My Cart
Description of Harmonic Drive Robot Joint Module
This is the standard version of the harmonic joint module, and different sizes can be selected according to specific requirements. In practical applications, most customers choose to add options such as encoders and brakes to achieve higher precision and improved safety. The basic version is mainly used in educational settings and in applications where the usage requirements are not very demanding.
Click Below to Download the 3D Drawings
Harmonic Joint Motor Data Sheet
| Joint Model Number (Red mark indicates module outer diameter) |
Gear Ratio | Rated Torque @2000RPM (N.m) |
Max Allowable Torque At Average Load (N.m) |
Impact Torque (N.m) |
Rated Speed (With 1/2 Rated Torque) (RPM) |
Peak Speed (RPM) |
Rated Power (W) |
Supply Voltage (V) |
Rated Current (A) |
Max Continuous Current (A) |
Encoder Resclution (bit) |
Torque Constant (N.m/A) |
Gear Backlash (arcsec) |
Communication Bus | Hollow Shaft (mm) |
|
| PRO Series | 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 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 | 216 ( 65,536 ) | 0.293 | 20/20/10 | CAN/EtherCAT | 40 | |
| Specifications are for reference only. Actual dimensions subject to engineering drawings. PRO Series hollow-shaft models support customization: Brakes (optional) EtherCAT/CanOPEN protocols Low-temperature operation (-40°C) |
||||||||||||||||
Brand Introduction
HONPINE has been manufacturing harmonic reducers since 2018. Although it started relatively late, it has progressed rapidly thanks to the support of a professional and experienced technical team. Soon after, it began producing harmonic joint modules, harmonic rotary actuators, planetary joint modules, and other products. It was one of the first Chinese companies to begin testing in the European and American markets. Its products are mainly used in humanoid robots, semiconductor equipment, medical equipment, industrial automation, collaborative robots, and industrial robots.
