Name: SYTRI6070
Brand: SENINTER
Price: 1 USD

SYT-RI60-70

Categories	Harmonic Drive Rotary Actuator
Protocol:	EtherCAT / CAN
Place of Origin:	CHINA
OD:	70mm
Max. Torque:	66N·m
Voltage:	24-48VDC
Brand Name:	SENINTER
Weight:	0.73kg
Certification:	CE ROHS
Max. Speed:	82RPM
Model Number:	SYT-RI60-70 CAN
Length:	72.5mm

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Shenzhen Seninter Precision Machinery Co.,Ltd.

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SYT-RI60-70

Humanoid Robot Joint Module (Rotary Actuator) Structure – Core Components

Output Flange / Connector – Connects to robot links (e.g., lower leg, forearm), outputs torque and motion.

Torque Sensor (optional but common in high-performance designs) – Ring or spoke type, used for force control / collision detection.

Harmonic Drive – Consists of a wave generator, flexspline, and circular spline; mounted on the motor output shaft.

Frameless Torque Motor – Stator fixed to the housing, rotor connected to the wave generator.

Brake (Safety Holding Brake) – Locks the joint position when power is lost.

Dual Encoders – Motor-side encoder (measures speed/position) and output-side encoder (eliminates reducer backlash error); commonly used for full closed-loop control.

Driver (Servo Drive Board) – Integrated inside the module or in a compact package.

Housing / Cooling Structure – Aluminum alloy body with cable channels.

Drawing without brake

without brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121
Gear Ratio	-	51	81	101	121
Peak Torque	N·m	42	53	66	66
Max Allowable Torque At Average Load (Robot Application)	N·m	32	33	49	49
Rated Torque @ 2000RPM (Industrial Application)	N·m	19.8	27.5	30	30
Peak Output Speed	RPM	82	51	41	32
Rated Speed (With 1/2 Rated Torque)	RPM	68	43	34	24
Gear Backlash	arcsec	20	20	10	10
Rated Power	W	300	300	300	300
Supply Voltage	V	24–48	24–48	24–48	24–48
Max Continuous Current	A	6.7	6.7	6.7	6.7
Rated Current	A	5	5	5	5
Torque Constant	N·m/A	0.096	0.096	0.096	0.096
Encoder Resolution	bit	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	18	18	18	18
Total Length	mm	72.5±0.5	72.5±0.5	72.5±0.5	72.5±0.5
Mass	kg	0.73	0.73	0.73	0.73
Rotational Inertia	g·cm²	394.8	394.8	394.8	394.8

Drawing with brake

With brake Parameter Table

Parameter	Unit	Ratio 51	Ratio 81	Ratio 101	Ratio 121
Gear Ratio	-	51	81	101	121
Peak Torque	N·m	42	53	66	66
Max Allowable Torque At Average Load (Robot Application)	N·m	32	33	49	49
Rated Torque @ 2000RPM (Industrial Application)	N·m	19.8	27.5	30	30
Peak Output Speed	RPM	82	51	41	32
Rated Speed (With 1/2 Rated Torque)	RPM	68	43	34	24
Gear Backlash	arcsec	20	20	10	10
Rated Power	W	300	300	300	300
Supply Voltage	V	24–48	24–48	24–48	24–48
Max Continuous Current	A	6.7	6.7	6.7	6.7
Rated Current	A	5	5	5	5
Torque Constant	N·m/A	0.096	0.096	0.096	0.096
Encoder Resolution	bit	16	16	16	16
Communication Bus	-	CAN	CAN	CAN	CAN
Hollow Shaft Diameter	mm	18	18	18	18
Total Length	mm	93±0.5	93±0.5	93±0.5	93±0.5
Mass	kg	0.88	0.88	0.88	0.88
Rotational Inertia	g·cm²	492	492	492	492

SYT-RI60-70

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