Brushless DC servo-gearmotor TCHL

servomotorharmoniccoaxial

Introduction
The TCHL Harmonic Joint Module integrates a torque sensor directly into the harmonic drive reducer and includes integrated cables and connectors for simplified robot wiring. The built‑in torque measurement enables precise actuator load detection and supports safer human–robot interaction through closed‑loop force and position control. The module is designed for compact, high‑integration applications where space, weight and reliable signal routing are critical.

Multiple Connection Methods

• Double‑sided mounting
• Single‑sided mounting
• Bilateral through fixation
• Bottom mounting
• Radial fixation
• Rod fixation

Designer Speaking
Developed for embodied‑intelligence and compact robotic systems, TCHL provides comprehensive mounting interfaces while minimizing joint volume and mass. The output torque sensor is integrated without increasing size or weight, improving dynamic response and data quality. The result is lower integration complexity for adjacent components and easier system assembly.

Features of TCHL Harmonic Joint Module

• Integrated force/torque sensor on reducer side for closed‑loop force and position control
• Fully integrated cables and connectors for faster, more reliable wiring
• Ultra‑light options (example: size 14 ≈ 0.5 kg without brake)
• Innovative integrated electrical connectors supporting flexible installation configurations
• Supports CAN / CANFD and EtherCAT communication protocols
• Integrated power supply and multi‑protocol bus that can be routed through hollow shaft for sizes ≥14

Specification (table)
TCHL Parameters | unit | 11 (φ52) | 14 (φ65) | 17 (φ77) | 20 (Φ87) | 25 (Φ99) | 32 (φ131)
Ratio | Unit | 100 | 101 | 101 | 101 | 101 | 101
2000rpm Rated Torque | N.m | 3.6 | 6.5 | 29 | 49 | 83 | 267
Average Load Torque Maximum Value | N.m | 7.7 | 9.5 | 48 | 61 | 133 | 267
Peak Torque for Start/Stop | N.m | 19 | 24 | 67 | 102 | 194 | 411
Peak Output Torque | N.m | 25 | 44 | 136 | 181 | 351 | 799
Rated Output Speed | rpm | 30 | 29.7 | 29.7 | 29.7 | 29.7 | 29.7
Peak Output Speed | rpm | 40 | 39.6 | 39.6 | 39.6 | 39.6 | 39.6
Rated Voltage | V | 48 V DC (all sizes)
Output Moment of Inertia | Kg.m^2 | 0.048 | 0.1 | 0.45 | 0.7 | 1.9 | 6
Allowable Overturning Moment | N.m | 25 | 30 | 93 | 120 | 150 | 210
Transmission Error | arcsec | ≤60 (all sizes)
Torque Sensor | — | Not fitted (11); Optional (14 and above)
Brake | — | Not fitted (11); Optional (14 and above)
Encoder | — | I/O Dual Encoder, Single‑turn Absolute Encoder 17 bit (all sizes)
Driver Board Protocol | — | EtherCAT / CANFD
Usage Environment Temperature | — | -20℃~50℃
IP class | — | IP54; IP65 after connector upgrade
Dimension (φxH) | mm | φ52*57 | φ65*55 | φ77*76 | φ87*77.5 | φ99*87 | φ131*99
Dimension (with brake) | mm | — | φ65*67 | φ77*86.5 | φ87*90 | φ99*99 | φ131*99
Hollow Diameter | mm | 8 | 10 | 12 | 12 | 15 | 22
Weight (without Brake) | Kg | 0.37 | 0.5 | 1.1 | 1.4 | 1.85 | 3.3
Weight (with Brake) | Kg | — | 0.55 | 1.05 | 1.45 | 2.1 | 3.6

Technical characteristics

• Series: TCHL
• Integrated torque sensor: optional on sizes ≥14; not fitted on size 11
• Communication: EtherCAT, CANFD (CAN)
• Rated voltage: 48 V DC
• Rated torque range (2000 rpm): 3.6 N·m (size 11) to 267 N·m (size 32)
• Peak output torque up to 799 N·m depending on size
• Transmission error ≤60 arcsec
• IP rating: IP54 standard; IP65 after connector upgrade
• Operating temperature: -20℃ to 50℃
• Hollow shaft diameters: 8–22 mm depending on size