WHJ Series

Harmonic joint modules available in 3, 10, 30, 60, and 120 N·m rated torque options, featuring ultra-compact form factors from 33 mm diameter, dual encoders, a hollow shaft, and a CAN FD interface.

WHJ03 Joint Module
WHJ03 3 N·m · 170 g
WHJ10-B Joint Module
WHJ10-B 10 N·m · 455 g
WHJ10-N Joint Module
WHJ10-N 10 N·m · 445 g
WHJ30 Joint Module
WHJ30 30 N·m · 750 g
WHJ60 Joint Module
WHJ60 60 N·m · 1040 g
WHJ120 Joint Module
WHJ120 120 N·m · 2300 g

Core Advantages

bolt

High Torque Density

verified

High Reliability

target

High Precision

Technical Specifications

Parameter
WHJ03
WHJ10-B
WHJ10-N
WHJ30
WHJ60
WHJ120
Weight
170 g
455 g
445 g
750 g
1040 g
2300 g
Dimensions (D×L)
33×48 mm
50×73 mm
50×64 mm
60×86.5 mm
70×91 mm
88×109 mm
Hollow Shaft
4 mm
8 mm
8 mm
9 mm
9 mm
16 mm
Rated Voltage
24/48 V
24/48 V
24/48 V
24/48 V
24/48 V
48 V
Rated Current
0.4 A @48V
1.3 A @48V
1.3 A @48V
2.8 A @48V
5.3 A @48V
17.8 A
Rated Power
20 W
63 W
63 W
137 W
264 W
857 W
Peak Speed
60 RPM
75 RPM
75 RPM
75 RPM
60 RPM
30 RPM
Rated Torque
3 N·m
10 N·m
10 N·m
30 N·m
60 N·m
120 N·m
Gear Ratio
100
80
80
80
100
100
Operating Temp
0–50 °C
0–50 °C
0–50 °C
0–50 °C
0–50 °C
0–50 °C
Incr. Encoder
16 bit
16 bit
16 bit
16 bit
16 bit
16 bit
Abs. Encoder
18 bit
18 bit
18 bit
18 bit
18 bit
18 bit
Brake Type
Spring
Pin-Type
Spring
Pin-Type
Pin-Type
Electromagnetic
Comm Interface
CAN FD
CAN FD
CAN FD
CAN FD
CAN FD
CAN FD

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