Q1
What torque range is public?
ZHR-H rated torque is 5–91 Nm and peak torque reaches 15–210 Nm, depending on model frame size and gear ratio.
Model-dependent rating
ZHR-H harmonic servo joint module
Low-backlash hollow-shaft rotary joints for cobots, inspection arms, medical support devices, and humanoid upper-body axes.
Choose ZHR-H when compact axial size, low backlash (< 20 arcsec), smooth precision motion, and repeatable position control are more important than high-impact backdrivability. Standard OEM production MOQ is 2 units with 10-14 days sample lead time.
Select a Reduction Ratio to update all charts and specs below.
Harmonic reducers are not the universal answer for every robot joint. They win when precision and compactness dominate the design brief; they are less ideal when the joint is mainly an impact absorber or needs high mechanical transparency.
| Choose ZHR-H when | Why it fits | Consider ZHR-P instead when |
|---|---|---|
| Cobot arms and precision wrists | <20 arcsec backlash and compact strain-wave output improve repeatability. | The joint sees frequent impacts or needs high backdrivability. |
| Surgical support and inspection arms | Low lost motion reduces vibration, drift and tip-position error. | Wearable comfort or reflected inertia is the main design constraint. |
| Humanoid shoulders, elbows and wrists | Upper-body joints often value low backlash and compact packaging over shock absorption. | Humanoid hip/knee/ankle joints must handle ground contact and fall recovery. |
Showing Rated vs Peak Torque for selected ratio.
Peak output speed at selected ratio.
ZHR-H rated torque is 5–91 Nm and peak torque reaches 15–210 Nm, depending on model frame size and gear ratio.
CAN / RS485 define the public physical bus boundary. Specific protocols (CANopen/custom) require project-level confirmation.
Dedicated engineering portals for H14, H17, H20 and H25 provide 3D CAD, thermal benchmarks and pinout references.
Select the exact H14, H17, H20, or H25 reduction ratio before comparing rated and peak torque. Check operating speed, duty cycle, thermal dissipation path, radial/axial loads, and required brake behavior. Supported bus communication: CAN / RS485.
| Model Series | Rated Torque | Peak Torque | Engineering Files |
|---|---|---|---|
| ZHR-H14 | 5–14 Nm | 15–46 Nm | CAD & Specs → |
| ZHR-H17 | 13–43 Nm | 40–122 Nm | CAD & Specs → |
| ZHR-H20 | 20–64 Nm | 50–170 Nm | CAD & Specs → |
| ZHR-H25 | 27–91 Nm | 63–210 Nm | CAD & Specs → |
Torque Boundary Note: Ranges are model and reduction-ratio dependent where shown. Peak torque represents transient dynamic limit, not continuous thermal duty rating. Confirm cooling path and duty profile prior to release.
Document Availability: Public specifications and existing drawings are downloadable via model portals. Custom firmware, protocol manuals, and test certifications are released upon engineering review.
Verified communication boundaries from the ZHR-H engineering specification sheets. CAN identifies the physical bus interface; verify exact protocol stacks (CANopen, custom frame) with engineering before controller integration.
| Module Models | Supported Physical Interface | Pre-Order Design Confirmation |
|---|---|---|
| H14 / H17 / H20 / H25 | CAN / RS485 | Selected interface option, firmware variant, connector pinout, command set, baud rate and controller compatibility. CANopen and EtherCAT gateway availability are confirmed on request. |
ZHR-H is a candidate when a compact harmonic joint module is being evaluated for low mechanical backlash and precision positioning. Final suitability still depends on the complete torque, speed, thermal, mounting, and controls requirement.
If impact tolerance, lower reduction ratio, or backdrivability is the primary constraint, compare the requirement with the ZHR-P planetary joint modules before choosing a family.
Open the product selectorShare the application and critical requirements so the inquiry can be routed to the relevant product evaluation path.
Open a model-specific public torque summary, document path and engineering RFQ entry.
Deep-dive technical guides for harmonic reducer joint motor selection and integration.
Why zero-backlash harmonic reducers are essential for cobots. Complete guide to joint motor and actuator selection.
Technical GuideAre they the same? Explains working principle, performance specs, and when to choose harmonic over planetary gears.
Technical Deep DiveDefinitive breakdown of strain wave kinematics. Understand Wave Generator, Flexspline, and Circular Spline mechanics.
Key technical specifications, fieldbus protocols, and sampling lead times for harmonic servo joint modules.
The ZHR-H series achieves sub-20 arcsecond (<0.33 arcmin) precision positioning through zero-backlash flexspline tooth engagement, ideal for cobot arms and medical robotics.
Standard models natively support CAN 2.0B (CANopen) and RS485. Multi-axis EtherCAT synchronization is supported via dedicated gateway controllers or custom driver firmware.
Standard ratios include 50:1, 80:1, 100:1, and 120:1 across H14, H17, H20, and H25 frames, delivering peak torque from 15 Nm up to 210 Nm.
MOQ is 1 unit for prototype testing. In-stock units dispatch in 3–5 business days via DHL/FedEx Express; custom configurations dispatch in 2–3 weeks.