Robot Joint Motor
Integrated Planetary Module
| Motor Model: HT8115-J9-2E Rated torque: 17N.m Communication Type: RS485 &CAN Motor Size: 096mm*48.5mm |
Servo motor | ||
Factory Direct Operation | Quality Check | Reduction ratio: 1 to 9 |
Details/Model | Unit | HT8115-J9-2E | |
Driver Model | / | GDZ810 | GDZ810 |
Winding Type | A/Y | △ | Y |
Rated voltage | v | 24 | 48 |
Voltage Range | V | 12~48 | 12~48 |
Rated Power | W | 252 | 312 |
Rated torque | N.M | 17 | 19 |
Peak torque | N.M | 55.98 | 54.55 |
Rated Speed after reduce | RPM | 110 | 127 |
Max Speed after reduce | RPM | 140 | 160 |
Rated current | A | 10.5 | 6.5 |
Peak current | A | 50.77 | 25.21 |
Interphase resistance | Ω | 0.297 | 0.88 |
Interphase inductance | uH | 154 | 467.87 |
Speed constant | rpm/v | 5.80 | 3.30 |
Torque constant | N.M/A | 1.33 | 2.4 |
Number of pole pairs | Pairs | 21 | 21 |
Gear Rate | / | 9:01 | 9:01 |
Gear type | / | Planetary | Planetary |
Reducer gear material | / | STEEL | STEEL |
Reducer gear backlash | arcmin | 15 | 15 |
Motor weight without driver | g | 660 | 660 |
Motor weight with driver | g | 705 | 705 |
Size without Driver | mm | Ø96*41 | 096*41 |
Size with Driver | mm | Ø96*48.5 | 096*48.5 |
Max.Axial load | N | 225 | 225 |
Max.Radial load | N | 900 | 900 |
Noise | dB | <60 | <60 |
Communication | / | CAN & RS485 | CAN & RS485 |
The second encoder on the output shaft | / | YES | YES |
Protection grade | / | IP54 | IP54 |
Working temperature | ℃ | -20～+80 | -20～+80 |
Resolution of the encoder on the driver | Bit | 14 | 14 |
Can support separate encoder or not | / | NO | NO |
Can support custom brakes | / | YES | YES |
HT8115-J9-2E Motor Characteristic Curve @ 24V
—Rotational speed (rpm)
— Current (A)
—Output power(W)
—Efficiency
HT8115-J9-2E Motor Operating Area Curve @ 24V
— Rotational Speed (rpm)
• 2s (55.98Nm, 0.0rpm）
• 60s (25.40Nm, 95.0rpm)
• 300s(16.80Nm.110.3rpm）
• Balance（13.70Nm,119.8rpm）
HT8115-J9-2E Motor Performance Curve at 48V
—Rotational speed (rpm)
— Current (A)
—Output power(W)
—Efficiency
HT8115-J9-2E Motor Operating Range Curve at 48V
— Rotational Speed (rpm)
• 25 (54.55m, 0.0rpm)
• 60s (27.00nm, 0.0rpm)
• 300s (18.82Nm, 126.80m)
• Balance (13.38Nm, 136.2rpm)
Motor with GDZ Driver
Driver Communication Interface
HT8115-J9-2E Motor (with Driver) Installation Drawings
(with GDZ driver)
Motor without driver
Encoder Magnet
The 2 red wires are: NTC thermistor MF52B10K2
HT8115-J9-2E Motor (without driver) installation drawings
(without GDZ driver)
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The product has a wide range of applications.
Widely used in legged robots, robotic arms, and SCARA robots.
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| Rehabilitation robot | Small robotic arm |
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| Quadruped robot | Power inspection robot |
