WHJ Series

Harmonic joint modules available in 3, 10, 30, and 60 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

Core Advantages

bolt

High Torque Density

verified

High Reliability

target

High Precision

Technical Specifications

Parameter
WHJ03
WHJ10-B
WHJ10-N
WHJ30
WHJ60
Weight
170 g
455 g
425 g
750 g
1040 g
Dimensions (D×L)
33×48 mm
50×73 mm
50×64 mm
60×86.5 mm
70×91 mm
Hollow Shaft
4 mm
6 mm
8 mm
9 mm
9 mm
Rated Voltage
24/48 V
24/48 V
24/48 V
24/48 V
24/48 V
Rated Current
0.4 A @48V
1.6 A @48V
1.6 A @48V
4.9 A @48V
7.9 A @48V
Rated Power
20 W
78.5 W
78.5 W
234 W
377 W
Peak Speed
60 RPM
75 RPM
75 RPM
75 RPM
60 RPM
Rated Torque
3 N·m
10 N·m
10 N·m
30 N·m
60 N·m
Gear Ratio
100
80
80
80
100
Operating Temp
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
Abs. Encoder
18 bit
18 bit
18 bit
18 bit
18 bit
Brake Type
Spring
Pin-Type
Spring
Pin-Type
Pin-Type
Comm Interface
CAN FD
CAN FD
CAN FD
CAN FD
CAN FD

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