WHJ Torque Series

Torque-sensing harmonic joint modules with built-in force feedback, available in 10, 30, and 60 N·m rated torque options, in compact Ø50–70 mm form factors for force-controlled robotic applications.

WHJ10 Torque 10 N·m · 489 g

WHJ30 Torque 30 N·m · 820 g

WHJ60 Torque 60 N·m · 1121 g

Core Advantages

sensors

High Force Sensitivity

loop

Dynamic Force Closed-Loop Control

handshake

Intrinsic Compliant Interaction

Technical Specifications

Parameter

WHJ10 Torque

WHJ30 Torque

WHJ60 Torque

Unit Weight

489 g

820 g

1121 g

Dimensions (Ø×L)

50×78 mm

60×101 mm

70×106 mm

Hollow Shaft Ø

8 mm

6.5 mm

9 mm

Rated Voltage

24 V

Rated Current

4 A

11 A

14 A

Rated Power

90 W

256 W

336 W

Peak Speed

37.5 RPM

30 RPM

Rated Torque

10 N·m

30 N·m

60 N·m

Gear Ratio

80

100

Operating Temp

0–50 °C

Incr. Encoder

16 bit

Abs. Encoder

18 bit

Brake Type

Spring-Applied

Pin-Type

Communication

CAN FD

Get in Touch

Have a question or want to collaborate? We'd love to hear from you.

General Inquiries info@realman-robot.com

Sales Sales@realman-robot.com