Product Category: D-Modules Series
Han's Robot has designed for the collaborative robot a two-joint module. It highly integrates frameless direct drive torque motor, low-voltage DC drive, harmonic drive, brake and so on, which conforms to the compact and flexible feature of a collaborative
type 14 series 17 series 20 series 25 series 32 series
rated torque 9.4Nm 30Nm 49Nm 85Nm 156Nm
peak torque 34Nm 69Nm 104Nm 200Nm 420Nm
maximum rotation speed 135°/s 135°/s 135°/s 135°/s 85°/s
weight 2.75kg 3.95kg 5.50kg 8.90kg 16.55kg
rotation  angle ±360°
repeatability 20arcsec
communication EtherCAT
supply voltage DC 48V
IP classification IP54
main material aluminum alloy
working temperature 0-50℃
working humidity 10-80%
Modularized Joint
Unique kinematic structure
Extremely flexible
Integrated modular design
Body weight reduction
Motor and Servo driver
Independently developed
High torque density
Excellent control performance
Quick launch of robot
reduces customer's R&D investment in engineers and time;
simplifies supplier chain management and comprehensive quality management cost;
achieving quick marketing of new robots. 
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