Actuator technical downloads
Download available ZHR-H and ZHR-P catalog PDFs, STEP CAD and dimension images. Select the exact model and confirm the document revision, reduction ratio, interface and mounting configuration before releasing your design.
These files support preliminary selection. A file's availability does not establish that it matches every order configuration. CAD and dimension images are not substitutes for an approved production drawing.
ZHR-H harmonic actuator files
| Model / resource | Rated / peak torque | 2D reference | 3D file |
|---|---|---|---|
| ZHR-H14 | 5–14 / 15–46 Nm | Dimension image | STEP CAD |
| ZHR-H17 | 13–43 / 40–122 Nm | Dimension image | STEP CAD |
| ZHR-H20 | 20–64 / 50–170 Nm | Dimension image | STEP CAD |
| ZHR-H25 | 27–91 / 63–210 Nm | Dimension image | STEP CAD |
ZHR-P planetary actuator files
Two catalog files are present. Their revision relationship is not established here; neither is identified as the latest revision. Request the catalog applicable to your selected configuration if values differ.
ZHR-P17: choose the 36 V or 48 V configuration
ZHR-P17 is available in two configurations: 36 V with one magnetic encoder, and 48 V with two magnetic encoders. Specify the required configuration in your inquiry. The table below quotes the corresponding catalog entries; confirm the applicable drawing and document revision for your order. PDF creation dates do not establish engineering revision approval.
| Parameter | 36 V / single encoder — Catalog A, page 4 | 48 V / dual encoder — Catalog B, page 3 |
|---|---|---|
| Rated voltage | 36 V | 48 V |
| Voltage range | 24–48 V | 24–60 V |
| Magnetic encoders | 1 pc | 2 pcs |
| No-load speed | 315 rpm ± 10% | 410 rpm ± 10% |
| Rated-load speed | 275 rpm ± 10% | 100 rpm ± 10% |
Both documents list 6 Nm rated and 17 Nm peak torque, 380 g ± 3 g mass and a 7.75:1 reduction ratio. Request written confirmation of the ordered configuration, drawing revision, voltage, encoder and torque-speed conditions. Do not combine values from different documents into one specification.
| Model / resource | Rated / peak torque | 2D reference | 3D file |
|---|---|---|---|
| ZHR-P05 | 1.6 / 5.5 Nm | Dimension image | STEP CAD |
| ZHR-P14 | 5 / 14 Nm | Dimension image | STEP CAD |
| ZHR-P17 | 6 / 17 Nm | Dimension image | STEP CAD |
| ZHR-P36 | 11 / 36 Nm | Dimension image | STEP CAD |
| ZHR-P60 | 20 / 60 Nm | Dimension image | STEP CAD |
| ZHR-P120 | 40 / 120 Nm | Dimension image | STEP CAD |
Communication and document status
| Item | Public status | Required confirmation |
|---|---|---|
| H14 / H17 / H20 / H25 interface | CAN / RS485 in H-series sheets | Selected option, command set, pinout and firmware. CANopen and EtherCAT support are not established. |
| P60 interface | CAN only; no native EtherCAT. See P60 resource. | Firmware, command set, pinout and controller compatibility |
| Other P-series interfaces | Model-specific; confirmation required | Exact model's interface and firmware; do not infer from P60 |
| Catalogs, CAD and dimension images | Files linked above | Revision, dimensional tolerances and matching order configuration |
| Model-specific protocol / pinout manuals | Not listed as verified model-specific downloads here | Request the exact model and firmware documentation |
| Thermal, lifetime and load-test reports | Availability requires confirmation | Test conditions, duty cycle, cooling, loads and applicability |
A CAN interface does not by itself specify CANopen. An external gateway does not make an actuator natively EtherCAT-compatible.
Request the documents for your design
Actuator Inquiry Checklist (.TXT)
Download the actuator inquiry checklist (TXT) and use it to prepare your project requirements.
Include the model, reduction ratio where applicable, required interface, controller, firmware if known, requested file type and intended application. For thermal or load data, add torque, speed, duty cycle and cooling conditions.
The engineering team must confirm file availability and the matching configuration. Submission does not guarantee immediate delivery of a specific file.