MyActuator RH-14 Harmonic Joint Motor
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MyActuator RH-14 Harmonic Joint Motor
RH Series Harmonic Actuators
EtherCAT & CAN BUS Integrated Precision Joint Motors / Harmonic Drive Actuators
✦ Product Features ✦
High Precision
Precision positioning with ultra-low backlash
Low Noise
Smooth, quiet operation with minimal vibration
Hollow Design
Large aperture hollow shaft for clean cabling
High Efficiency
Optimized power transmission and output density
EtherCAT & CAN BUS
Supports industrial protocols with built-in servo drive
Dual Encoder
Absolute encoders for high-accuracy closed-loop control
EPS-RH Series Naming Conventions
Standard nomenclature rules and code identifier breakdown.
(E-Efficiency P-Precision S-Smart)
(Harmonic Actuator)
(e.g. 14/17/20/25/32)
(Reduction Ratio)
(EtherCAT & CAN BUS)
(N: Without / B: With)
(D: Dual / S: Single)
Nomenclature Example
Engineering Selection Guide
EPS-RH Harmonic Actuators are highly integrated power units engineered specifically for robotic joints and precision automation applications. Each unit seamlessly consolidates a brushless motor, high-precision harmonic reducer, electromagnetic brake, multi-turn absolute dual encoders, and an advanced servo drive into an ultra-compact housing.
| PRODUCT PARAMETERS | ||
| Parameters | Unit | RH-14 |
| Gear ratio | — | 100 |
| Input Voltage | V | 48 |
| No Load Speed | RPM | 30 |
| No Load Current | A | 0.4 |
| Rated Speed | RPM | 25 |
| Rated Torque | N.m | 11 |
| Rated Power | W | 28 |
| Rated Current | A(rms) | 2.8 |
| Peak Torque | N.m | 28 |
| Peak Current | A(rms) | 5.7 |
| Motor Back-EMF Constant | Vdc/Krpm | 19.2 |
| Module Torque Constant | N.m/A | 4 |
| Motor Phase Resistance | Ω | 0.62 |
| Motor Phase Inductance | mH | 0.43 |
| Pole Pair | — | 10 |
| 3 Phase Connection | — | Y |
| Backlash | Arcsec | < 40 |
| Radial Load (Static load) | KN | 8.6 |
| Radial Load (Dynamic load) | KN | 5.8 |
| Axial Load (Static load) | KN | 58.7 |
| Axial Load (Dynamic load) | KN | 16.2 |
| Inertia (N) | kg.m² | 0.29 |
| Inertia (B) | kg.m² | — |
| Encoder Type | — | Dual Encoder ABS-17BIT (Input) | ABS-17BIT (Output) |
| Repeat Position Accuracy | Degree | < 0.01 |
| Communication | — | EtherCAT & CAN BUS |
| Weight (N) | Kg | 0.78 |
| Weight (B) | Kg | / |
| Insulation Grade | — | F |
| STALL TORQUE DATA | ||||
|---|---|---|---|---|
| Model | Torque (N.m) |
Temperature Rise (°C) |
Stall Time (s) |
Phase Current (Arms) |
| RH-14 | 16.5 | 3 | 15 | 3.7 |
| 22 | 4 | 10 | 4.8 | |
| 27.5 | 6 | 8 | 6.6 | |
User-Manual-for-RH-Series-Products-V1.4.PDF