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SYT-RI50-60

Categories Harmonic Drive Rotary Actuator
Length: 63.5mm
Voltage: 24-48VDC
Protocol: EtherCAT / CAN
Model Number: SYT-RI50-60
OD: 60mm
Certification: CE ROHS
Brand Name: SENINTER
Place of Origin: CHINA
Weight: 0.58kg
Max. Torque: 34N·m
Max. Speed: 97RPM
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SYT-RI50-60

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 101
Gear Ratio-5181101
Peak TorqueN·m232934
Max Allowable Torque At Average Load (Robot Application)N·m8.613.513.5
Rated Torque @ 2000RPM (Industrial Application)N·m6.69.69.6
Peak Output SpeedRPM976149
Rated Speed (With 1/2 Rated Torque)RPM754637
Gear Backlasharcsec202010
Rated PowerW150150150
Supply VoltageV24–4824–4824–48
Max Continuous CurrentA555
Rated CurrentA3.63.63.6
Torque ConstantN·m/A0.0890.0890.089
Encoder Resolutionbit161616
Communication Bus-CANCANCAN
Hollow Shaft Diametermm121212
Total Lengthmm63±0.563±0.563±0.5
Masskg0.450.450.45
Rotational Inertiag·cm²158.8158.8158.8

Drawing with brake




With brake Parameter Table


ParameterUnitRatio 51Ratio 81Ratio 101
Gear Ratio-5181101
Peak TorqueN·m232934
Max Allowable Torque At Average Load (Robot Application)N·m8.613.513.5
Rated Torque @ 2000RPM (Industrial Application)N·m6.69.69.6
Peak Output SpeedRPM976149
Rated Speed (With 1/2 Rated Torque)RPM754637
Gear Backlasharcsec202010
Rated PowerW150150150
Supply VoltageV24–4824–4824–48
Max Continuous CurrentA555
Rated CurrentA3.63.63.6
Torque ConstantN·m/A0.0890.0890.089
Encoder Resolutionbit161616
Communication Bus-CANCANCAN
Hollow Shaft Diametermm101010
Total Lengthmm81.5±0.581.5±0.581.5±0.5
Masskg0.580.580.58
Rotational Inertiag·cm²228.8228.8228.8


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