By Tolerance Labs engineering team. Specs from the makers’ published data.
6 models: 25–799 N·m peak torque, 100–101:1 gear ratios, 0.35–3.3 kg weight, 48 V supply voltage. Every model is below with its key specs and US price.
TCHL modules are harmonic joint modules, sized 11 to 32, that can carry a torque sensor built into the reducer.
| Model | Torque (rated) | Torque (peak / max) | Gear ratio | Hollow shaft | Backlash / transmission error | Communication | Weight | Price |
|---|---|---|---|---|---|---|---|---|
| TCHL-11 | 7.7 N·m | 25 N·m | 100:1 | 8 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 0.35 kg | $1,269.90 |
| TCHL-14 | 9.5 N·m | 44 N·m | 101:1 | 10 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 0.5 kg | $1,339.90 |
| TCHL-17 | 48 N·m | 136 N·m | 101:1 | 12 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 1.1 kg | $1,394.90 |
| TCHL-20 | 61 N·m | 181 N·m | 101:1 | 12 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 1.4 kg | $1,469.90 |
| TCHL-25 | 133 N·m | 351 N·m | 101:1 | 15 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 1.85 kg | $1,520.90 |
| TCHL-32 | 267 N·m | 799 N·m | 101:1 | 22 mm | ≤60 arcsec | EtherCAT (CAN FD available) | 3.3 kg | $1,592.90 |
Picks within the series
- Most torque: TCHL-32 (799 N·m peak)
- Most torque per kilogram: TCHL-32 (242 N·m/kg)
- Lightest: TCHL-11 (0.35 kg)
More
See everything from Honpine, and the guides Harmonic vs planetary vs cycloidal reducers and Backdrivability in robot joints. Size a joint with the joint torque calculator.