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Categories Harmonic Drive Rotary Actuator
Model Number: SYT-RI-70-80 CAN
Length: 73mm
Voltage: 24-48VDC
Protocol: EtherCAT / CAN
Brand Name: SENINTER
OD: 80mm
Weight: 0.9kg
Certification: CE ROHS
Max. Speed: 77RPM
Place of Origin: CHINA
Max. Torque: 108N·m
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SYT-RI-70-80

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

ParameterUnitRatio 51Ratio 81Ratio 101Ratio 121
Gear Ratio-5181101121
Peak TorqueN·m6991102108
Max Allowable Torque At Average Load (Robot Application)N·m42586161
Rated Torque @ 2000RPM (Industrial Application)N·m32425050
Peak Output SpeedRPM77484030
Rated Speed (With 1/2 Rated Torque)RPM61383025
Gear Backlasharcsec20201010
Rated PowerW500500500500
Supply VoltageV24–4824–4824–4824–48
Max Continuous CurrentA8.48.48.48.4
Rated CurrentA6.16.16.16.1
Torque ConstantN·m/A0.1180.1180.1180.118
Encoder Resolutionbit16161616
Communication Bus-CANCANCANCAN
Hollow Shaft Diametermm18181818
Total Lengthmm73±0.573±0.573±0.573±0.5
Masskg0.90.90.90.9
Rotational Inertiag·cm²596.4596.4596.4596.4

Drawing with brake




With brake Parameter Table


ParameterUnitRatio 51Ratio 81Ratio 101Ratio 121
Gear Ratio-5181101121
Peak TorqueN·m6991102108
Max Allowable Torque At Average Load (Robot Application)N·m42586161
Rated Torque @ 2000RPM (Industrial Application)N·m32425050
Peak Output SpeedRPM77484030
Rated Speed (With 1/2 Rated Torque)RPM61383025
Gear Backlasharcsec20201010
Rated PowerW500500500500
Supply VoltageV24–4824–4824–4824–48
Max Continuous CurrentA8.48.48.48.4
Rated CurrentA6.16.16.16.1
Torque ConstantN·m/A0.1180.1180.1180.118
Encoder Resolutionbit16161616
Communication Bus-CANCANCANCAN
Hollow Shaft Diametermm18181818
Total Lengthmm91.5±0.591.5±0.591.5±0.591.5±0.5
Masskg1.111.111.111.11
Rotational Inertiag·cm²746.7746.7746.7746.7


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