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ZHR-H Series Spec Sheets

4 Pages (H14, H17, H20, H25)
ZHR-H14 Micro integrated harmonic reduction joint motor module front view

ZHR-H14

Integrated Harmonic Joint Actuator

Logo
Diameter
70 mm
Weight
0.7 kg
Voltage
18 - 24 V

Technical Specifications

Parameters \ Ratio 30 50 80 100
Performance
Rated Torque (Nm) 5 7 10 14
Peak Torque (Nm) 15 25 30 46
Rated Speed (RPM) 55 32 20 16
Peak Speed (RPM) 75 44 28 22
Electrical & Mechanical
Rated Voltage 18 - 24 VDC
Current (Rated/Peak) 2.0 A / 5.10 A
Encoder Resolution 18-bit Multi-turn Absolute
Communication CAN / RS485
Backlash < 20 arcsec
IP Rating IP54
Motor Parameters
Motor Power 35 W
Motor Torque 0.2 Nm
Motor Rated Speed 1600 RPM
Motor Max Speed 2200 RPM
Other Features
Brake Included
Drive Method FOC (Field Oriented Control)
Encoder Delay 2 μs
Operating Temperature -20°C ~ 50°C
Insulation Level Class B
Protection Over/Undervoltage, Overcurrent, Overtemp, Stall, Power-off Memory

Dimension Drawing

ZHR-H14 Harmonic Gearbox Actuator Dimensional Drawing
ZHR-H17 Micro integrated harmonic reduction joint motor module front view

ZHR-H17

Integrated Harmonic Joint Actuator

Logo
Diameter
80 mm
Weight
1.3 kg
Voltage
36 - 48 V

Technical Specifications

Parameters \ Ratio 30 50 80 100
Performance
Rated Torque (Nm) 13 21 34 43
Peak Torque (Nm) 40 63 101 122
Rated Speed (RPM) 66.6 40 25 20
Peak Speed (RPM) 83 50 32 25
Electrical & Mechanical
Rated Voltage 36 - 48 VDC
Current (Rated/Peak) 4.0 A / 9.0 A
Encoder Resolution 18-bit Multi-turn Absolute
Communication CAN / RS485
Backlash < 20 arcsec
IP Rating IP54
Motor Parameters
Motor Power 150 W
Motor Torque 0.6 Nm
Motor Rated Speed 2000 RPM
Motor Max Speed 2500 RPM
Other Features
Brake Included
Drive Method FOC (Field Oriented Control)
Encoder Delay 2 μs
Operating Temperature -20°C ~ 50°C
Insulation Level Class B
Protection Over/Undervoltage, Overcurrent, Overtemp, Stall, Power-off Memory

Dimension Drawing

ZHR-H17 Harmonic Gearbox Actuator Dimensional Drawing
ZHR-H20 Micro integrated harmonic reduction joint motor module front view

ZHR-H20

Integrated Harmonic Joint Actuator

Logo
Diameter
90 mm
Weight
1.7 kg
Voltage
36 - 48 V

Technical Specifications

Parameters \ Ratio 30 50 80 100
Performance
Rated Torque (Nm) 20 44 61 64
Peak Torque (Nm) 50 127 165 170
Rated Speed (RPM) 66.6 40 25 20
Peak Speed (RPM) 83 50 32 25
Electrical & Mechanical
Rated Voltage 36 - 48 VDC
Current (Rated/Peak) 5.0 A / 11.0 A
Encoder Resolution 18-bit Multi-turn Absolute
Communication CAN / RS485
Backlash < 20 arcsec
IP Rating IP54
Motor Parameters
Motor Power 200 W
Motor Torque 0.9 Nm
Motor Rated Speed 2000 RPM
Motor Max Speed 2500 RPM
Other Features
Brake Included
Drive Method FOC (Field Oriented Control)
Encoder Delay 2 μs
Operating Temperature -20°C ~ 50°C
Insulation Level Class B
Protection Over/Undervoltage, Overcurrent, Overtemp, Stall, Power-off Memory

Dimension Drawing

ZHR-H20 Harmonic Gearbox Actuator Dimensional Drawing
ZHR-H25 Micro integrated harmonic reduction joint motor module front view

ZHR-H25

Integrated Harmonic Joint Actuator

Logo
Diameter
110 mm
Weight
2.3 kg
Voltage
36 - 48 V

Technical Specifications

Parameters \ Ratio 30 50 80 100
Performance
Rated Torque (Nm) 27 52 73 91
Peak Torque (Nm) 63 115 160 210
Rated Speed (RPM) 66.6 40 25 20
Peak Speed (RPM) 83 50 32 25
Electrical & Mechanical
Rated Voltage 36 - 48 VDC
Current (Rated/Peak) 5.0 A / 11.0 A
Encoder Resolution 18-bit Multi-turn Absolute
Communication CAN / RS485
Backlash < 20 arcsec
IP Rating IP54
Motor Parameters
Motor Power 250 W
Motor Torque 1.2 Nm
Motor Rated Speed 2000 RPM
Motor Max Speed 2500 RPM
Other Features
Brake Included
Drive Method FOC (Field Oriented Control)
Encoder Delay 2 μs
Operating Temperature -20°C ~ 50°C
Insulation Level Class B
Protection Over/Undervoltage, Overcurrent, Overtemp, Stall, Power-off Memory

Dimension Drawing

ZHR-H25 Harmonic Gearbox Actuator Dimensional Drawing