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Categories Harmonic Drive Rotary Actuator
Model Number: SYT-RI-80-97 CAN
Length: 85.5mm
Voltage: 24-48VDC
Protocol: EtherCAT / CAN
Brand Name: SENINTER
OD: 97mm
Weight: 1.5kg
Certification: CE ROHS
Max. Torque: 217N·m
Place of Origin: CHINA
Max. Speed: 65RPM
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SYT-RI-80-97

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

ParameterUnitRatio 51Ratio 81Ratio 101Ratio 121Ratio 161
Gear Ratio-5181101121161
Peak TorqueN·m121169194207217
Max Allowable Torque At Average Load (Robot Application)N·m68.5107133133133
Rated Torque @ 2000RPM (Industrial Application)N·m4878848484
Peak Output SpeedRPM6543363022
Rated Speed (With 1/2 Rated Torque)RPM5435272317
Gear Backlasharcsec2020101010
Rated PowerW750750750750750
Supply VoltageV24–4824–4824–4824–4824–48
Max Continuous CurrentA11.111.111.111.111.1
Rated CurrentA9.69.69.69.69.6
Torque ConstantN·m/A0.1430.1430.1430.1430.143
Encoder Resolutionbit1616161616
Communication Bus-CANCANCANCANCAN
Hollow Shaft Diametermm2727272727
Total Lengthmm85.5±0.585.5±0.585.5±0.585.5±0.585.5±0.5
Masskg1.51.51.51.51.5
Rotational Inertiag·cm²1477.61477.61477.61477.61477.6

Drawing with brake




With brake Parameter Table


ParameterUnitRatio 51Ratio 81Ratio 101Ratio 121Ratio 161
Gear Ratio-5181101121161
Peak TorqueN·m121169194207217
Max Allowable Torque At Average Load (Robot Application)N·m68.5107133133133
Rated Torque @ 2000RPM (Industrial Application)N·m4878848484
Peak Output SpeedRPM6543363022
Rated Speed (With 1/2 Rated Torque)RPM5435272317
Gear Backlasharcsec2020101010
Rated PowerW750750750750750
Supply VoltageV24–4824–4824–4824–4824–48
Max Continuous CurrentA11.111.111.111.111.1
Rated CurrentA9.69.69.69.69.6
Torque ConstantN·m/A0.1430.1430.1430.1430.143
Encoder Resolutionbit1616161616
Communication Bus-CANCANCANCANCAN
Hollow Shaft Diametermm2727272727
Total Lengthmm105.5±0.5105.5±0.5105.5±0.5105.5±0.5105.5±0.5
Masskg1.631.631.631.631.63
Rotational Inertiag·cm²1761.11761.11761.11761.11761.1


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