Brand Introduction of HONPINE
HONPINE(www.honpine.com) is a Chinese integrated manufacturer
combining “Harmonic Drive + Nabtesco + actuator” technologies. It
provides precision transmission solutions for numerous
manufacturers in robotics R&D, medical machinery, semiconductor
equipment, CNC machinery, and other precision industries.
Precision Torque Frameless Harmonic Drives Rotary Actuator
Conventional rotary actuators often combine frameless inner rotor
torque motors with harmonic drives and absolute encoders to create
a fully functional rotary actuator system. The driving unit is
typically arranged externally, allowing for precise motion control
of attached machinery. These actuators find frequent use in
applications that demand both high accuracy and compact design,
including rotary tables for machine tools, precision medical
devices, 5-axis laser cutting machines, and equipment for
semiconductor manufacturing.
Features of Harmonic Drives Rotary Actuator
Elevated Torque Performance
This motor provides substantial torque at reduced speeds, ensuring
it meets the demands of equipment loads for optimal
low-speed/high-torque functionality.
Streamlined Integrated Architecture
Frameless torque motors do away with external housings and
bearings, integrating directly into the actuator to reduce overall
size.
Accurate Control Features
Equipped with high-resolution encoders, this system allows for
micron-level positioning and smooth landing, making it perfect for
applications such as precision rotary tables and semiconductor die
bonding.
Rapid Inertia Response
The combination of a lightweight rotor and low-friction design
improves the speed of dynamic responses while minimizing motion
delay.
Specification of Harmonic Drives Rotary Actuator
| Product Parameters(AC-220V) |
| Model | | 11 | 14 | 17 | 20 | 25 | 32 | 40 | 50 | 58 |
| Reduction Ratio | / | 51 | 101 | 51 | 81 | 101 | 51 | 81 | 101 | 121 | 51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 | 51 | 81 | 101 | 121 | 161 | 51 | 101 | 51 | 101 |
| Rated Torque | N·M | 4 | 8 | 8.6 | 13.5 | 13.5 | 27 | 33 | 49 | 49 | 30 | 48 | 58 | 61 | 61 | 68.5 | 107 | 133 | 133 | 133 | 133 | 206 | 264 | 267 | 267 | 242 | 351 | 460 | 557 | 557 | 642 | 823 | 951 | 1200 |
| Peak Torque | N·M | 8.3 | 11 | 23 | 29 | 34 | 43 | 53 | 66 | 66 | 69 | 91 | 102 | 108 | 113 | 121 | 169 | 194 | 207 | 217 | 267 | 376 | 411 | 436 | 459 | 497 | 641 | 702 | 762 | 800 | 1163 | 1211 | 1828 | 1964 |
| Rated Speed | RPM | 69 | 35 | 59 | 37 | 30 | 59 | 37 | 30 | 25 | 59 | 37 | 30 | 25 | 19 | 49 | 31 | 25 | 21 | 16 | 45 | 28 | 23 | 19 | 14 | 39 | 25 | 20 | 17 | 12 | 27 | 22 | 27 | 22 |
| Max Speed | RPM | 102 | 51 | 118 | 74 | 59 | 118 | 74 | 59 | 50 | 118 | 74 | 59 | 50 | 37 | 94 | 59 | 48 | 40 | 30 | 90 | 57 | 49 | 38 | 29 | 80 | 51 | 41 | 34 | 25 | 37 | 30 | 37 | 30 |
| Rated Current | A | 0.98 | 0.99 | 0.78 | 0.77 | 0.62 | 2.36 | 1.82 | 2.17 | 1.81 | 2.63 | 2.65 | 2.56 | 2.25 | 1.69 | 3.90 | 3.84 | 3.83 | 3.20 | 2.40 | 5.82 | 5.68 | 5.83 | 4.93 | 3.7 | 8.72 | 7.97 | 8.37 | 8.46 | 6.36 | 11.94 | 12.27 | 17.68 | 17.89 |
| Max Current | A | 2.03 | 1.36 | 2.09 | 1.66 | 1.56 | 3.68 | 2.92 | 2.92 | 2.44 | 6.04 | 5.02 | 4.51 | 3.98 | 3.13 | 6.90 | 6.07 | 5.58 | 4.97 | 3.92 | 11.69 | 10.36 | 9.08 | 8.04 | 6.36 | 17.91 | 14.55 | 12.75 | 11.58 | 9.13 | 21.62 | 18.06 | 33.99 | 29.29 |
| Torque Constant | N·M/Arms | 4.08 | 8.08 | 11.02 | 17.50 | 21.82 | 11.42 | 18.14 | 22.62 | 27.10 | 11.42 | 18.14 | 22.62 | 27.10 | 36.06 | 17.54 | 27.86 | 34.74 | 41.62 | 55.38 | 22.85 | 36.29 | 45.25 | 54.21 | 72.13 | 27.74 | 44.06 | 54.94 | 65.82 | 87.58 | 53.78 | 67.06 | 53.784 | 67.064 |
| Unidirectional Positioning Accuracy | Arcsec | ≤90 | ≤90 | ≤70 | ≤60 | ≤60 | ≤60 | ≤60 | ≤50 | ≤50 | ≤60 | ≤60 | ≤60 | ≤50 | ≤50 | ≤60 | ≤50 | ≤50 | ≤40 | ≤40 | ≤60 | ≤50 | ≤50 | ≤40 | ≤40 | ≤60 | ≤50 | ≤50 | ≤40 | ≤40 | ≤30 | ≤30 | ≤30 | ≤30 |
| Repeat Positioning Accuracy | Arcsec | ≤20 | ≤20 | ≤15 | ≤10 | ≤10 | ≤15 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 | ≤10 |
| Tilt Stiffness | X104N.m/rad | 4 | 8 | 15 | 24 | 38 | 95 | 175 | Rated radial load 2750N
Rated axial load 2750N
Rated overturning moment 1950N.M | Rated radial load 3200N
Rated axial load 3200N
Rated overturning moment 2500N.M |
| Torsional Stiffness | X104N.m/rad | 0.3 | 0.34 | 0.46 | 0.6 | 1.07 | 1.3 | 1.8 | 2.3 | 3.4 | 4.6 | 7.6 | 9.9 | 14 | 18.6 |
| Motor Phase Resistance | Ohma(20°C) | 12 | 7.5 | 2.6 | 2.6 | 3.55 | 0.88 | 0.8 | 0.126 | 0.126 |
| Motor Phase Inductance | Mh | 9.5 | 11.5 | 6.7 | 6.7 | 10 | 6.1 | 8 | 0.65 | 0.65 |
| Back-EMF Constant | Vrms/Krpm | 10.5 | 25 | 25 | 25 | 40 | 40 | 44 | 52 | 52 |
| Rotor Inertia | Without brake KG*m2 | 8.32*10^-6 | 3.6*10^-5 | 7.96*10^-5 | 8.8*10^-5 | 2.1*10^-4 | 8.3*10^-4 | 1.64*10^-3 | 4.8*10^-3 | 4.8*10^-3 |
| Rotor Inertia | With brake KG*m2 | 8.73*10^-6 | 3.7*10^-5 | 9.12*10^-5 | 9.17*10^-5 | 2.2*10^-4 | 1.04*10^-3 | 2.05*10^-3 | / | / |
| Mass (Without Brake) | Kg | 1.17 | 1.66 | 2.2 | 2.4 | 3.6 | 7.4 | 10.7 | 25 | 32 |
| Mass (With Brake) | Kg | 1.36 | 2 | 2.8 | 2.96 | 4.2 | 8.7 | 12 | / | / |
| Motor Poles | Pole | 10 | 16 | 16 | 16 | 16 | 16 | 16 | 20 | 20 |
| Diameter & Length (With/Without Brake) | mm | 63mmX83mm
63mmx99.7mm | ø74mmX91.5mm
ø74mmX109.5mm | ø88mmX98mm
ø88mmX122mm | ø88mmX101mm
ø88mmX125mm | ø110mmX109mm
ø110mmX130.5mm | ø142mmX138.7mm
ø142mmX164.2mm | ø170mmX150.7mm
ø170mmX175.7mm | ø214mmX196mm | ø240mmX216mm
ø240mmX249.4mm |
| Hollow Shaft Diameter | mm | ø10mm | ø9mm | ø13.5mm | ø16.5mm | ø17mm | ø29mm | ø40mm | ø40mm | ø50mm |
| Notes | For reference only, please contact sales for actual parameters |
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