HM-RB-OD137
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Harmonic Joint Module
Precision, through-bore, and a light footprint – the integrated joint for precision motion.
The RoBox Harmonic Joint Module packs the motor, harmonic reducer, dual encoders, and drive electronics into a single unit – wire control line (ODF series) at 60-82 mm: 11 standard models in total, rated torque from 0.9 to 382 N.m, covering everything from dexterous wrists to heavy shoulder joints.
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Specifications
Outer Diameter
137 mm
Rated Torque
382 Nm
Gear Ratio
160
Backlash
≤15 arcsec
Supply Voltage
48 VDC
Communication
CAN / CAN-FD / ECAT
Encoder Resolution
V1.5Pro: 17bit/19bit, V2.0: 19bit/19bit
Motor Rated Power
1.04 kW (1040 W)
Length
V1.5Pro: 130 mm, V2.0: 125 mm
Product Type
Harmonic Joint Module
Allowable Avg Input Speed
2000 rpm
Encoder Type
Dual Encoders (Single-Turn Motor Side, Multi-Turn Reducer Side)
Weight / Hollow Diameter
Approx. 5.5 kg / 24 mm
Cable Exit / Brake
Side-Entry / Direct-Plug Connector / Optional
Motor Rated Speed
2500 rpm
Motor Rated Current / Motor Peak Current
24 A / 80 A
1. High-Torque Frameless Torque Motor
- Ultra-flat frameless architecture saving 20% axial length for compact joint designs.
- Large hollow shaft design allows direct pass-through for power/signal cables, eliminating wire entanglement during 360° rotation.
- High-saturation magnetic steel for low thermal rise and >92% efficiency.
2. Ultra-Compact Harmonic Gear Reducer
- Precision ground gearing with ultra-low backlash (≤12–20 arcsec) for arcsecond repeatability.
- Ultra-smooth flexspline transmission with low operational noise (<65dB) and minimal vibration.
- Maintenance-free design with a long service life rating for reliable, uninterrupted operation.
3. High-Precision Dual Absolute Encoders
- Dual-loop full closed-loop feedback (motor & load side) to actively compensate for mechanical hysteresis.
- Up to 24-bit + 24-bit dual absolute encoder (EtherCAT); instant position recognition upon power-up without homing.
- Enhanced EMI immunity for stable operation in noise-heavy industrial environments.
4. Integrated FOC Ring Driver
- Embedded ultra-thin annular FOC driver eliminates external control cabinets.
- Triple-loop control (Position/Velocity/Torque) enabling active compliance and real-time collision detection.
- Native support for EtherCAT & CANopen with control loop frequencies up to 1kHz.
5. Low-Noise Permanent-Magnet Holding Brake (Optional)
- Fail-Safe electromagnetic hold: Instant power-off locking to prevent payload drop and protect equipment.
- Rapid response (<15ms) with an ultra-thin profile that adds zero extra axial bulk.
- Zero-backlash hold prevents residual vibration in locked state.
Key Features
| Precision, low backlash | ≤12–20 arcsec, stable and accurate, suited to precise positioning and force control |
| Large through-bore across the range | 6–24 mm hollow bore; cables run straight through the joint, keeping the build clean |
| Slim, axially compact form | saves installation space (most pronounced in the ODF force-control series) |
| Fully integrated | motor, harmonic reducer, dual encoders, and drive in one housing; compact and reliable, ready to run |
| Multiple control modes | position, velocity, torque, and hybrid position-force control |
| Optional brake | power-off engaged, for safe holding |
| Force-control feature (ODF series) | force-sensor ready for accurate force control and compliant motion |
| Flexible cable exit | side-entry / direct-plug connectors (OD45 uses flying leads) |
| Fieldbus options | CAN/CAN-FD on OD45; CAN/CAN-FD/EtherCAT on the rest; CANopen and CANMIT supported |
Applications — for joints where precision, weight, and clean wiring matter most
- Humanoid robot upper limbs: shoulder, elbow, and wrist joints that need fine, accurate motion
- Collaborative robot arms: lightweight, safety-oriented joints for working alongside people
- Medical and rehabilitation equipment: surgical robots and rehab exoskeletons, where precision and safety are non-negotiable
- R&D and education robots: experimental platforms that need fast builds and tight control
- Other precision rotary axes: anywhere a through-bore and a slim footprint help
Selection Notes
- Need force control? For force control and compliant motion (force-sensor ready), choose the ODF force-control series (ODF60 / ODF72 / ODF82)
- OD137: side-entry / direct-plug connectors; CAN/CAN-FD/EtherCAT
- Full specs: per-model details (ratio / torque / encoder / current) in the complete datasheet
Request a Quote
Need selection support or a custom solution? Contact RoBox Robotics for a quote.
