Product details

PJ3-97CAN140

Actuators & Joint Modules

Leadshine

PJ3-97CAN140

About this product

Leadshine PJ3-97CAN140 is a 97 mm nominal-frame planetary integrated actuator offered as a robot joint module with CAN-FD communication. The PJ3 family integrates a frameless motor and hollow planetary mechanism for humanoid, quadruped and other articulated robot applications. The current store/catalog and linked engineering drawing disagree on ingress protection and mass; the specifications retain both claims with their source context, and the applicable production revision remains unverified. Cover image: Manufacturer series image; size may vary.

Model
PJ3-97CAN140
Category
Actuators & Joint Modules, Components

Specifications & evidence

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

Communication mode

CAN-FD

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Communication Mode CAN-FD

Frameless-motor efficiency claim

>80 %

Reported claim

Configuration: PJ3-97CAN140; PJ3 family motor characterization; Manufacturer statement about the integrated frameless motor; not a guaranteed actuator efficiency at all operating points. Test speed/load and exact-model conditions are unspecified.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
The Leadshine PJ3 series joint modules feature a durable harness (7M torsion cycles), versatile mounting, and fits various humanoid decoupling configurations; its self-developed frameless motor delivers >80% efficiency with <60K temperature rise, and plug-and-play EtherCAT/CANFD support greatly reduces tuning time.

Frameless-motor temperature-rise claim

<60 K

Reported claim

Configuration: PJ3-97CAN140; PJ3 family motor characterization; Manufacturer family-level motor claim. Ambient temperature, load, duration and cooling conditions are unspecified; not an exact-model thermal guarantee.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
The Leadshine PJ3 series joint modules feature a durable harness (7M torsion cycles), versatile mounting, and fits various humanoid decoupling configurations; its self-developed frameless motor delivers >80% efficiency with <60K temperature rise, and plug-and-play EtherCAT/CANFD support greatly reduces tuning time.

Gear ratio

22

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Gear Ratio 22

Harness torsion-cycle characterization

7M cycles

Reported claim

Configuration: PJ3-97CAN140; PJ3 family characterization; Manufacturer family-level claim, not an exact-model test report. Harness model, torsion angle, load and test method are unspecified.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
The Leadshine PJ3 series joint modules feature a durable harness (7M torsion cycles), versatile mounting, and fits various humanoid decoupling configurations; its self-developed frameless motor delivers >80% efficiency with <60K temperature rise, and plug-and-play EtherCAT/CANFD support greatly reduces tuning time.

Ingress protection

IP54

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied. Source conflict: the currently linked edition A00 engineering drawing states a different value; source-specific claims are retained without selecting a production revision.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
IP Level IP54

Ingress protection

IP20

Reported claim

Configuration: PJ3-97CAN140; linked engineering drawing A00; Source conflict: manufacturer engineering drawing A00, revision row dated 2026/3/4, differs from the current exact-model store and catalog. The drawing explicitly lists both EC and CAN physical model identities. Current revision applicability is unresolved; do not combine with store ratings as a single guaranteed configuration.

Leadshine paired PJ3-97 drawing, edition A00
防护等级 IP | IP20

Instantaneous maximum torque

140 N·m

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Instantaneous Maximum Torque (N·m) 140

Length

61.7±0.5 mm

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied. The printed ±0.5 tolerance is retained; not asserted to include every projection.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Length (mm) 61.7±0.5

Manufacturer product number

81530226

Reported claim

Configuration: PJ3-97CAN140; linked engineering drawing A00; The paired manufacturer drawing lists both protocol-specific physical model codes and product numbers. Drawing revision date is not a product release date.

Leadshine paired PJ3-97 drawing, edition A00
CANFD | PJ3-97CAN140 | 81530226

Mass

1,200 g

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied. Source conflict: the currently linked edition A00 engineering drawing states a different value; source-specific claims are retained without selecting a production revision.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Weight (g) 1200

Mass

1.46 kg

Reported claim

Configuration: PJ3-97CAN140; linked engineering drawing A00; Source conflict: manufacturer engineering drawing A00, revision row dated 2026/3/4, differs from the current exact-model store and catalog. The drawing explicitly lists both EC and CAN physical model identities. Current revision applicability is unresolved; do not combine with store ratings as a single guaranteed configuration. Value is in the drawing title block; scope of included accessories is not stated.

Leadshine paired PJ3-97 drawing, edition A00
重量(Weight) 1.46kg

Maximum speed

130 rpm

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Maximum Speed (RPM) 130

Nominal frame size

97 mm

Reported claim

Configuration: PJ3-97CAN140; manufacturer title; Nominal size class in the exact product title. This is not a measured maximum housing diameter; mounting flange callouts differ.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module

Rated speed

80 rpm

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied. The separate catalog incorrectly prints Nm under Rated Speed; the exact store page and engineering drawing explicitly state rpm.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Rated Speed (RPM) 80

Rated torque

44 N·m

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Rated Torque (N·m) 44

Structural mass-reduction claim

15 %

Reported claim

Configuration: PJ3-97CAN140; PJ3 family comparison; Manufacturer family-level comparison; reference structure, model and measurement basis are not identified. Not applied as a reduction to the separately listed product mass.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
The lightweight mechanical structure features hollowed-out sections to reduce weight by 15%.

Supply voltage

24-48 V DC

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Supply Voltage (VDC) 24-48

Through-hole diameter

7.5 mm

Reported claim

Configuration: PJ3-97CAN140; current official-store table; Exact-model manufacturer store technical table. Manufacturer claim; applicable installation and test conditions are not supplied.

PJ3-97CAN140 97mm High-Torque Planetary Integrated Actuator , CAN-FD Communication Robot Joint Module
Through Hole (mm) 7.5

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