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AT Series hollow shaft robot joint actuators

AT-HAG serie Hollow internal drive rotary actuator is mainly based on a modular framework. After separately testing the performance of the motor and the reducer, they are encapsulated into one to ensure the high performance of the entire machine.

Rated torque：8.6-450NM
Max. torque: 800Nm
Rated voltage: 48V
Rated speed: 25-98RPM
Protocol: EtherCAT_cia402、CANopen_cia402、485_Modbus
Repeated positioning accuracy: ≤10 Arcsec

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Product description

AT-HAG serie Hollow internal drive rotary actuator is mainly based on a modular framework. After separately testing the performance of the motor and the reducer, they are encapsulated into one to ensure the high performance of the entire machine. High integration is not merely a simple hardware. The integrated actuator fundamentally solves the problems of design, processing, assembly, inspection, and the matching of different hardware by optimizing tolerance fits and dimensional chains, significantly reducing vibration and noise, achieving inertia matching, reducing axial and radial runout, and minimizing non-concentricity issues.

The robot servo motor can be widely applied to collaborative manipulators, medical manipulators, pedestrian robots, special robots, 3C, semiconductors

AGV carts, mobile camera pan-tilt units, etc.

AT Series hollow shaft robot joint actuators
Rated torque：8.6-450NM
Max. torque: 800Nm
Rated voltage: 48V
Rated speed: 25-98RPM
Protocol: EtherCAT_cia402、CANopen_cia402、485_Modbus
Repeated positioning accuracy: ≤10 Arcsec

 
Model ATHAG-14-XXX ATHAG-17-XXX ATHAG-20-XXX ATHAG-25-XXX ATHAG-32-XXX ATHAG-40-XXX
Reducer ratio 51 81 101 51 81 101 121 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
Peak Torque（NM） 23 29 34 42 53 66 66 69 91 102 108 113 121 169 194 207 217 267 376 411 436 459 280 440 550 660 800
Rated Torque（NM） 8.6 13.5 13.5 22 33 43 49 39 58 61 61 61 64 100 125 133 133 131 206 260 267 267 140 230 280 340 450
Peak Speed （RPM） 98 65 50 78 49 40 33 86 54 44 36 29 69 43 35 29 22 59 37 30 25 19 43 27 22 18 14
Rated Speed （RPM） 59 37 30 59 37 30 25 51 32 26 21 16 49 31 25 21 16 39 25 20 17 12 31 20 16 13 10
Weight（KG） 1.2 1.6 2.2 2.9 6.3 10.9
Diameter （MM） 74 80 90 110 142 170
Communication mode EtherCAT_cia402, CANopen_cia402, 485_Modbus
Voltage (V) 48

Fearures
   
Application



Robot laser cutting machine
wall-climbing robot
Surgical robot
3C panel equipment
Model HAG-14  HAG-17  HAG-20
Harmonic reducer-ratio   51 81 101 51 81 101 121 51 81 101 121 161
Peak torque N.m 23 29 34 42 53 66 66 69 91 102 108 113
Rated torque N.m 8.6 13.5 13.5 22 33 43 49 39 58 61 61 61
Maximum speed rpm 98 62 50 78 49 40 33 86 54 44 36 27
Rated speed rpm 59 37 30 59 37 30 25 51 32 26 21 16
Maximum current Arms 5.12 4.07 3.83 9.36 7.44 7.43 6.2 15.37 12.77 11.48 10.14 7.98
Rated current Arms 1.92 1.89 1.52 4.9 4.63 4.84 4.6 8.69 8.14 6.86 5.73 4.31
Torque constant N.m/Arms 4.49 7.13 8.89 4.49 7.13 8.89 10.65 4.49 7.13 8.89 10.65 14.17
Motor phase resistance Ohms (20°C) TBD 0.4
Motor phase inductance mH TBD 0.9
Motor back electromotive force constant Vrms/krpm 6.5 8 7.7
DC bus voltage   48VDC
Encoder type   Absolute value BISS-C protocol
Encoder resolution (high-speed end) bit   Single lap 2^20 (1,048,576)
Encoder resolution (output)bit   Single lap 2^19 (524,288), multi-lap 2^12 (4,096)
Unidirectional positioning accuracy Arcsec(arcsec) ≤60 ≤50 ≤50 ≤60 ≤50 ≤50 ≤50 ≤60 ≤50 ≤50 ≤50 ≤50
Repeat positioning accuracy Arcsec(arcsec) ≤15 ≤10 ≤10 ≤15 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10
Overturning stiffness x10°N.m/rad 8 15 24
Torsional stiffness x10'N.m/rad 0.46 0.6 1.07 1.3 1.8 2.3
Rotor inertia(with brake) kg*m² 2.3*10^-5 5.8*10^-5 9.17*10^-5
Quality(with brake) Kg*m² 1.2 1.6 2.2
Poles Number pole 16
IO interface Two 24V IO inputs and two 24V IO outputs
Communication protocol EtherCAT、CANopen485、Modbus
9 sports modes / 11 protection modes
Model HAG-25 HAG-32 HAG-40
Harmonic reducer-ratio   51 81 101 121 161 51 81 101 121 161 51 81 101 121 161
Peak torque N.m 121 169 194 207 217 267 376 411 436 459 280 440 550 660 800
Rated torque N.m 64 100 125 133 133 131 206 260 267 267 140 230 280 340 450
Maximum speed rpm 69 43 35 29 22 59 37 30 25 19 43 27 22 18 14
Rated speed rpm 49 31 25 21 16 39 25 20 17 12 31 20 16 13 10
Maximum current Arms 26.96 23.71 21.83 19.44 15.32 40.9 36.27 31.79 28.15 22.27 42.89 42.44 42.54 42.61 38.82
Rated current Arms 14.26 14.03 14.06 12.49 9.39 20.07 19.87 20.11 17.24 12.96 21.45 22.18 21.66 21.95 21.84
Torque constant N.m/Arms 4.49 7.13 8.89 10.65 14.17 6.53 10.37 12.93 15.49 20.61 6.53 10.37 12.93 15.49 20.61
Motor phase resistance Ohms (20°C) 0.13 0.088 0.074
Motor phase inductance mH 0.36 0.39 0.3
Motor back electromotive force constant Vrms/krpm 10.5 10.5 15
DC bus voltage 48VDC
Encoder type Absolute value BISS-C protocol
Encoder resolution (high-speed end) bit Single lap 2^20 (1,048,576)
Encoder resolution (output)bit Single lap 2^19 (524,288), multi-lap 2^12 (4,096)
Unidirectional positioning accuracy Arcsec(arcsec) ≤60 ≤50 ≤50 ≤50 ≤50 ≤60 ≤60 ≤55 ≤45 ≤45 ≤60 ≤60 ≤50 ≤45 ≤45
Repeat positioning accuracy Arcsec(arcsec) ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10 ≤10
Overturning stiffness x10°N.m/rad 38 95 175
Torsional stiffness x10'N.m/rad 3.4 4.6 7.6 9.9 14 9.9
Rotor inertia(with brake) kg*m² 2.2*10^-5 7.2*10^-5 1.02*10^-5
Quality(with brake) Kg*m² 2.9 6.3 10.9
Poles Number pole 16
IO interface Two 24V IO inputs and two 24V IO outputs
Communication protocol EtherCAT、CANopen485、Modbus
9 sports modes / 11 protection modes

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