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Dual-Encoder Strain Wave Harmonic Gear Motor With Brake
This high-end harmonic joint module is a premium robot joint actuator equipped with dual encoders and an integrated brake. It is designed for robotic joints that require accurate position feedback, stable holding force, and reliable motion control.
The dual-encoder structure supports high-precision position feedback and error compensation, helping improve repeatability in demanding robotic systems. The brake helps lock the joint during emergency power-off or system shutdown, improving safety for both equipment and operators.
Key Advantages
- Dual encoders for precise position feedback
- Integrated brake for safer joint holding
- Compact hollow-shaft design for cable routing
- CAN and EtherCAT communication options
- Suitable for high-load and high-dynamic applications
3D Drawing Downloads
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Harmonic Joint Motor Specifications
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| Model | Gear Ratio | Rated Torque @ 2000 RPM (N.m) | Max Allowable Torque (N.m) | Impact Torque (N.m) | Rated Speed (RPM) | Peak Speed (RPM) | Rated Power (W) | Supply Voltage (V) | Rated Current (A) | Max Continuous Current (A) | Encoder Resolution | Torque Constant (N.m/A) | Gear Backlash (arcsec) | Communication Bus | Hollow Shaft (mm) |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| ND-E-30-40 | 51/101 | 1.8/2.8 | 2.3/3.3 | 3.3/4.8 | 90/45 | 118/59 | 36 | 24-48 | 1 | 2 | 2^16 (65,536) | 0.024 | 40/40 | CAN/EtherCAT | 6 |
| ND-E-40-52 | 51/101 | 4/6.5 | 5.5/8.9 | 8.3/11 | 80/40 | 118/59 | 90 | 24-48 | 2 | 3 | 2^16 (65,536) | 0.05 | 40/30 | CAN/EtherCAT | 12 |
| ND-E-50-60 | 51/81/101 | 6.6/9.6/9.6 | 8.6/13.5/13.5 | 23/29/34 | 75/46/37 | 97/61/49 | 150 | 24-48 | 3.6 | 5 | 2^16 (65,536) | 0.089 | 20/20/10 | CAN/EtherCAT | 12 |
| ND-E-50-70 | 51/81/101 | 6.6/9.6/9.6 | 8.6/13.5/13.5 | 23/29/34 | 75/46/37 | 97/61/49 | 150 | 24-48 | 3.6 | 5 | 2^16 (65,536) | 0.089 | 20/20/10 | CAN/EtherCAT | 12 |
| ND-E-60-70 | 51/81/101/121 | 19.8/27.5/30/30 | 32/33/49/49 | 42/53/66/66 | 68/43/34/24 | 82/51/41/32 | 300 | 24-48 | 5 | 6.7 | 2^16 (65,536) | 0.096 | 20/20/10/10 | CAN/EtherCAT | 18 |
| ND-E-60-80 | 51/81/101/121 | 19.8/27.8/30/30 | 32/33/49/49 | 42/53/66/66 | 68/43/34/24 | 82/51/41/32 | 300 | 24-48 | 5 | 6.7 | 2^16 (65,536) | 0.096 | 20/20/10/10 | CAN/EtherCAT | 18 |
| ND-E-70-80 | 51/81/101/121 | 32/42/50/50 | 42/58/61/61 | 63/91/102/108 | 61/38/30/25 | 77/48/40/30 | 500 | 24-48 | 6.1 | 8.4 | 2^16 (65,536) | 0.118 | 20/20/10/10 | CAN/EtherCAT | 18 |
| ND-E-70-90-PRO | 51/81/101/121 | 32/42/50/50 | 42/58/61/61 | 63/91/102/108 | 61/38/30/25 | 77/48/40/30 | 500 | 24-48 | 6.1 | 8.4 | 2^16 (65,536) | 0.118 | 20/20/10/10 | CAN/EtherCAT | 18 |
| ND-E-80-97 | 51/81/101/121/161 | 48/78/84/84/84 | 68.8/107/133/133/133 | 121/169/194/207/217 | 54/35/27/23/17 | 65/43/36/30/22 | 750 | 24-48 | 9 | 10.4 | 2^16 (65,536) | 0.143 | 20/20/10/10/10 | CAN/EtherCAT | 27 |
| ND-E-80-110 | 51/81/101/121/161 | 48/78/84/84/84 | 68.8/107/133/133/133 | 121/169/194/207/217 | 54/35/27/23/17 | 65/43/36/30/22 | 750 | 24-48 | 9 | 10.4 | 2^16 (65,536) | 0.143 | 20/20/10/10/10 | CAN/EtherCAT | 27 |
| ND-E-100-120 | 51/81/101/121/161 | 94/146/169/169/168 | 120/185/267/267/267 | 267/376/411/436/459 | 44/29/22/18/12 | 55/37/29/24/18 | 1000 | 24-48 | 15.8 | 16.9 | 2^16 (65,536) | 0.175 | 20/20/10/10/10 | CAN/EtherCAT | 32 |
| ND-E-100-142 | 51/81/101/121/161 | 94/146/169/169/168 | 120/185/267/267/267 | 267/376/411/436/459 | 44/29/22/18/12 | 55/37/29/24/18 | 1000 | 24-48 | 15.8 | 16.9 | 2^16 (65,536) | 0.175 | 20/20/10/10/10 | CAN/EtherCAT | 32 |
| ND-E-110-145 | 51/121/161 | 169/363/363 | 255/586/586 | 532/802/841 | 22/12/7 | 34/14/10 | 1500 | 24-48 | 14.1 | 30.2 | 2^16 (65,536) | 0.293 | 20/20/10 | CAN/EtherCAT | 40 |
| ND-E-110-170 | 51/121/161 | 169/363/363 | 255/586/586 | 532/802/841 | 22/12/7 | 34/14/10 | 1500 | 24-48 | 14.1 | 30.2 | 2^16 (65,536) | 0.293 | 20/20/10 | CAN/EtherCAT | 40 |
Specifications are for reference only. Actual dimensions are subject to engineering drawings. PRO Series hollow-shaft models support customization, including brake options, EtherCAT/CANopen protocols, and low-temperature operation down to -40 deg C.
Recommended Applications
Robotics
Suitable for industrial robots, collaborative robots, humanoid robots, and robotic arm joints that require compact size and precise output control.
Medical Equipment
Designed for motion systems where smooth operation, reliable feedback, and safe holding performance are important.
Aerospace and Research
Applicable to high-end automation, laboratory systems, and motion platforms requiring high torque density and accurate positioning.
