Servomotor servo-gearmotor HPJM PRO series

harmoniccoaxialhollow-shaft

Introduction
The Robot Joint Motor achieves highly precise motion control through integrated components including harmonic drive, frameless torque motor, brake, encoder, and drive unit, with optimized size and weight. It delivers greater torque, higher precision, more compact size and lighter weight. We also provide customization services according to customers' specific requirements. Robot Joint Motors typically support a wide voltage range of DC24V~DC48V. As a core component in the robotics industry, the technological advancement of Robot Joint Motors will continue to promote the development of specialized robots and humanoid robots towards higher flexibility and broader application scenarios. Beyond robotics, Robot Joint Motors are also applied in semiconductor equipment, photovoltaic equipment, precision medical equipment, 3C equipment, optical equipment and other fields.

Core Components

• Power Unit (Frameless Torque Motor): Provides high torque density and compact structure, suitable for high dynamic load scenarios.
• Harmonic Drive: Achieves speed reduction and torque multiplication, featuring zero backlash and high precision (backlash controlled within 20 arcsec).
• Dual Encoders (Motor-side + Output-side): Support full closed-loop control with repeat positioning accuracy of ±10 arcsec.
• Temperature Sensor: Monitors load and environmental status in real time to enhance safety and adaptability.
• Embedded Drive Unit: Supports protocols like EtherCAT and CANopen, enabling dynamic PID adjustment.

Features

• Superior precision & zero backlash
  • High Precision and Zero Backlash: Zero-backlash design eliminates transmission clearance of traditional reducers, achieving repeat positioning accuracy of ±10 arcsec and absolute positioning accuracy of ±30 arcsec, suitable for precision motion control scenarios (e.g., surgical robots, collaborative robotic arms).
  • 3D Conjugate Dual-Arc Tooth Profile Technology: Optimizes tooth profile structure, reduces vibration and noise, improves transmission stiffness and service life, enabling smoother and more precise robot movements.
• Highly Integrated, Compact and Lightweight Design
  • Compact size and light weight: The high integration of harmonic drive and frameless torque motor results in compact structure, suitable for space-constrained scenarios (e.g., robot wrists, head joints).
  • Lightweight material application: Uses high-strength aluminum alloy, carbon fiber and other materials to reduce weight and improve robot energy efficiency and flexibility.
• High Transmission Efficiency
  • Transmission efficiency exceeds 80%, reducing energy loss and supporting efficient power transmission under dynamic load changes.
• High Safety and Reliability
  • Torque sensor integration (customizable): Supports collision detection and drag teaching functions, enhancing human-robot collaboration safety.
  • Impact resistance and long service life: The harmonic drive can withstand high-load emergency stops, with designed precision lifespan exceeding 10,000 hours, suitable for harsh industrial environments.
• Intelligent Integration and Control
  • Embedded controller with multi-protocol compatibility: Supports communication protocols like EtherCAT and CANopen, enabling dynamic PID adjustment.
  • Modular design: Standardized interfaces facilitate quick integration and maintenance.

Specification Table (per model)
Joint Model Number | Gear Ratio | Rated Torque @2000RPM (N.m) | Max Allowable Torque At Average Load (N.m) | Impact Torque (N.m) | Rated Speed (With 1/2 Rated Torque) (RPM) | Peak Speed (RPM) | Rated Power (W) | Supply Voltage (V) | Rated Current (A) | Max Continuous Current (A) | Encoder Resolution (bit) | Torque Constant (N.m/A) | Gear Backlash (arcsec) | Communication Bus | Hollow Shaft (mm)
PRO Series | HPJM-RE30-40-PRO-XX | 51/101 | 1.8/2.8 | 2.3/3.3 | 3.3/4.8 | 90/45 | 118/59 | 36 | 24-48 | 1 | 2 | 216 ( 65,536 ) | 0.024 | 40/40 | CAN/EtherCAT | 6
PRO Series | HPJM-RE40-52-PRO-XX | 51/101 | 4/6.5 | 5.5/8.9 | 8.3/11 | 80/40 | 118/59 | 90 | 24-48 | 2 | 3 | 216 ( 65,536 ) | 0.05 | 40/30 | CAN/EtherCAT | 12
PRO Series | HPJM-RE50-60-PRO-XX | 51/81/101 | 6.6/9.6/9.6 | 8.6/13.5/13.5 | 23/29/34 | 75/46/37 | 97/61/49 | 150 | 24-48 | 3.6 | 5 | 216 ( 65,536 ) | 0.089 | 20/20/10 | CAN/EtherCAT | 12
PRO Series | HPJM-RE50-70-PRO-XX | 51/81/101 | 6.6/9.6/9.6 | 8.6/13.5/13.5 | 23/29/34 | 75/46/37 | 97/61/49 | 150 | 24-48 | 3.6 | 5 | 216 ( 65,536 ) | 0.089 | 20/20/10 | CAN/EtherCAT | 12
PRO Series | HPJM-RE60-70-PRO-XX | 51/81/101/121 | 19.8/27.5/30/30 | 32/33/49/49 | 42/53/66/66 | 68/43/34/24 | 82/51/41/32 | 300 | 24-48 | 5 | 6.7 | 216 ( 65,536 ) | 0.096 | 20/20/10/10 | CAN/EtherCAT | 18
PRO Series | HPJM-RE60-80-PRO-XX | 51/81/101/121 | 19.8/27.8/30/30 | 32/33/49/49 | 42/53/66/66 | 68/43/34/24 | 82/51/41/32 | 300 | 24-48 | 5 | 6.7 | 216 ( 65,536 ) | 0.096 | 20/20/10/10 | CAN/EtherCAT | 18
PRO Series | HPJM-RE70-80-PRO-XX | 51/81/101/121 | 32/42/50/50 | 42/58/61/61 | 63/91/102/108 | 61/38/30/25 | 77/48/40/30 | 500 | 24-48 | 6.1 | 8.4 | 216 ( 65,536 ) | 0.118 | 20/20/10/10 | CAN/EtherCAT | 18
PRO Series | HPJM-RE70-90-PRO-XX | 51/81/101/121 | 32/42/50/50 | 42/58/61/61 | 63/91/102/108 | 61/38/30/25 | 77/48/40/30 | 500 | 24-48 | 6.1 | 8.4 | 216 ( 65,536 ) | 0.118 | 20/20/10/10 | CAN/EtherCAT | 18
PRO Series | HPJM-RE80-97-PRO-XX | 51/81/101/121/161 | 48/78/84/84/84 | 68.8/107/133/133/133 | 121/169/194/207/217 | 54/35/27/23/17 | 65/43/36/30/22 | 750 | 24-48 | 9 | 10.4 | 216 ( 65,536 ) | 0.143 | 20/20/10/10/10 | CAN/EtherCAT | 27
PRO Series | HPJM-RE80-110-PRO-XX | 51/81/101/121/161 | 48/78/84/84/84 | 68.8/107/133/133/133 | 121/169/194/207/217 | 54/35/27/23/17 | 65/43/36/30/22 | 750 | 24-48 | 9 | 10.4 | 216 ( 65,536 ) | 0.143 | 20/20/10/10/10 | CAN/EtherCAT | 27
PRO Series | HPJM-RE100-120-PRO-XX | 51/81/101/121/161 | 94/146/169/169/168 | 120/185/267/267/267 | 267/376/411/436/459 | 44/29/22/18/12 | 55/37/29/24/18 | 1000 | 24-48 | 15.8 | 16.9 | 216 ( 65,536 ) | 0.175 | 20/20/10/10/10 | CAN/EtherCAT | 32
PRO Series | HPJM-RE100-142-PRO-XX | 51/81/101/121/161 | 94/146/169/169/168 | 120/185/267/267/267 | 267/376/411/436/459 | 44/29/22/18/12 | 55/37/29/24/18 | 1000 | 24-48 | 15.8 | 16.9 | 216 ( 65,536 ) | 0.175 | 20/20/10/10/10 | CAN/EtherCAT | 32
PRO Series | HPJM-RE110-145-PRO-XX | 51/121/161 | 169/363/363 | 255/586/586 | 532/802/841 | 22/12/7 | 34/14/10 | 1500 | 24-48 | 14.1 | 30.2 | 216 ( 65,536 ) | 0.293 | 20/20/10 | CAN/EtherCAT | 40
PRO Series | HPJM-RE110-170-PRO-XX | 51/121/161 | 169/363/363 | 255/586/586 | 532/802/841 | 22/12/7 | 34/14/10 | 1500 | 24-48 | 14.1 | 30.2 | 216 ( 65,536 ) | 0.293 | 20/20/10 | CAN/EtherCAT | 40
Specifications are for reference only. PRO Series hollow-shaft models support customization: Brakes (optional), EtherCAT/CanOPEN protocols, Low-temperature operation (-40°C).

Caractéristiques / Spécifications techniques

• Series name: PRO Series (model examples: HPJM-RE30-40-PRO-XX to HPJM-RE110-170-PRO-XX).
• Gear backlash: controlled within 20 arcsec (zero-backlash design; repeat positioning accuracy ±10 arcsec; absolute positioning accuracy ±30 arcsec).
• Encoder resolution: 216 (65,536) (dual encoders: motor-side + output-side).
• Supply voltage: DC 24-48 V (typical across models).
• Communication: CAN / EtherCAT (embedded drive supports these protocols).
• Transmission efficiency: typically >80%.
• Materials: high-strength aluminum alloy, carbon fiber components used for weight reduction.
• Temperature monitoring: integrated temperature sensor for load and environment monitoring.
• Customizable options: brakes, torque sensor integration, low-temperature operation (-40°C), communication protocol selection.
• Wide application fields: robotics (including humanoid and collaborative robots), semiconductor equipment, photovoltaic, precision medical equipment, 3C equipment, optical equipment.