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Location: HONPINE Precision > Robot 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

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

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.

Specification

Sheet 1

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Model Selection HAG Harmonic Gear Motor			11
Reduction Ratio			51	81	101
48VDC	Peak torque	N.m	11.4	15	18
	Rated torque	N.m	4.6	6.2	7.3
	Maximum speed	rpm	63	40	32
	Rated speed	rpm	59	37	30
	Maximum current	Arms	3.73	3.09	2.97
	Rated current	Arms	1.5	1.28	1.2
	Torque constant	N.m/Arms	3.06	4.86	6.06
	Motor phase resistance	Ohms(20℃)	2.56
	Motor phase inductance	mH	1.8
	Motor back EMF constant	Vrms/krpm	9.5
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤50	≤50
Repeatability Accuracy		Arcsec	≤15	≤10	≤10
Overturning Stiffness		x104N.m/ rad	8
Torsional Stiffness		x104N.m/ rad	0.46	0.6
Rotor Moment of Inertia	Without Brake	kg*m²	1.9*10-5
Weight	With Brake	Kg	0.47
Motor Poles		Pole	10

Sheet 2

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Model Selection HAG Harmonic Gear Motor			14
Reduction Ratio			51	81	101
48VDC	Peak torque	N.m	23	29	35
	Rated torque	N.m	10.5	16.5	21
	Maximum speed	rpm	88	56	45
	Rated speed	rpm	59	37	30
	Maximum current	Arms	7.58	6.02	5.82
	Rated current	Arms	3.46	3.42	3.49
	Torque constant	N.m/Arms	3.03	4.82	6.01
	Motor phase resistance	Ohms(20℃)	TBD
	Motor phase inductance	mH	TBD
	Motor back EMF constant	Vrms/krpm	7
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤50	≤50
Repeatability Accuracy		Arcsec	≤15	≤10	≤10
Overturning Stiffness		x104N.m/ rad	8
Torsional Stiffness		x104N.m/ rad	0.46	0.6
Rotor Moment of Inertia	Without Brake	kg*m²	3.76*10-5
Weight	With Brake	Kg	0.97
Motor Poles		Pole	16

Sheet 3

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Model Selection HAG Harmonic Gear Motor			17
Reduction Ratio			51	81	101
48VDC	Peak torque	N.m	38	49	54
	Rated torque	N.m	22	28	32
	Maximum speed	rpm	78	49	40
	Rated speed	rpm	59	37	30
	Maximum current	Arms	8.47	6.87	6.08
	Rated current	Arms	4.9	3.93	3.6
	Torque constant	N.m/Arms	4.49	7.13	8.89
	Motor phase resistance	Ohms(20℃)	TBD
	Motor phase inductance	mH	TBD
	Motor back EMF constant	Vrms/krpm	8
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤50	≤50
Repeatability Accuracy		Arcsec	≤15	≤10	≤10
Overturning Stiffness		x104N.m/ rad	15
Torsional Stiffness		x104N.m/ rad	1.07	1.3
Rotor Moment of Inertia	Without Brake	kg*m²	6.8*10-5
Weight	With Brake	Kg	1.16
Motor Poles		Pole	16

Sheet 4

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Model Selection HAG Harmonic Gear Motor			20
Reduction Ratio			51	81	101	121
48VDC	Peak torque	N.m	66	91	104	111
	Rated torque	N.m	36	62	71	71
	Maximum speed	rpm	78	49	40	33
	Rated speed	rpm	51	32	26	21
	Maximum current	Arms	14.71	12.77	11.7	10.42
	Rated current	Arms	8.02	8.7	7.99	6.67
	Torque constant	N.m/Arms	4.49	7.13	8.89	10.65
	Motor phase resistance	Ohms(20℃)	0.18
	Motor phase inductance	mH	0.45
	Motor back EMF constant	Vrms/krpm	7.7
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤50	≤50	≤50
Repeatability Accuracy		Arcsec	≤10	≤10	≤10	≤10
Overturning Stiffness		x104N.m/ rad	24
Torsional Stiffness		x104N.m/ rad	1.8	2.3
Rotor Moment of Inertia	Without Brake	kg*m²	9.47*10-5
Weight	With Brake	Kg	1.63
Motor Poles		Pole	16

Sheet 5

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Model Selection HAG Harmonic Gear Motor			25
Reduction Ratio			51	81	101	121
48VDC	Peak torque	N.m	126	199	221	235
	Rated torque	N.m	64	100	125	144
	Maximum speed	rpm	69	43	35	29
	Rated speed	rpm	59	37	30	25
	Maximum current	Arms	28.07	27.92	24.86	22.07
	Rated current	Arms	14.26	14.03	14.06	13.52
	Torque constant	N.m/Arms	4.49	7.13	8.89	10.65
	Motor phase resistance	Ohms(20℃)	TBD
	Motor phase inductance	mH	TBD
	Motor back EMF constant	Vrms/krpm	8
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤50	≤50	≤50
Repeatability Accuracy		Arcsec	≤10	≤10	≤10	≤10
Overturning Stiffness		x104N.m/ rad	38
Torsional Stiffness		x104N.m/ rad	3.4	4.6
Rotor Moment of Inertia	Without Brake	kg*m²	1.45*10-4
Weight	With Brake	Kg	2.53
Motor Poles		Pole	16

Sheet 6

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Model Selection HAG Harmonic Gear Motor			32
Reduction Ratio			51	101	161
48VDC	Peak torque	N.m	255	380	430
	Rated torque	N.m	127	247	300
	Maximum speed	rpm	59	30	19
	Rated speed	rpm	47	24	15
	Maximum current	Arms	48.08	36.18	25.68
	Rated current	Arms	23.94	23.51	17.92
	Torque constant	N.m/Arms	5.3	10.5	16.74
	Motor phase resistance	Ohms(20℃)	TBD
	Motor phase inductance	mH	TBD
	Motor back EMF constant	Vrms/krpm	10
Absolute Encoder	Encoder Types		Absolute BiSS-C Protocol
	Encoder Resolution (High-speed End)	bit	Single Turn 220(1048576)
	Encoder Resolution (Output End)	bit	Single Turn 219(524288) Multi-Turn 212(4096)
Unidirectional Positioning Accuracy		Arcsec	≤60	≤55	≤45
Repeatability Accuracy		Arcsec	≤10	≤10	≤10
Overturning Stiffness		x104N.m/ rad	95
Torsional Stiffness		x104N.m/ rad	7.6
Rotor Moment of Inertia	Without Brake	kg*m²	9.24*10-4
Weight	With Brake	Kg	5
Motor Poles		Pole	16

Sheet 7

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Sheet 8

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