Rotary module for robots HTS series

Introduction
The T-type harmonic joint module (HTS series) is a highly integrated rotary joint designed for Cobots robot arms. It combines a harmonic reducer, torque motor, precision sensors, brake and driver in a compact plug-and-play unit. The output flange is perpendicular to the motor shaft (T-layout), simplifying arm kinematics and mechanical integration while enabling precise torque and position control for collaborative applications.

Key features

• Compact T-shaped layout — optimized for end-of-arm or inter-segment installation.
• Integrated components — harmonic reducer, torque motor, sensors, brake and driver in one unit; hollow shaft for internal cable routing.
• High transmission precision — harmonic reducer and sensors deliver accuracy within 0.005°.
• Wide torque range — continuous torque across variants from 9 to 586 Nm; peak torque up to 1530 Nm (variant-dependent).
• Industrial protection and cabling — housing typically up to IP54; clean cable management via hollow shaft.
• Real-time control capability — supports force-position hybrid closed-loop control with millisecond-level torque feedback; CANopen and EtherCAT interfaces.

Technical specifications (summary)

• Models: HTS-14-XXX-C/E, HTS-17-XXX-C/E, HTS-20-XXX-C/E, HTS-25-XXX-C/E, HTS-32-XXX-C/E, HTS-40-XXX-C/E.
• Gear ratios: typical options 51, 81, 101, 121 (depends on model).
• Continuous torque (typ.): 9–586 Nm; Peak torque (typ.): 46–1530 Nm (variant-dependent).
• Speed ranges and currents vary by model — consult the full datasheet for per-variant values (maximum speed up to ≈108 rpm; rated voltage 48 VDC).
• Motor specs: rated voltage 48 VDC; encoder battery 3.6 V, 26 µA standby.

Applications

• Collaborative robot joints and multi-axis manipulators.
• Assembly, inspection, polishing, machine tending and other tasks requiring combined force and position control.
• Retrofit or custom robot arm development requiring compact, integrated rotary joints.

Ordering and integration

• Specify model and gear ratio when ordering; consult the full datasheet for detailed torque, speed and current per variant.
• Available with CANopen or EtherCAT communications; integration support is recommended for control and safety tuning.
• Provide expected load, duty cycle and mounting constraints to confirm the correct HTS variant for your application.