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TD Series Robot Joint Actuator
TD Series Robot Joint Actuator
TD Series Robot Joint Actuator

TD Series Robot Joint Actuator

This light weight joint module is equipped with ultra-thin harmonic reducer, compact structure, brushless torque motor with the same torque volume to achieve extreme optimization, high-precision multi-turn absolute encoder for humanoid robot research and development of special core components.

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Product Description of TD Series Robot Joint Module
This light weight joint module is equipped with ultra-thin harmonic reducer, compact structure, brushless torque motor with the same torque volume to achieve extreme optimization, high-precision multi-turn absolute encoder for humanoid robot research and development of special core components. With outer diameter 32mm~170mm, our products could help users fulfill demand of different application.

Sample Image
24~48VDC
MINI COMPACT HARMONIC DRIVE
ROBOT JOINT MODULE
OD:32~170mm
Canopen and Ethercat Protocl , built-in servo driver
24bits+24bits dual absolute encoder
There are eight key components for this TD series compact structure robotic joint actuators. 
This series of robotic joint modules include eight key components, motor back cover, control board, encoder, stator casing , motor rotor, motor stator , armonic drive and flexspline cover. We have achieved lighter weight, higher torque density,reduced weight by more than 1/3, greatly reducing operation energy consumption, and can be applied to the job robot market and industrial automation market.



Product Features
Avatar TD Series robot joint motors have compact stucture with light weight, high torque, more usable.
1.The smallest type of TD robot joint module has outer diameter of 32mm and weight only 0.09kg. The weight is less than 1/3 of the ordinary joint motors which greatly reduce the operation energy consumption.
2.The largest TD robot joint module model, the TD-110-170-Pro-121, has a torque of up to 363Nm.

Our TD series robot joint actuators meet the requirements of industrial environment, noise does not exceed 70dB




TD Series robotic joint servo motor actuators have reasonable interface design as below


Each one small type robot joint module, TD-20-32-NH, TD-30-40-PRO  TD-40-52-PRO, includes one motor, one adaptor board, one capacitor, one lithium battery, one power cable and one 120Ω resistor. Other models’ package include one motor, one capacitor, one lithium battery, one power cable, one CAN cable, one 120Ω resistor and one power connector.
These robot joint actuators with small appearance and light weight can be widely used in humanoid robots, animal-like robots, automatic photography equipment, collaborative robots, exoskeleton robots, manipulator robot, agricultural picking robots and other fields. Can help the user quickly assemble the robot arm.

 
 
Model TD-30-40-PRO-XX TD-30-40-PRO-XXB TD-40-52-PRO-XX TD-40-52-PRO-XXB TD-50-60-PRO-XX TD-50-60-PRO-XXB
Ratio 51/101 51/101 51/101 51/101 51/81/101 51/81/101
Start-stop peak Torque (N.m) 3.3/4.8 3.3/4.8 8.3/11 8.3/11 23/29/34 23/29/34
Max. allowable torque at average load (N.m) 2.3/3.3 2.3/3.3 5.5/8.9 5.5/8.9 8.6/13.5/13.5 8.6/13.5/13.5
Rated torque at 2000rpm/ (reduction ratio)(Nm) 1.8/2.8 1.8/2.8 4/6.5 4/6.5 6.6/9.6/9.6 6.6/9.6/9.6
OutpuT Peak Speed (RPM) 118/59 118/59 118/59 118/59 97/61/49 97/61/49
Rated speed (RPM) 90/45 90/45 80/40 80/40 75/46/37 75/46/37
Motor power (W) 36 36 90 90 150 150
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 1 1 2 2 3.6 3.6
Max. continuous current(A) 2 2 3 3 5 5
Encoder Resoluton (Bit) 17 17 17 17 17 17
Backlash (arcsec) 40 40 40 40 20/20/10 20/20/10
communication bus CAN CAN CAN CAN CAN CAN
Length(mm) 55.3±0.5 72.5±0.5 60.3±0.5 76.1±0.5 60±0.5 82±0.5
Through hole(mm) 5 5 12 11 12 10
Weight(kg) 0.17 0.23 0.3 0.4 0.42 0.59
Torque constant(N.m/A) 0.024 0.024 0.05 0.05 0.089 0.089
Resistance(ohm) 0.024 0.024 1.96 1.96 0.47 0.47
Inductance(mH) 0.409 0.409 0.788 0.788 0.215 0.215
Number of pole-pairs 7 7 7 7 10 10
Inertia(g * c㎡) 16 21 80 100 112 146
 
Model TD-50-70-PRO-XX TD-50-70-PRO-XXB TD-60-70-PRO-XX TD-60-70-PRO-XXB TD-60-80-PRO-XX TD-60-80-PRO-XXB
Ratio 51/81/101 51/81/101 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121
Start-stop peak Torque (N.m) 23/29/34 23/29/34 42/53/66/66 42/53/66/66 42/53/66/66 42/53/66/66
Max. allowable torque at average load (N.m) 8.6/13.5/13.5 8.6/13.5/13.5 32/33/49/49 32/33/49/49 32/33/49/49 32/33/49/49
Rated torque at 2000rpm/ (reduction ratio) 6.6/9.6/9.6 6.6/9.6/9.6 19.8/27.5/30/30 19.8/27.5/30/30 19.8/27.5/30/30 19.8/27.5/30/30
Output Peak Speed (RPM) 97/61/49 97/61/49 82/51/41/32 82/51/41/32 82/51/41/32 82/51/41/32
Rated speed (RPM) 75/46/37 75/46/37 68/43/34/24 68/43/34/24 68/43/34/24 68/43/34/24
Motor power (W) 150 150 300 300 300 300
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 3.6 3.6 5 5 5 5
Max. continuous current(A) 5 5 6.7 6.7 6.7 6.7
Encoder Resolution (Bit) 17 17 17 17 17 17
Backlash (arcsec) 20/20/10 20/20/10 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10
communication bus CAN CAN CAN CAN CAN CAN
Length(mm) 60±0.5 81.7±0.5 70.3±0.5 93.3±0.5 70.4±0.5 92.8±0.5
Through hole(mm) 12 10 14 13 15 14.5
Weight(kg) 0.63 0.8 0.65 0.9 0.97 1.2
Torque constant(N.m/A) 0.089 0.089 0.096 0.096 0.096 0.096
Resistance(ohm) 0.47 0.47 0.45 0.45 0.45 0.45
Inductance(mH) 0.215 0.215 0.43 0.43 0.43 0.43
Number of pole-pairs 10 10 14 14 14 14
Inertia(g * c㎡) 124 147 213 299 213 299
 
Model TD-70-80-PRO-XX TD-70-80-PRO-XXB TD-70-90-PRO-XX TD-70-90-PRO-XXB TD-80-110-PRO-XX TD-80-110-PRO-XXB
Ratio 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121/161 51/81/101/121/161
Start-stop peak Torque (N.m) 63/91/102/108 63/91/102/108 63/91/102/108 63/91/102/108 121/169/194/207/217 121/169/194/207/217
Max. allowable torque at average load (N.m) 42/58/61/61 42/58/61/61 42/58/61/61 42/58/61/61 68.5/107/133/133/133 68.5/107/133/133/133
Rated torque at 2000rpm/ (reduction ratio) 32/42/50/50 32/42/50/50 32/42/50/50 32/42/50/50 48/78/84/84/84 48/78/84/84/84
Output Peak Speed (RPM) 77/48/40/30 77/48/40/30 77/48/40/30 77/48/40/30 65/43/36/30/22 65/43/36/30/22
Rated speed (RPM) 61/38/30/25 61/38/30/25 61/38/30/25 61/38/30/25 54/35/27/23/17 54/35/27/23/17
Motor power (W) 500 500 500 500 750 750
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 6.1 6.1 6.1 6.1 9 9
Max. continuous current(A) 8.4 8.4 8.4 8.4 10.4 10.4
Encoder Resolution (Bit) 17 17 17 17 17 17
Backlash (arcsec) 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10/10 20/20/10/10/10
communication bus CAN CAN CAN CAN CAN CAN
Length(mm) 71.4±0.5 96.9±0.5 71.9±0.5 97.4±0.5 82.4±0.5 102.4±0.5
Through hole(mm) 15 15 14.5 14.5 27 27
Weight(kg) 0.95 1.3 1.3 1.6 2.1 2.6
Torque constant(N.m/A) 0.118 0.118 0.118 0.118 0.143 0.143
Resistance(ohm) 0.38 0.38 0.38 0.38 0.21 0.21
Inductance(mH) 0.33 0.33 0.33 0.33 0.3 0.3
Number of pole-pairs 10 10 10 10 10 10
Inertia(g * c㎡) 569 679 594 682 1255 1484
 
Model TD-100-142-PRO-XX TD-100-142-PRO-XXB TD-110-170-PRO-XX TD-110-170-PRO-XXB
Ratio 51/81/101/121/161 51/81/101/121/161 51/121/161 51/121/161
Start-stop peak Torque (N.m) 267/376/411/436/459 267/376/411/436/459 523/802/841 523/802/841
Max. allowable torque at average load (N.m) 120/185/267/267/267 120/185/267/267/267 255/586/586 255/586/586
Rated torque at 2000rpm/ (reduction ratio) 94/146/169/169/169 94/146/169/169/169 169/363/363 169/363/363
Output Peak Speed (RPM) 55/37/29/24/18 55/37/29/24/18 34/14/10 34/14/10
Rated speed (RPM) 44/29/22/18/12 44/29/22/18/12 22/12/7 22/12/7
Motor power (W) 1000 1000 1500 1500
Supply voltage (V) 24-48 24-48 24-48 24-48
Rated current (A) 15.8 15.8 14.1 14.1
Max. continuous current(A) 16.9 16.9 30.2 30.2
Encoder Resolution (Bit) 17 17 17 17
Backlash (arcsec) 20/20/10/10/10 20/20/10/10/10 20/20/10 20/20/10
communication bus CAN CAN CAN CAN
Length(mm) 95.7±0.5 115.7±0.5 119.7±0.5 144.7±0.5
Through hole(mm) 32 32 41 41
Weight(kg) 3.8 4.5 6.85 7.5
Torque constant(N.m/A) 0.175 0.175 0.293 0.293
Resistance(ohm) 0.07 0.07 0.23 0.23
Inductance(mH) 0.184 0.184 0.25 0.25
Number of pole-pairs 10 10 15 15
Inertia(g * c㎡) 3601 4237 9242 11751


 
Model TD-30-40-PRO-XX TD-30-40-PRO-XXB TD-40-52-PRO-XX TD-40-52-PRO-XXB TD-50-60-PRO-XX TD-50-60-PRO-XXB
Ratio 51/101 51/101 51/101 51/101 51/81/101 51/81/101
Start-stop peak Torque (N.m) 3.3/4.8 3.3/4.8 8.3/11 8.3/11 23/29/34 23/29/34
Max. allowable torque at average load (N.m) 2.3/3.3 2.3/3.3 5.5/8.9 5.5/8.9 8.6/13.5/13.5 8.6/13.5/13.5
Rated torque at 2000rpm/ (reduction ratio)(Nm) 1.8/2.8 1.8/2.8 4/6.5 4/6.5 6.6/9.6/9.6 6.6/9.6/9.6
OutpuT Peak Speed (RPM) 118/59 118/59 118/59 118/59 97/61/49 97/61/49
Rated speed (RPM) 90/45 90/45 80/40 80/40 75/46/37 75/46/37
Motor power (W) 36 36 90 90 150 150
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 1 1 2 2 3.6 3.6
Max. continuous current(A) 2 2 3 3 5 5
Encoder Resoluton (Bit) 17bits/24+24 bits optional 17bits/24+24 bits optional 17bits/24+24 bits optional 17bits/24+24 bits optional 17bits/24+24 bits optional 17bits/24+24 bits optional
Backlash (arcsec) 40 40 40/30 40/30 20/20/10 20/20/10
communication bus Ethercat  Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus
Motor length with (Dual encoders/mm) 60.5±0.5 78.1±0.5 64.5±0.5 84.5±0.5 60±0.5 82±0.5
Motor length with( Single encoder/mm) 60.5±0.5 79±0.5 64.5±0.5 84±0.5 66±0.5 84.5±0.5
Through hole(mm) 6 6 12 12 13 10
Weight(kg) 0.18 0.23 0.3 0.38 0.42 0.59
Torque constant(N.m/A) 0.024 0.024 0.05 0.05 0.089 0.089
Resistance(Ω) 2.08 2.08 1.96 1.96 0.47 0.47
Inductance(mH) 0.409 0.409 0.788 0.788 0.215 0.215
Number of pole-pairs 7 7 7 7 10 10
Inertia(g * c㎡) 24 24 82 127 112 146
 
Model TD-50-70-PRO-XX TD-50-70-PRO-XXB TD-60-70-PRO-XX TD-60-70-PRO-XXB TD-60-80-PRO-XX TD-60-80-PRO-XXB
Ratio 51/81/101 51/81/101 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121
Start-stop peak Torque (N.m) 23/29/34 23/29/34 42/53/66/66 42/53/66/66 42/53/66/66 42/53/66/66
Max. allowable torque at average load (N.m) 8.6/13.5/13.5 8.6/13.5/13.5 32/33/49/49 32/33/49/49 32/33/49/49 32/33/49/49
Rated torque at 2000rpm/ (reduction ratio) 6.6/9.6/9.6 6.6/9.6/9.6 19.8/27.5/30/30 19.8/27.5/30/30 19.8/27.5/30/30 19.8/27.5/30/30
Output Peak Speed (RPM) 97/61/49 97/61/49 82/51/41/32 82/51/41/32 82/51/41/32 82/51/41/32
Rated speed (RPM) 75/46/37 75/46/37 68/43/34/24 68/43/34/24 68/43/34/24 68/43/34/24
Motor power (W) 150 150 300 300 300 300
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 3.6 3.6 5 5 5 5
Max. continuous current(A) 5 5 6.7 6.7 6.7 6.7
Encoder Resolution (Bit) 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional
Backlash (arcsec) 20/20/10 20/20/10 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10
communication bus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus
Motor length with (Dual encoders/mm) 65.6±0.5 84.6±0.5 74±0.5 94±0.5 70.9±0.05 93±0.5
Motor length with ( Single encoder/mm) 66.1±0.5 84.6±0.5 74±0.5 94±0.5 72.5±0.5 92.5±0.5
Through hole(mm) 13 13 18 18 18 18
Weight(kg) 0.63 0.8 0.65 0.84 1.01 1.17
Torque constant(N.m/A) 0.089 0.089 0.096 0.096 0.096 0.096
Resistance(Ω) 0.47 0.47 0.33 0.33 0.33 0.33
Inductance(mH) 0.215 0.215 0.074 0.074 0.074 0.074
Number of pole-pairs 10 10 10 10 10 10
Inertia(g * c㎡) 124 147 382 538 441 595
 
Model TD-70-80-PRO-XX TD-70-80-PRO-XXB TD-70-90-PRO-XX TD-70-90-PRO-XXB TD-80-110-PRO-XX TD-80-110-PRO-XXB
Ratio 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121 51/81/101/121/161 51/81/101/121/161
Start-stop peak Torque (N.m) 63/91/102/108 63/91/102/108 63/91/102/108 63/91/102/108 121/169/194/207/217 121/169/194/207/217
Max. allowable torque at average load (N.m) 42/58/61/61 42/58/61/61 42/58/61/61 42/58/61/61 68.5/107/133/133/133 68.5/107/133/133/133
Rated torque at 2000rpm/ (reduction ratio) 32/42/50/50 32/42/50/50 32/42/50/50 32/42/50/50 48/78/84/84/84 48/78/84/84/84
Output Peak Speed (RPM) 77/48/40/30 77/48/40/30 77/48/40/30 77/48/40/30 65/43/36/30/22 65/43/36/30/22
Rated speed (RPM) 61/38/30/25 61/38/30/25 61/38/30/25 61/38/30/25 54/35/27/23/17 54/35/27/23/17
Motor power (W) 500 500 500 500 750 750
Supply voltage (V) 24-48 24-48 24-48 24-48 24-48 24-48
Rated current (A) 6.1 6.1 6.1 6.1 9 9
Max. continuous current(A) 8.4 8.4 8.4 8.4 10.4 10.4
Encoder Resolution (Bit) 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional
Backlash (arcsec) 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10 20/20/10/10/10 20/20/10/10/10
communication bus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus
Motor length with (Dual encoders/mm) 75±0.5 93.5±0.5 75.5±0.5 94±0.5 85.5±0.5 107±0.5
Motor length with( Single encoder/mm) 74±0.5 92.5±0.5 74.5±0.5 93±0.5 85.5±0.5 105.5±0.5
Through hole(mm) 18 18 18 18 25 25
Weight(kg) 0.95 1.3 1.3 1.6 2.1 2.6
Torque constant(N.m/A) 0.118 0.118 0.118 0.118 0.143 0.143
Resistance(ohm) 0.38 0.38 0.38 0.38 0.13 0.21
Inductance(mH) 0.33 0.33 0.33 0.33 0.25 0.25
Number of pole-pairs 10 10 10 10 8 8
Inertia(g * c㎡) 569 679 594 682 1255 1484
 
Model TD-100-142-PRO-XX TD-100-142-PRO-XXB TD-110-170-PRO-XX TD-110-170-PRO-XXB
Ratio 51/81/101/121/161 51/81/101/121/161 51/121/161 51/121/161
Start-stop peak Torque (N.m) 267/376/411/436/459 267/376/411/436/459 523/802/841 523/802/841
Max. allowable torque at average load (N.m) 120/185/267/267/267 120/185/267/267/267 255/586/586 255/586/586
Rated torque at 2000rpm/ (reduction ratio) 94/146/169/169/169 94/146/169/169/169 169/363/363 169/363/363
Output Peak Speed (RPM) 55/37/29/24/18 55/37/29/24/18 34/14/10 34/14/10
Rated speed (RPM) 44/29/22/18/12 44/29/22/18/12 22/12/7 22/12/7
Motor power (W) 1000 1000 1500 1500
Supply voltage (V) 24-48 24-48 24-48 24-48
Rated current (A) 15.8 15.8 14.1 14.1
Max. continuous current(A) 16.9 16.9 30.2 30.2
Encoder Resolution (Bit) 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional		 17bits/24+24
bits optional
Backlash (arcsec) 20/20/10/10/10 20/20/10/10/10 20/20/10 20/20/10
communication bus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus Ethercat and Canbus
Motor length with (Dual encoders/mm) 103±0.5 126.5±0.5 121.7±0.5 148±0.5
Motor length with ( Single encoder/mm) 103.5±0.5 124.5±0.5 123.7±0.5 149.7±0.5
Through hole(mm) 32 32 40 40
Weight(kg) 3.8 4.5 6.85 7.5
Torque constant(N.m/A) 0.175 0.175 0.293 0.293
Resistance(ohm) 0.12 0.12 0.23 0.23
Inductance(mH) 0.3 0.3 0.25 0.25
Number of pole-pairs 8 8 15 15
Inertia(g * c㎡) 3601 4237 9242 11751
 

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