Integrated Joint Module Selection Guide Harmonic Drive Integrated Torque Sensor Frameless Torque Motor Rated Voltage: DC48V ^ Housing ;T- Encoder ;> Driver Encoders at both input and output ends Single-turn absolute, Resolution: 17-bit EtherCAT / CANFD Protocol

PRODUCT CATALOG Page 1. Product Catalog Description Page 2. Model Number Definition Page 6. TCHL-20 Hollow Bore：ø 15----Dimension：Ø87x77.5(With brakeØ87x90)----Torque range：31-61N·m Page 7. TCHL-25 Hollow Bore：ø 15----Dimension：Ø99x87(With brake Ø99x99)----Torque range：78-133N·m Page 8. TCHL-32 Hollow Bore：ø 22----Dimension：Ø131x103.5(Same as with brake)----Torque range

Harmonic Drive Model Gear Ratio Other ratios to be developed in the future Motor Type Modification Code M: Standard Model H: Standard Model TM: With Torque Sensor TH: With Torque Sensor Cable Exit Method Encoder Communication Type Important Precautions: ©Never operate with overvoltage or overload. ©Never disassemble the motor without authorization. ©Ensure installation within the effective thread depth. ©Avoid stalling or emergency braking at high speeds. ©Do not hot-plug the motor while it is powered. The information provided in this product manual is intended solely as a general description...

Dimensions without Brake and Torque Sensor:

Dimensions without Brake (same as with Torque Sensor) Starting/Stopping antaneous utput Torque Rated Output Speed Dimensions with Brake (same as with Torque Senso Peak Output Speed Rated Voltage Output Moment of Inertia Allowable Tilting Moment Torque Sensor Brake Drive Board Communication Protocol Protection Grade Outline Dimensions Diameter x Height Hollow Bore Diameter Operating Ambient Temperature Gear Ratio Rated Output Torque Maximum Average Load Torque

Dimensions without Brake (same as with Torque Sensor) Gear Ratio Rated Output Torque Maximum Average Load Torque Starting/Stopping Torque Instantaneous Output Torque Rated Output Speed Peak Output Speed Rated Voltage Output Moment of Inertia Allowable Tilting Moment Torque Sensor Brake Drive Board Communication Protocol Protection Grade Outline Dimensions Diameter x Height Hollow Bore Diameter Dual Encoder Single-Turn Absolute, 17-bit Ethercats CANFD

Dimensions without Brake (same as with Torque Sensor):

nimensinns w^ont Rrake (same as with Torque SensorV Gear Ratio Rated Output Torque Maximum Average Load Torque Instantaneous Output Torque Rated Output Speed Peak Output Speed Rated Voltage Output Moment of Inertia Allowable Tilting Moment Torque Sensor Brake Drive Board Communication Protocol Outline Dimensions Diameter x Height Hollow Bore Diameter Dual Encoder Single-Turn Absolute, 17-bit Ethercats CANFD

Gear Ratio Rated Output Torque Maximum Average Load Torque stantaneous Output Torque Rated Output Speed Peak Output Speed Rated Voltage Output Moment of Inertia Allowable Tilting Moment Torque Sensor Brake Drive Board Communication Protocol Protection Grade Outline Dimensions Diameter x Height Hollow Bore Diameter Dual Encoder Single-Turn Absolute, 17-bit Ethercats CANFD 0131x103.5 same as with brake

Cable Wiring Definition-Ethercat Metal shield Black (power wire) tFemale Connector Pinout

Cable Wiring Definition-CAN