Harmonic Joint Modules
Size by rated torque at the gear ratio you will run, check the start/stop and average-load limits against your duty cycle, then the hollow shaft for your cabling.
How to compare harmonic joint modules
- Rated torque
- What the module delivers continuously at its rated speed. It depends on the gear ratio, so read it for the ratio you will order (see each product's ratio table).
- Average-load and start/stop torque
- Limits for the average torque over a motion cycle and for the repeated peaks when starting and stopping. Size a cycle against these, not the momentary peak.
- Peak torque
- The momentary limit for impacts and emergency stops. Exceeding it can damage the strain-wave gear.
- Gear ratio
- Harmonic reducers run at about 50:1 to 160:1. A higher ratio gives more torque and finer resolution at lower speed, and is less backdrivable.
- Backlash
- Lost motion at the output, in arcseconds (60 arcsec is 1/60 of a degree). Harmonic drives are near zero-backlash, which suits precise arm joints.
- Hollow shaft
- A bore through the module for cables and air lines, so they do not wrap around the joint.
- Dual encoder
- A second absolute encoder on the output reads the joint angle directly, so the joint knows where it is at power-on without homing and gear wind-up does not affect position.
- Brake
- Holds the joint when power is off. Needed on any axis that carries load against gravity.
- Torque sensor
- A sensor in the reducer measures output torque directly, for force control and safer contact with people.
Harmonic Joint Modules 6 products All with Backlash: ≤60 arcsec · Comms: EtherCAT (CAN FD available) · Brake: Optional · Voltage: 48 V · Encoder: Dual absolute (motor and output), 23-bit · Torque sensor: Optional, built into the harmonic reducer · IP: IP54 (IP65 with upgraded connectors) · Operating temperature: −20 to 50 °C
| Compare | ||||||||
|---|---|---|---|---|---|---|---|---|
 Honpine TCHL-11 Harmonic Joint Module, Torque Sensor Option | From $1,269.90 | 7.7 N·m | 25 N·m | 100:1 | 8 mm | 19 N·m | 30 rpm | |
| Honpine TCHL-14 Harmonic Joint Module, Torque Sensor Option | From $1,339.90 | 9.5 N·m | 44 N·m | 101:1 | 10 mm | 24 N·m | 29.7 rpm | |
| Honpine TCHL-17 Harmonic Joint Module, Torque Sensor Option | From $1,394.90 | 48 N·m | 136 N·m | 101:1 | 12 mm | 67 N·m | 29.7 rpm | |
| Honpine TCHL-20 Harmonic Joint Module, Torque Sensor Option | From $1,469.90 | 61 N·m | 181 N·m | 101:1 | 12 mm | 102 N·m | 29.7 rpm | |
| Honpine TCHL-25 Harmonic Joint Module, Torque Sensor Option | From $1,520.90 | 133 N·m | 351 N·m | 101:1 | 15 mm | 194 N·m | 29.7 rpm | |
| Honpine TCHL-32 Harmonic Joint Module, Torque Sensor Option | From $1,592.90 | 267 N·m | 799 N·m | 101:1 | 22 mm | 411 N·m | 29.7 rpm |
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