rated Speed	Arms	59.62	59.41	52.18	47.28	37.30
	Rated Current	Arms	31.80	31.98	31.96	31.95	25.97
	Torque Constant	N.mArms	6.79	10.79	13.45	16.12	21.45
	Motor Phase-to-Phase Resistance	Ohms(20℃)	0.05
	Motor Phase-to-Phase Inductance	mH	0.35
	Motor Back EMF Constant	Vms/krpm	13.5
Absolute Encoder	Encoder Type		Absolute Value BISS-C Protocol
Absolute Encoder	Encoder Resolution (Output)	bit	Single-turn: 2²⁰ (1,048,576); Multi-turn: 2¹² (4,096)
Positioning Accuracy		Arcsec	≤75
Positioning Accuracy		Arcsec	The above are the default values; unidirectional positioning accuracy of ≤20 is customizable.
Repeatability		Arcsec	≤10
Inclination Stiffness		x10°N.mrad	175
Torsional Stiffness		x10°N.m/rad	14 18.6
Power-off Holding Brake (Motor Side)		N.m	≥6
Rotor Moment of Inertia	Without Brake	kg*m²	1.6*10^-3
Rotor Moment of Inertia	With Brake	kg*m²	1.67*10^-3
Mass	Without Brake	Kg	7.49
Mass	With Brake	Kg	7.8
Motor Pole Pairs		Pole	16

Sheet 8

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