Space Limited Hollow Shaft Harmonic Drive Dual Encoder Rotary Actuator

Name: Space Limited Hollow Shaft Harmonic Drive Dual Encoder Rotary Actuator
SKU: -1

● Introduction

The HAT Hollow and Standard Harmonic Servo Rotary Actuators support harmonic drives of models 11, 14, 17, 20, 25, 32, 40, 50, and 58, with rated torque from 4 N·m to 1200 N·m and outer diameters ranging from 62 mm to 220 mm.They feature multi-turn absolute encoders with Tamagawa protocol:Single-turn 17-bit, multi-turn 16-bit, or Single-turn 23-bit, multi-turn 16-bit.Custom dual-encoder configurations are also available. The harmonic actuators can be directly mounted via the end face, making them ideal for lightweight or space-constrained applications.

Features

● Hollow Through-Wire Design

The hollow bore allows motor cables, sensor wires, or hydraulic/pneumatic lines to pass through the joint. This prevents exposed lines from tangling, making it especially suitable for collaborative robots, multi-joint robotic arms, and other serial-link devices.

● High Integration
Motor, encoder, and brake are fully integrated into a compact unit, enabling quick connection to drives and simplifying overall system integration.

● Long Service Life & Low Maintenance
The gear teeth wear evenly and avoid rigid impacts, providing tens of thousands of hours of operational life under normal conditions. Minimal lubrication and maintenance are required, reducing long-term operating costs.

● Excellent Environmental Adaptability
The actuators operate reliably in dusty or humid environments. Some high-end models support a wide temperature range from -40°C to 70°C, making them suitable for industrial workshops, outdoor settings, and other challenging conditions.

● Flexible Operation

Designed for applications with strict weight and space constraints, the actuators enable lightweight design and improved motion flexibility, enhancing overall equipment performance.

Specification

Sheet 1

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Model		HAT11		HAT14			HAT17				HAT20					HAT25					HAT32					HAT40					HAT50		HAT58
Reduction Ratio	/	51	101	51	81	101	51	81	101	121	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	101	51	101
Rated Torque	N·M	4	8	8.6	13.5	13.5	27	33	49	49	30	48	58	61	61	68.5	107	133	133	133	133	206	264	267	267	242	351	460	557	557	642	823	951	1200
Peak Torque	N·M	8.3	11	23	29	34	43	53	66	66	69	91	102	108	113	121	169	194	207	217	267	376	411	436	459	497	641	702	762	800	1163	1211	1828	1964
Rated Speed	RPM	69	35	59	37	30	59	37	30	25	59	37	30	25	19	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12	27	22	27	22
Max Speed	RPM	102	51	118	74	59	118	74	59	50	118	74	59	50	37	94	59	48	40	30	90	57	49	38	29	80	51	41	34	25	37	30	37	30
Rated Current	A	0.98	0.99	0.78	0.77	0.62	2.36	1.82	2.17	1.81	2.63	2.65	2.56	2.25	1.69	3.90	3.84	3.83	3.20	2.40	5.82	5.68	5.83	4.93	3.7	8.72	7.97	8.37	8.46	6.36	11.94	12.27	17.68	17.89
Max Current	A	2.03	1.36	2.09	1.66	1.56	3.68	2.92	2.92	2.44	6.04	5.02	4.51	3.98	3.13	6.90	6.07	5.58	4.97	3.92	11.69	10.36	9.08	8.04	6.36	17.91	14.55	12.75	11.58	9.13	21.62	18.06	33.99	29.29
Torque Constant	N·M/Arms	4.08	8.08	11.02	17.50	21.82	11.42	18.14	22.62	27.10	11.42	18.14	22.62	27.10	36.06	17.54	27.86	34.74	41.62	55.38	22.85	36.29	45.25	54.21	72.13	27.74	44.06	54.94	65.82	87.58	53.78	67.06	53.784	67.064
Unidirectional Positioning Accuracy	Arcsec	≤90	≤90	≤70	≤60	≤60	≤60	≤60	≤50	≤50	≤60	≤60	≤60	≤50	≤50	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤30	≤30	≤30	≤30
Repeat Positioning Accuracy	Arcsec	≤20	≤20	≤15	≤10	≤10	≤15	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Tilt Stiffness	X104N.m/rad	4		8			15				24					38					95					175					Rated radial load 2750N Rated axial load 2750N Rated overturning moment 1950N.M		Rated radial load 3200N Rated axial load 3200N Rated overturning moment 2500N.M
Torsional Stiffness	X104N.m/rad	0.3	0.34	0.46	0.6		1.07	1.3			1.8	2.3				3.4	4.6				7.6	9.9				14	18.6
Motor Phase Resistance	Ohma(20°C)	12		7.5			2.6				2.6					3.55					0.88					0.8					0.126		0.126
Motor Phase Inductance	Mh	9.5		11.5			6.7				6.7					10					6.1					8					0.65		0.65
Back-EMF Constant	Vrms/Krpm	10.5		25			25				25					40					40					44					52		52
Rotor Inertia	Without brake KG*m2	8.32*10^-6		3.6*10^-5			7.96*10^-5				8.8*10^-5					2.1*10^-4					8.3*10^-4					1.64*10^-3					4.8*10^-3		4.8*10^-3
Rotor Inertia	With brake KG*m2	8.73*10^-6		3.7*10^-5			9.12*10^-5				9.17*10^-5					2.2*10^-4					1.04*10^-3					2.05*10^-3					/		/
Mass (Without Brake)	Kg	1.17		1.66			2.2				2.4					3.6					7.4					10.7					25		32
Mass (With Brake)	Kg	1.36		2			2.8				2.96					4.2					8.7					12					/		/
Motor Poles	Pole	10		16			16				16					16					16					16					20		20
Diameter & Length (With/Without Brake)	mm	63mmX83mm 63mmx99.7mm		ø74mmX91.5mm ø74mmX109.5mm			ø88mmX98mm ø88mmX122mm				ø88mmX101mm ø88mmX125mm					ø110mmX109mm ø110mmX130.5mm					ø142mmX138.7mm ø142mmX164.2mm					ø170mmX150.7mm ø170mmX175.7mm					ø214mmX196mm		ø240mmX216mm ø240mmX249.4mm
Hollow Shaft Diameter	mm	ø10mm		ø9mm			ø13.5mm				ø16.5mm					ø17mm					ø29mm					ø40mm					ø40mm		ø50mm
Notes	For reference only, please contact sales for actual parameters
Notes

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sales@honpine.com