Product details

HJ2-110F101D24-NK-EC

Actuators & Joint Modules

Leadshine

HJ2-110F101D24-NK-EC

About this product

Leadshine HJ2-110F101D24-NK-EC is a hollow harmonic integrated actuator with EtherCAT communication, listed by the manufacturer as a robot joint module. The HJ2 assembly combines the motor, driver, encoder and harmonic reduction mechanism for robot integration. Its dimensions and performance are those of the exact model table; rated torque and speed retain their stated operating conditions. The cover is an official reference illustration shared by the manufacturer across the matching diameter series. Cover image: Manufacturer series image; size may vary.

Model
HJ2-110F101D24-NK-EC
Category
Actuators & Joint Modules, Components

Product family: Leadshine HJ2 Harmonic Integrated Actuators

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Backlash

≤10 arcsec

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Backlash (arcsec) ≤10

Encoder resolution

24 bit

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Encoder Resolution (bit) 24

Field bus

EtherCAT

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Field Bus EtherCAT

Gear ratio

101

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. The HTML label prints "Radio"; the matching current catalog table identifies this as ratio.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Radio 101

Inductance

0.22 mH

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Inductance (mH) 0.22

Inertia

1,010 g·cm²

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Inertia (g·cm² ) 1010

Inner diameter

25 mm

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. Diameter symbol is printed in the value.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Inner Diameter (mm) φ25

Length (manufacturer table)

80.2 mm

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. Tabulated length, not asserted to include every projection shown in the mechanical drawing.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Length (mm) 80.2

Mass

1,981.2 g

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Mass (g) 1981.2

Maximum allowable torque at average load

133 N·m

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Max Allowable Torque at Average Load (N·m) 133

Maximum current

19.9 A

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Max Current (A) 19.9

Outer diameter

110 mm

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. Diameter symbol is printed in the value.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Outer Diameter (mm) φ110

Peak speed

40 rpm

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Peak Speed (RPM) 40

Peak torque

194 N·m

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Peak Torque (N·m) 194

Pole pairs

10

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. The HTML label prints "Pole-pais"; the matching catalog identifies pole-pairs.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Pole-pais 10

Rated current

8.6 A

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Rated Current (A) 8.6

Rated speed at one-half rated torque

31 rpm

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. At one-half rated torque.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Rated Speed with 1/2 Rated Torque (RPM) 31

Rated torque

84 N·m

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim. Manufacturer rating condition: @2000 rpm; this is not represented as a 2000 rpm output-shaft speed.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Rated Torque @2000 rpm (N·m) 84

Resistance

0.13 Ω

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Resistance (‌Ω) 0.13

Supply voltage

48 V DC

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Supply Voltage (VDC) 48

Torque constant

0.128 N·m/A

Reported claim

Configuration: HJ2-110F101D24-NK-EC; Exact-model technical attributes on the manufacturer official store; manufacturer claim.

HJ2-110F101D24-NK-EC 110mm Harmonic Integrated Actuator with EtherCAT Communication Robot Joint Module
Torque Constant (N·m/A) 0.128

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