Q1
What torque range is public?
ZHR-P rated torque is 1.6–40 Nm and peak torque reaches 5.5–120 Nm, across frame sizes P05 through P120.
Model-dependent rating
ZHR-P planetary servo joint module
Compact impact-tolerant rotary joints for quadrupeds, exoskeletons, AMR drives, and humanoid lower-limb prototypes.
Compare ZHR-P models when integrated motor, gearbox, encoder and driver packaging fits your project. Verify torque margin, external loads, thermal duty, communication and encoder configuration before design-in.
Filter by Nominal Torque class to see relevant models.
Reddit-style engineering discussions often frame the choice as harmonic precision versus planetary transparency. The practical answer is application-specific: use ZHR-P when the joint must survive impact, reverse direction frequently, or feel mechanically transparent to a human or walking robot controller.
| Use case | Why ZHR-P fits | Typical decision signal |
|---|---|---|
| Humanoid hip/knee joints | Verify model-specific peak duration, backdrive effort and allowable external loads. | Ground contact, fall recovery, repeated direction reversal. |
| Exoskeleton hips/knees | Lower reflected inertia and smoother force interaction than high-ratio precision drives. | Mechanical transparency matters more than sub-arcminute positioning. |
| Quadruped and AGV drive joints | Check model-specific efficiency and sustained torque under the intended speed, cooling and duty cycle. | Thermal stability, duty cycle and impact resistance drive selection. |
ZHR-P rated torque is 1.6–40 Nm and peak torque reaches 5.5–120 Nm, across frame sizes P05 through P120.
Communication is model-specific. ZHR-P60 is CAN only with no native EtherCAT; confirm all other models before design-in.
Dedicated engineering portals for ZHR-P60 and series models provide 3D CAD, speed curves, and mounting constraints.
The public ZHR-P60 documentation specifies CAN with no native EtherCAT. CAN FD support, CANopen profiles, and compatibility with specific EtherCAT-to-CAN gateways require project-level confirmation. This evidence gap does not indicate hardware impossibility; request written engineering validation for your controller configuration before board tape-out.
Evaluate acceleration, reversal dynamics, contact loads, duty cycle, active thermal cooling, and available housing envelope. Match continuous rated torque and sustained speed against peak torque limits. Communication protocol: model-specific (ZHR-P60 features CAN bus).
| Model Series | Rated Torque | Peak Torque | Engineering Files |
|---|---|---|---|
| ZHR-P05 | 1.6 Nm | 5.5 Nm | CAD & Specs → |
| ZHR-P14 | 5 Nm | 14 Nm | CAD & Specs → |
| ZHR-P17 | 6 Nm | 17 Nm | CAD & Specs → |
| ZHR-P36 | 11 Nm | 36 Nm | CAD & Specs → |
| ZHR-P60 | 20 Nm | 60 Nm | CAD & Specs → |
| ZHR-P120 | 40 Nm | 120 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.
Use the selected model's interface specification from the public specification sheets and P60 resource. A CAN interface does not by itself establish CANopen support or compatibility with a particular controller.
| Module Models | Published Boundary | Required Pre-Order Confirmation |
|---|---|---|
| P60 | CAN only (no native EtherCAT) | Firmware, command set, pinout, baud rate and controller compatibility. |
| P05 / P14 / P17 / P36 / P120 | Model-specific | Exact interface and firmware; do not infer EtherCAT, CANopen or RS485 from another model. |
ZHR-P is a candidate when a compact planetary joint module is being evaluated for dynamic motion, integration constraints, or a lower reduction-ratio architecture. Final selection depends on the complete mechanical, thermal, and controls requirement.
If the priority is the lowest practical mechanical backlash rather than dynamic impact tolerance or backdrivability, compare the requirement with the ZHR-H harmonic 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.
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Selection GuideEngineering comparison of DIY frameless assemblies vs all-in-one joint modules for planetary gearbox integration.
Engineering GuideReview mechanical and control integration; interface availability requires model-specific confirmation.
Key differences between harmonic vs planetary, bus boundaries, and prototyping lead times.
Choose ZHR-P for dynamic quadruped legs, humanoid knees/hips, and high-impact robotics where shock absorption, high speed, and backdrivability are prioritized over zero backlash.
No. ZHR-P60 supports CAN only and does not offer native EtherCAT. For EtherCAT networks, use external protocol bridge hardware or consult engineering for custom architectures.
Backlash is typically 3–10 arcminutes, engineered specifically for quasi-direct-drive (QDD) compliance and impedance control.
Sample MOQ is 1 unit. Standard in-stock prototypes dispatch in 3–5 business days via DHL/FedEx Express; customized adaptations dispatch in 2–3 weeks.