TH Harmonic Actuator

TH actuators have three types of housings: L-Type, T-type and I-type
Supporting different structures, appearances, colors, etc.
Compatible with various scenarios: industry, medical, service, etc.

Models: TH14, TH17, TH20, TH25, TH32, TH40
Through-hole diameters: 8/11/12/16mm
Rated torques: 10Nm to 382Nm.
Communication protocol: EtherCAT,CiA402
Rated power: 159-1257W
Rated Voltage: 48V
Brake: Electromagnetic friction type
All-in-One Integration of Harmonic Reducer, Motor, Dual Encoders, Brake, Drive, and Torque Sensor

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I. Product description

TH modular joint actuators integrates the harmonic reducer, motor, dual encoders, brake, drive, and torque sensor into a compact all-in-one solution. Designed for collaborative, bionic, medical, and humanoid robots.

L-Type, T-type and I-type Housing

Through-hole diameters: 8/11/12/16mm

II. Parameters of TH modular joint actuators

Model	TH14	TH17	TH20	TH25	TH32	TH40
Rated torque (Nm)	10	31	52	87	178	382
Rated speed (rpm)	49.5	34.6	34.6	28.9	24.7	18.6
Rated power (W)	159	183	366	732	1000	1257
Rated voltage (VDC)	48	48	48	48	48	48
Rated current (A)	4.4	5	9.7	16	27	27
Communication protocol	EtherCAT,CiA402
Through hole diameter (mm)	8	11	8	12	16	16
Gear ratio	101	101	101	121	121	161
Encoder	Dual absolute magnetic encoder, output resolution 19Bits
Brake	Electromagnetic friction type
IP classification	IP54

III. Product Features

1. Integrated design

Integrated with harmonic reducer, motor, dual encoders (19+19bit), brake, drive, and torque sensor.

(Integrated Torque Sensor: No additional six-axis force/torque sensor required, enabling more accurate external force detection during hand-guiding and a wider torque detection range.)

2. High Torque Density

Low Inertia · Stable Torque · High Peak Torque · Fast Dynamic Response

3. Multiple Safety Protections

Overcurrent, overvoltage, undervoltage, overtemperature, PWM dead-time, and PWM shoot-through protection, effectively reducing the risk of electrical and mechanical damage to the joint.

IP54

IV. Product Drawings

TH14I

TH14L

TH14T

TH17I

TH17L

TH17T

TH20I

TH20L

TH20T

TH25I

TH25L

TH25T

TH32I

TH32L

TH40I

TH40L

V. Product Application

Medical Robot Arm

Precision Manufacturing

Research and Development

Humanoid Robot

Model		TH14	TH17	TH20	TH25	TH32	TH40
Basic Performance	Rated torque (Nm)	10	31	52	87	178	382
	Allowable max torque for start/stop (Nm)	36	70	107	217	459	841
	Allowable max instantaneous torque (Nm)	70	143	191	395	892	1530
	Max torque at average load (Nm)	14	51	64	140	281	586
	Rated speed (rpm)	49.5	34.6	34.6	28.9	24.7	18.6
	Max speed (rpm)	56	44	39.8	30	31	18.6
	Positioning accuracy (deg)	+/-0.01
Electrical Performance	Rated power (W)	159	183	366	732	1000	1257
	Rated voltage (VDC)	48	48	48	48	48	48
	Rated current (A)	4.4	5	9.7	16	27	27
	Peak current (A)	13.6	15	29.1	48	89	72
	Communication protocol	EtherCAT,CiA402
Mechanical Performance	Through hole diameter (mm)	8	11	8	12	16	16
	Gear ratio	101	101	101	121	121	161
	Encoder	Dual absolute magnetic encoder, output resolution 19Bits
	Brake	Electromagnetic friction type
	IP classification	IP54
Weight (kg)	I-TYPE	1.24	1.6	2.06	3.37	6.16	9.72
	L-TYPE	1.77	2.35	2.79	4.48	8.67	13.55
	T-TYPE	1.62	2.22	2.97	4.36	/	/
Diameter (mm)	I-TYPE	76	87	96	117	148	176
	L-TYPE	85	98	102	121	159	185
	T-TYPE	80	92	102	118	/	/
Length (mm)	I-TYPE	122	128	139	145.6	160	192
	L-TYPE	154.6	152.6	165	176	203	236
	T-TYPE	136	141	152.4	164.5	/	/

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