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ZHR-H Series Spec Sheets

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

ZHR-H14

Integrated Harmonic Joint Actuator

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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

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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
Datasheet FAQ

ZHR-H Harmonic Joint Actuator Datasheet FAQ

Frequently asked questions regarding torque curves, electrical ratings, mechanical dimensions, and sampling lead times.

What engineering data is included in the ZHR-H specification sheets? ▾

The ZHR-H datasheets provide comprehensive engineering specifications across H14, H17, H20, and H25 series, including continuous rated torque (3.5–43 Nm), peak torque (15–140 Nm), backlash (<20 arcsec), 17-bit absolute encoder interface pinouts, speed-torque curves, and 2D/3D dimensional drawings.

How should rated torque and peak torque be interpreted for continuous duty? ▾

Rated torque is calculated for continuous thermal equilibrium under nominal convective cooling (ambient temperature 25°C). Peak torque is reserved for transient acceleration and deceleration bursts (≤1 second). Sustained operation above rated torque will initiate closed-loop driver thermal foldback protection.

Are 3D CAD step files and wiring pinouts included for each actuator size? ▾

Yes. Each model in the spec sheet includes a verified 2D dimension drawing, connector pinout tables for CAN/CANopen/RS-485, and direct links to download full 3D CAD (.stp) models via our CAD portal.

Can gear ratios and electrical windings be customized for collaborative robot arms? ▾

Standard strain-wave reduction ratios include 50:1, 80:1, 100:1, and 120:1. Custom motor KV windings, custom output flanges, hollow bore inner diameters, and EtherCAT communication options are available with a 2–3 week sampling turnaround.