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SYT-RI-60-80

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
Winding Resistance	Ω	0.33	0.33	0.33	0.33
Encoder Resolution	bit	17	17	17	17
Communication Bus	-	CAN/EtherCAT	CAN/EtherCAT	CAN/EtherCAT	CAN/EtherCAT
Torque Constant	N·m/A	0.096	0.096	0.096	0.096
Inductance	mH	0.074	0.074	0.074	0.074
Number of Pole-pairs	-	10	10	10	10
Hollow Shaft Diameter	mm	15	15	15	15
Total Length	mm	70.4±0.5	70.4±0.5	70.4±0.5	70.4±0.5
Mass	kg	1.01	1.01	1.01	1.01
Rotational Inertia	g·cm²	441	441	441	441

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
Winding Resistance	Ω	0.33	0.33	0.33	0.33
Encoder Resolution	bit	17	17	17	17
Communication Bus	-	CAN/EtherCAT	CAN/EtherCAT	CAN/EtherCAT	CAN/EtherCAT
Torque Constant	N·m/A	0.096	0.096	0.096	0.096
Inductance	mH	0.074	0.074	0.074	0.074
Number of Pole-pairs	-	10	10	10	10
Hollow Shaft Diameter	mm	18	18	18	18
Total Length	mm	92.9±0.5	92.9±0.5	92.9±0.5	92.9±0.5
Mass	kg	1.17	1.17	1.17	1.17
Rotational Inertia	g·cm²	595	595	595	595

SYT-RI-60-80

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Categories	Harmonic Drive Rotary Actuator
Protocol:	EtherCAT / CAN
Brand Name:	SENINTER
OD:	80mm
Model Number:	SYT-RI-60-80 CAN
Length:	70.4mm
Voltage:	24-48VDC
Weight:	1.01kg
Certification:	CE ROHS
Max. Torque:	66N·m
Place of Origin:	CHINA
Max. Speed:	82RPM