HA80-100 is a Motorevo HA-series integrated harmonic joint integrating a brushless motor, harmonic reducer, dual encoders and an integrated drive. It delivers 108 Nm rated torque, 304 Nm peak torque and up to 62 rpm, with a total weight of 1600 g. It is designed for humanoid robots, quadruped robots and collaborative arms. It features a hollow through-bore. Brake customization is available. CAN is standard; EtherCAT/CANFD is optional.
96 mmDiameter
106.5 mmThickness
108 NmRated Torque
304 NmPeak Torque
62 rpmPeak Speed
1600 gWeight
Electrical Specifications
Operating Voltage
48 V
Rated Voltage
12-72 V
Rated Torque
108 Nm
Rated Speed
46 RPM
Rated Current
14.5 A(rms)
Peak Torque (>3s)
304 Nm
Peak Speed
62 RPM
Peak Current
60 A(rms)
Torque Constant
7.45 Nm/A
Back EMF Constant
- Vrms/Krpm
Speed Constant
1.3 rpm/V
Motor Constant
- Nm/√W
Mechanical Time Constant
- ms
Electrical Time Constant
- ms
Pole Pairs
21
Winding Connection
Star (Y)
Phase Resistance
0.2 Ω
Phase Inductance
0.1 mH
Mechanical Specifications
Diameter
96 mm
Thickness
106.5 mm
Weight
1600 g
Gear Ratio
100
Backlash
20 Arcsec
Output Bearing
Crossed roller bearing
Backdrive Torque
- Nm
Rotor Inertia
- g·cm²
Axial Load
16.3 kN
Radial Load
7.2 kN
Control & Communication
Control Bandwidth
2000 Hz
Communication
CAN (EtherCAT/CANFD optional)
Encoder Type
Mechanical dual encoder
Encoder Resolution
14 bit
CAN Interface
XT30(2+2)PB-M
USB Interface
SH1.0-4P
Power Interface
XT30(2+2)PB-M
Control Modes
Servo Mode
✓
Velocity Mode
✓
Torque Mode
✓
Hybrid Force-Position Mode
✓
Protection
Overvoltage Protection
✓
Overcurrent Protection
✓
Overtemperature Protection
✓
Environment & Reliability
Duty Cycle
S2 (short-time duty)
Ingress Protection
IP40 (standard; IP54 optional on request)
Cooling Method
IC410 (self-cooled)
Operating Temperature
-20°C to 50°C
Insulation Class
F
Dielectric Strength
500V 1kHz 1A 1ms
Insulation Resistance
100 MΩ @ 20°C
Temperature Sensor
NTC MF52B 103F3950
Noise
60 dB / 0.5 m
Loading 3D teardown…
The 3D teardown is generated from this model’s diameter, thickness, gear ratio and hollow bore. Orbit, explode and inspect 15 components.
