Eriksen - TRS Series Harmonic Reducers, Planetary Gear Servo Motor Reducers, Robot Joints/Robotic Arms

Product Description

TRSS/TRSN/TRSG Introduction

TRSS-C Series: Cup-type three-component system, consisting of a flexible roller, a rigid roller, and a wave generator. Suitable for applications with special space and weight requirements, and demanding high installation precision.

TRSS Series: Easy-to-operate modular products. Each model features high-rigidity crossed roller bearings to support external loads.

TRSN Series: Lightweight products, reducing weight by 30% compared to standard products without compromising performance.

TRSG Series: For high torque applications. Offers 30% higher torque capacity and 43% longer service life than standard products, prioritizing high load capacity and high reliability.

TRSS/TRSG-C-I TRSS/TRSN/TRSG-I TRSS/TRSG-II

TRS Series Modular Structure

Rigid Wheel

Crossed Roller Bearing

Wave Generator

Output Flange

Flexible Wheel

Standard Type (TRSS-I/II)

Application Areas

Industrial Robots

Service Robots

Metalworking Machine Tools

Medical Devices

Testing, Analysis, and Experimentation Equipment

Energy-Related

Paper Making Equipment

TRSS/TRFS/TRSN Performance Parameters

TRSS/TRFS/TRSN Rated Parameter Table

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed(Grease Lub.)	Avg Input Speed(Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
5	50	0.4	0.04	0.9	0.09	0.53	0.05	1.8	0.18	10000	6500	≤60	0.025	10000
5	100	0.6	0.06	1.4	0.14	0.94	0.1	2.7	0.28	10000	6500	≤60	0.025	10000
8	50	1.8	0.18	3.3	0.34	2.3	0.23	6.6	0.67	8500	3500	≤30	TRSN-I：0.08	10000
8	100	2.4	0.24	4.8	0.49	3.3	0.34	9	0.92	8500	3500	≤30	TRSN-I：0.08	10000
11	50	3.5	0.36	8.3	0.85	5.5	0.56	17	1.73	8500	3500	≤30	TRSS-I：0.13 TRSN-I：0.17	10000
11	100	5	0.51	11	1.12	8.9	0.91	25	2.55	8500	3500	≤30	TRSS-I：0.13 TRSN-I：0.17	10000
14	50	5.4	0.55	18	1.8	6.9	0.7	35	3.6	8500	3500	≤20	TRSS-I/II：0.51 TRSS-C：0.09 TRSN-I/II：0.39 TRSSF-I：0.51	10000
	80	7.8	0.8	23	2.4	11	1.1	47	4.8					15000
	100	7.8	0.8	28	2.9	11	1.1	54	5.5					15000
17	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500	≤20	TRSS-I/II： 0.67 TRSS-C： 0.15 TRSN-I/II： 0.52 TRSSF-I： 0.67	10000
	80	22	2.2	43	4.4	27	2.7	87	8.9					15000
	100	24	2.4	54	5.5	39	4	108	11					15000
	120	24	2.4	54	5.5	39	4	86	8.8					15000
20	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500	≤20	TRSS-I/II： 0.96 TRSS-C： 0.28 TRSN-I/II： 0.73 TRSSF-I： 0.96	10000
	80	34	3.5	74	7.5	47	4.8	127	13					15000
	100	40	4.1	82	8.4	49	5	147	15					15000
	120	40	4.1	87	8.9	49	5	147	15					15000
	160	40	4.1	92	9.4	49	5	147	15					15000
25	50	39	4	98	10	55	5.6	186	19	5600	3500	≤20	TRSS-I/II： 1.46 TRSS-C： 0.42 TRSN-I/II： 1.14 TRSSF-I： 1.46	10000
	80	63	6.4	137	14	87	8.9	255	26					15000
	100	67	6.8	157	16	108	11	284	29					15000
	120	67	6.8	167	17	108	11	304	31					15000
	160	67	6.8	176	18	108	11	314	32					15000
32	50	76	7.8	216	22	108	11	382	39	4800	3500	≤20	TRSS-I/II： 3.11 TRSS-C： 0.89 TRSN-I/II： 2.47	10000
	80	118	12	304	31	167	17	568	58					15000
	100	137	14	333	34	216	22	647	66					15000
	120	137	14	353	36	216	22	686	70					15000
	160	137	14	372	38	216	22	686	70					15000
40	50	137	14	402	41	196	20	686	70	4000	3000	≤20	TRSS-I/II： 4.6 TRSS-C： 1.7 TRSN-I/II： 3.64 TRSSF-I： 4.6	10000
	80	206	21	519	53	284	29	980	100					15000
	100	265	27	568	58	372	38	1080	110					15000
	120	294	30	617	63	451	46	1180	120					15000
	160	294	30	647	66	451	46	1180	120					15000

TRSG Performance Parameters

TRSG Rated Parameter Table

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
14	50	7	0.7	23	2.3	9	0.9	46	4.7	8500	3500	≤20	FSS-I/II：0.51	10000
	80	10	1	30	3.1	14	1.4	58[1]	5.9 [1]					15000
	100	10	1	36	3.7	14	1.4	58 [1]	5.9 [1]					15000
17	50	21	2.1	44	4.5	34	3.4	91	9	7300	3500	≤20	TRSG-I/II：0.67	10000
	80	29	2.9	56	5.7	35	3.6	109 [1]	11 [1]					15000
	100	31	3.2	70	7.2	51	5.2	109 [1]	11 [1]					15000
	120	31	3.2	70	7.2	51	5.2	109 [1]	11 [1]					15000
20	50	33	3.3	73	7.4	44	4.5	127	13	6500	3500	≤20	TRSG-I/II：0.96	10000
	80	44	4.5	96	9.8	61	6.2	165	17					15000
	100	52	5.3	107	10.9	64	6.5	191	20					15000
	120	52	5.3	113	11.5	64	6.5	191	20					15000
	160	52	5.3	120	12.2	64	6.5	191	20					15000
25	50	51	5.2	127	13	72	7.3	242	25	5600	3500	≤20	TRSG-I/II：1.46	10000
	80	82	8.4	178	18	113	12	332	34					15000
	100	87	8.9	204	21	140	14	369	38					15000
	120	87	8.9	217	22	140	14	395	40					15000
	160	87	8.9	229	23	140	14	408	42					15000
32	50	99	10	281	29	140	14	497	51	4800	3500	≤20	TRSG-I/II：3.11	10000
	80	153	16	395	40	217	22	738	75					15000
	100	178	18	433	44	281	29	841	86					15000
	120	178	18	459	47	281	29	892	91					15000
	160	178	18	484	49	281	29	892	91					15000
40	50	178	18	523	53	255	26	892	91	4000	3000	≤20	TRSG-I：4.60	10000
	80	268	27	675	69	369	38	1270	130					15000
	100	345	35	738	75	484	49	1400	143					15000
	120	382	39	802	82	586	60	1510 [1]	154 [1]					15000
	160	382	39	841	86	586	60	1510 [1]	154 [1]					15000

⑴ The instantaneous maximum allowable torque is limited by the transmission torque of the output connection screw.

TRSS/TRFS/TRSN/TRSG Performance Parameters

Angle Transmission Accuracy

Unit: arcmin

ModelRatio	5	8	11	14	17	20	25	32	40
50	3	2	2	1.5	1.5	1	1	1	1
Over 50	3	2	2	1.5	1.5	1	1	1	1

Hysteresis Loss

Unit: arcmin

ModelRatio	5	8	11	14	17	20	25	32	40
50	3	3	2	2	2	2	2	2	2
Over 50	3	2	2	1	1	1	1	1	1

Stiffness (Spring Constant)

Project		ModelUnit	5	8	11	14	17	20	25	32	40
T1		Nm	0.075	0.29	0.8	2	3.9	7	14	29	54
T2		Nm	0.22	0.75	2	6.9	12	25	48	108	196
Ratio 50	K1	× 10⁴Nm/rad	0.013	0.044	0.221	0.34	0.81	1.3	2.5	5.4	10
	K2	× 10⁴Nm/rad	0.018	0.067	0.3	0.47	1.1	1.8	3.4	7.8	14
	K3	× 10⁴Nm/rad	0.025	0.084	0.32	0.57	1.3	2.3	4.4	9.8	18
Ratio 50 and Over 50	K1	× 10⁴Nm/rad	0.02	0.09	0.267	0.47	1	1.6	3.1	6.7	13
	K2	× 10⁴Nm/rad	0.027	0.104	0.333	0.61	1.4	2.5	5	11	20
	K3	× 10⁴Nm/rad	0.03	0.12	0.432	0.71	1.6	2.9	5.7	12	23

Functional Features

4 Major Product Advantages

High Precision, High Torque,

Low Backlash Large Speed Ratio

High Load Capacity, Small Size,

Stable Operation Easy Installation

Product Structure Breakdown

Exquisite Craftsmanship, Meticulous Details

Steel Wheel Flexible Wheel Wave Generator

High Precision, Low Backlash

Backlash ≤ 20 arcseconds, Small Tooth Meshing Error

High Torque, Large Speed Ratio

Transmission Ratio i = 50~160, High-Strength Flexible Gear

Torque Increase 30%

High Load Capacity, Stable Operation

High Rigidity Cross Roller Bearing, Multiple Meshing Teeth

Small Size, Light Weight

Special Aluminum Steel Gear,

30% Weight Reduction Compared to Standard Products

Easy Installation & Operation

Large Diameter Hollow Shaft Flat Structure

High-Strength Medium-Low Carbon Alloy Steel Material

Higher Torque

LS Gear Type Unique Design

Better Precision Maintenance

Self-Developed CMP Heat Treatment Process

1µm Track Precision Grinding, Higher Strength

Flexible Wheel Surface Strengthening Treatment

More Wear-Resistant

Input and Output Coaxial

High-Rigidity Cross Bearing More Precise Positioning

Accurate Positioning

Special Grease for Gear Reducers

Long Service Life (Up to 15,000 hours)

Product Structure Diagram

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
8	50	1.8	0.18	3.3	0.34	2.3	0.23	6.6	0.67	8500	3500	≤30	0.08	10000
8	100	2.4	0.24	4.8	0.49	3.3	0.34	9	0.92	8500	3500	≤30	0.08	10000
11	50	3.5	0.36	8.3	0.85	5.5	0.56	17	1.73	8500	3500	≤30	0.13	10000
11	100	5	0.51	11	1.12	8.9	0.91	25	2.55	8500	3500	≤30	0.13	10000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
14	50	5.4	0.55	18	18	6.9	0.7	35	3.6	8500	3500	≤20	0.09	10000
	80	7.8	0.8	23	2.4	11	1.1	47	4.8					15000
	100	7.8	0.8	28	2.9	11	1.1	54	5.5					15000
17	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500	≤20	0.15	10000
	50	16	1.6	34	3.5	26	2.6	70	7.1					10000
	80	22	2.2	43	4.4	27	2.7	87	8.9					15000
	100	24	2.4	54	5.5	39	4	108	11					15000
	120	24	2.4	54	5.5	39	4	86	8.8					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
20	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500	≤20	0.28	10000
	50	25	2.5	56	5.7	34	3.5	98	10					10000
	80	34	3.5	74	7.5	47	4.8	127	13					15000
	100	40	4.1	82	8.4	49	5	147	15					15000
	120	40	4.1	87	8.9	49	5	147	15					15000
	160	40	4.1	92	9.4	49	5	147	15					15000
25	50	39	4	98	10	55	5.6	186	19	5600	3500	≤20	0.42	10000
	50	39	4	98	10	55	5.6	186	19					10000
	80	63	6.4	137	14	87	8.9	255	26					15000
	100	67	6.8	157	16	108	11	284	29					15000
	120	67	6.8	167	17	108	11	304	31					15000
	160	67	6.8	176	18	108	11	314	32					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
32	50	76	7.8	216	22	108	11	382	39	4800	3500	≤20	0.89	10000
	50	76	7.8	216	22	108	11	382	39					10000
	80	118	12	304	31	167	17	568	58					15000
	100	137	14	333	34	216	22	647	66					15000
	120	137	14	353	36	216	22	686	70					15000
	160	137	14	372	38	216	22	686	70					15000
40	50	137	14	402	41	196	20	686	70	4000	3000	≤20	1.7	10000
	50	137	14	402	41	196	20	686	70					10000
	80	206	21	519	53	284	29	980	100					15000
	100	265	27	568	58	372	38	1080	110					15000
	120	294	30	617	63	451	46	1180	120					15000
	160	294	30	647	66	451	46	1180	120					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
14	50	5.4	0.55	18	18	6.9	0.7	35	3.6	8500	3500	≤20	0.51	10000
	80	7.8	0.8	23	2.4	11	1.1	47	4.8					15000
	100	7.8	0.8	28	2.9	11	1.1	54	5.5					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500	≤20	0.67	10000
	80	22	2.2	43	4.4	27	2.7	87	8.9					15000
	100	24	2.4	54	5.5	39	4	108	11					15000
	120	24	2.4	54	5.5	39	4	86	8.8					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
20	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500	≤20	0.96	10000
	50	25	2.5	56	5.7	34	3.5	98	10					10000
	80	34	3.5	74	7.5	47	4.8	127	13					15000
	100	40	4.1	82	8.4	49	5	147	15					15000
	120	40	4.1	87	8.9	49	5	147	15					15000
	160	40	4.1	92	9.4	49	5	147	15					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	39	4	98	10	55	5.6	186	19	5600	3500	≤20	1.46	10000
	80	63	6.4	137	14	87	8.9	255	26					15000
	100	67	6.8	157	16	108	11	284	29					15000
	120	67	6.8	167	17	108	11	304	31					15000
	160	67	6.8	176	18	108	11	314	32					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
32	50	76	7.8	216	22	108	11	382	39	4800	3500	≤20	3.11	10000
	80	118	12	304	31	167	17	568	58					15000
	100	137	14	333	34	216	22	647	66					15000
	120	137	14	353	36	216	22	686	70					15000
	160	137	14	372	38	216	22	686	70					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
40	50	137	14	402	41	196	20	686	70	4000	3000	≤20	4.6	10000
	80	206	21	519	53	284	29	980	100					15000
	100	265	27	568	58	372	38	1080	110					15000
	120	294	30	617	63	451	46	1180	120					15000
	160	294	30	647	66	451	46	1180	120					15000
14	50	5.4	0.55	18	18	6.9	0.7	35	3.6	8500	3500	≤20	0.25	10000
	80	7.8	0.8	23	2.4	11	1.1	47	4.8					15000
	100	7.8	0.8	28	2.9	11	1.1	54	5.5					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500	≤20	0.67	10000
	50	16	1.6	34	3.5	26	2.6	70	7.1					10000
	80	22	2.2	43	4.4	27	2.7	87	8.9					15000
	100	24	2.4	54	5.5	39	4	108	11					15000
	120	24	2.4	54	5.5	39	4	86	8.8					15000
20	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500	≤20	0.96	10000
	50	25	2.5	56	5.7	34	3.5	98	10					10000
	80	34	3.5	74	7.5	47	4.8	127	13					15000
	100	40	4.1	82	8.4	49	5	147	15					15000
	120	40	4.1	87	8.9	49	5	147	15					15000
	160	40	4.1	92	9.4	49	5	147	15					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	39	4	98	10	55	5.6	186	19	5600	3500	≤20	1.46	10000
	50	39	4	98	10	55	5.6	186	19					10000
	80	63	6.4	137	14	87	8.9	255	26					15000
	100	67	6.8	157	16	108	11	284	29					15000
	120	67	6.8	167	17	108	11	304	31					15000
	160	67	6.8	176	18	108	11	314	32					15000
40	50	137	14	402	41	196	20	686	70	4000	3000	≤20	4.6	10000
	50	137	14	402	41	196	20	686	70					10000
	80	206	21	519	53	284	29	980	100					15000
	100	265	27	568	58	372	38	1080	110					15000
	120	294	30	617	63	451	46	1180	120					15000
	160	294	30	647	66	451	46	1180	120					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
5	50	0.4	0.04	0.9	0.09	0.53	0.05	1.8	0.18	10000	6500	≤60	0.025	10000
5	100	0.6	0.06	1.4	0.14	0.94	0.1	2.7	0.28	10000	6500	≤60	0.025	10000
8	50	1.8	0.18	3.3	0.34	2.3	0.23	6.6	0.67	8500	3500	≤30	0.08	10000
8	100	2.4	0.24	4.8	0.49	3.3	0.34	9	0.92	8500	3500	≤30	0.08	10000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
11	50	3.5	0.36	8.3	0.85	5.5	0.56	17	1.73	8500	3500	≤30	0.17	10000
11	100	5	0.51	11	1.12	8.9	0.91	25	2.55	8500	3500	≤30	0.17	10000
14	50	5.4	0.55	18	18	6.9	0.7	35	3.6	8500	3500	≤20	0.39	10000
	80	7.8	0.8	23	2.4	11	1.1	47	4.8					15000
	100	7.8	0.8	28	2.9	11	1.1	54	5.5					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	16	1.6	34	3.5	26	2.6	70	7.1	7300	3500	≤20	0.52	10000
	80	22	2.2	43	4.4	27	2.7	87	8.9					15000
	100	24	2.4	54	5.5	39	4	108	11					15000
	120	24	2.4	54	5.5	39	4	86	8.8					15000
20	50	25	2.5	56	5.7	34	3.5	98	10	6500	3500	≤20	0.73	10000
	80	34	3.5	74	7.5	47	4.8	127	13					15000
	100	40	4.1	82	8.4	49	5	147	15					15000
	120	40	4.1	87	8.9	49	5	147	15					15000
	160	40	4.1	92	9.4	49	5	147	15					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	39	4	98	10	55	5.6	186	19	5600	3500	≤20	1.14	10000
	50	39	4	98	10	55	5.6	186	19					10000
	80	63	6.4	137	14	87	8.9	255	26					15000
	100	67	6.8	157	16	108	11	284	29					15000
	120	67	6.8	167	17	108	11	304	31					15000
	160	67	6.8	176	18	108	11	314	32					15000
32	50	76	7.8	216	22	108	11	382	39	4800	3500	≤20	2.47	10000
	50	76	7.8	216	22	108	11	382	39					10000
	80	118	12	304	31	167	17	568	58					15000
	100	137	14	333	34	216	22	647	66					15000
	120	137	14	353	36	216	22	686	70					15000
	160	137	14	372	38	216	22	686	70					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
40	50	137	14	402	41	196	20	686	70	4000	3000	≤20	3.64	10000
	50	137	14	402	41	196	20	686	70					10000
	80	206	21	519	53	284	29	980	100					15000
	100	265	27	568	58	372	38	1080	110					15000
	120	294	30	617	63	451	46	1180	120					15000
	160	294	30	647	66	451	46	1180	120					15000
14	50	7	0.7	23	2.3	9	0.9	46	4.7	8500	3500	≤20	0.09	10000
	80	10	1	30	3.1	14	1.4	61	6.2					15000
	100	10	1	36	3.7	14	1.4	70	7.2					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	21	2.1	44	4.5	34	3.4	91	9	7300	3500	≤20	0.15	10000
	50	21	2.1	44	4.5	34	3.4	91	9					10000
	80	29	2.9	56	5.7	35	3.6	113	12					15000
	100	31	3.2	70	7.2	51	5.2	143	15					15000
	120	31	3.2	70	7.2	51	5.2	112	11					15000
20	50	33	3.3	73	7.4	44	4.5	127	13	6500	3500	≤20	0.28	10000
	50	33	3.3	73	7.4	44	4.5	127	13					10000
	80	44	4.5	96	9.8	61	6.2	165	17					15000
	100	52	5.3	107	10.9	64	6.5	191	20					15000
	120	52	5.3	113	11.5	64	6.5	191	20					15000
	160	52	5.3	120	12.2	64	6.5	191	20					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	51	5.2	127	13	72	7.3	242	25	5600	3500	≤20	0.42	10000
	50	51	5.2	127	13	72	7.3	242	25					10000
	80	82	8.4	178	18	113	12	332	34					15000
	100	87	8.9	204	21	140	14	369	38					15000
	120	87	8.9	217	22	140	14	395	40					15000
	160	87	8.9	229	23	140	14	408	42					15000
32	50	99	10	281	29	140	14	497	51	4800	3500	≤20	0.89	10000
	50	99	10	281	29	140	14	497	51					10000
	80	153	16	395	40	217	22	738	75					15000
	100	178	18	433	44	281	29	841	86					15000
	120	178	18	459	47	281	29	892	91					15000
	160	179	18	484	49	281	29	892	91					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
40	50	178	18	523	53	255	26	892	91	4000	3000	≤20	1.7	10000
	80	268	27	675	69	369	38	1270	130					15000
	100	345	35	738	75	484	49	1400	143					15000
	120	382	39	802	82	586	60	1530	156					15000
	160	382	39	841	86	586	60	1530	156					15000
14	50	7	0.7	23	2.3	9	0.9	46	4.7	8500	3500	≤20	0.51	10000
	80	10	1	30	3.1	14	1.4	58	5.9					15000
	100	10	1	36	3.7	14	1.4	58	5.9					15000
	120	10	1	36	3.7	14	1.4	58	5.9					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	21	2.1	44	4.5	34	3.4	91	9	7300	3500	≤20	0.67	10000
	80	29	2.9	56	5.7	35	3.6	109	11					15000
	100	31	3.2	70	7.2	51	5.2	109	11					15000
	120	31	3.2	70	7.2	51	5.2	109	11					15000
20	50	33	3.3	73	7.4	44	4.5	127	13	6500	3500	≤20	0.96	10000
	80	44	4.5	96	9.8	61	6.2	165	17					15000
	100	52	5.3	107	10.9	64	6.5	191	20					15000
	120	52	5.3	113	11.5	64	6.5	191	20					15000
	160	52	5.3	120	12.2	64	6.5	191	20					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	51	5.2	127	13	72	7.3	242	25	5600	3500	≤20	1.46	10000
	80	82	8.4	178	18	113	12	332	34					15000
	100	87	8.9	204	21	140	14	369	38					15000
	120	87	8.9	217	22	140	14	395	40					15000
	160	87	8.9	229	23	140	14	408	42					15000
32	50	99	10	281	29	140	14	497	51	4800	3500	≤20	3.11	15000
	80	153	16	395	40	217	22	738	75					15000
	100	178	18	433	44	281	29	841	86					15000
	120	178	18	459	47	281	29	892	91					15000
	160	179	18	484	49	281	29	892	91					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
40	50	178	18	523	53	255	26	892	91	4000	3000	≤20	4.6	10000
	80	268	27	675	69	369	38	1270	130					15000
	100	345	35	738	75	484	49	1400	143					15000
	120	382	39	802	82	586	60	1510	154					15000
	160	382	39	841	86	586	60	1530	156					15000
14	50	7	0.7	23	2.3	9	0.9	46	4.7	8500	3500	≤20	0.51	10000
	80	10	1	30	3.1	14	1.4	58	5.9					15000
	100	10	1	36	3.7	14	1.4	58	5.9					15000
	120	10	1	36	3.7	14	1.4	58	5.9					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	21	2.1	44	4.5	34	3.4	91	9	7300	3500	≤20	0.67	10000
	80	29	2.9	56	5.7	35	3.6	109	11					15000
	100	31	3.2	70	7.2	51	5.2	109	11					15000
	120	31	3.2	70	7.2	51	5.2	109	11					15000
20	50	33	3.3	73	7.4	44	4.5	127	13	6500	3500	≤20	0.96	10000
	80	44	4.5	96	9.8	61	6.2	165	17					15000
	100	52	5.3	107	10.9	64	6.5	191	20					15000
	120	52	5.3	113	11.5	64	6.5	191	20					15000
	160	52	5.3	120	12.2	64	6.5	191	20					15000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	51	5.2	127	13	72	7.3	242	25	5600	3500	≤20	1.46	10000
	80	82	8.4	178	18	113	12	332	34					15000
	100	87	8.9	204	21	140	14	369	38					15000
	120	87	8.9	217	22	140	14	395	40					15000
	160	87	8.9	229	23	140	14	408	42					15000
32	50	99	10	281	29	140	14	497	51	4800	3500	≤20	3.11	15000
	80	153	16	395	40	217	22	738	75					15000
	100	178	18	433	44	281	29	841	86					15000
	120	178	18	459	47	281	29	892	91					15000
	160	179	18	484	49	281	29	892	91					15000

TRSD Introduction

Developed to meet market demands, the TRSD series is a more compact, thin-walled product compared to the TRSS series with the same torque capacity. It achieves smaller size without compromising performance, embodying the concept of "small and beautiful“.

TRSD Modular Structure

Rigid Wheel

Output Flange

Wave Generator

Crossed Roller Bearing Flexible Wheel

Application Areas

Industrial Robots

Service Robots

Printed Circuit Manufacturing Equipment

Metal Machine Tools

Wood, Light Metal, and Plastic Machine Tools

Product parameters

TRSD Rated Parameter Table

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
14	50	3.7	0.38	12	1.2	4.8	0.49	24	2.4	8500	3500	≤20	0.37	9000
	80	5.4	0.55	16	1.6	7.7	0.79	35	3.6					10000
	100	5.4	0.55	19	1.9	7.7	0.79	35	3.6					10000
17	50	11	1.1	23	2.3	18	1.8	48	4.9	7300	3500	≤20	0.46	9000
	80	15	1.5	29	3	19	1.9	61	6.2					10000
	100	16	1.6	37	3.8	27	2.8	71	7.2					10000
20	50	17	1.7	39	4	24	2.4	69	7	6500	3500	≤20	0.65	9000
	80	24	2.4	51	5.2	33	3.4	89	9.1					10000
	100	28	2.9	57	5.8	34	3.5	95	9.7					10000
25	50	27	2.8	69	7	38	3.9	127	13	5600	3500	≤20	1.2	9000
	80	44	4.5	96	9.8	60	6.1	179	18					10000
	100	47	4.8	110	11	75	7.6	184	19					10000
32	50	53	5.4	151	15	75	7.6	268	27	4800	3500	≤20	2.4	9000
	80	83	8.5	213	22	117	12	398	41					10000
	100	96	9.8	233	24	151	15	420	43					10000

Angle Transmission Accuracy

Unit: arcmin

ModelRatio	14	17	20	25	32
50	1.5	1.5	1.5	1	1
Above 50	1.5	1.5	1.5	1	1

Hysteresis Loss

Unit: arcmin

ModelRatio	14	17	20	25	32
50	2.5	2	2	2	2
Above 50	1	1	1	1	1

Stiffness (Spring Constant)

Project		ModelUnit	14	17	20	25	32
T1		Nm	2	3.9	7	14	29
T2		Nm	6.9	12	25	48	108
Reduction50	K1	× 10⁴Nm/rad	0.29	0.67	1.1	2	4.7
	K2	× 10⁴Nm/rad	0.37	0.88	1.3	2.7	6.1
	K3	× 10⁴Nm/rad	0.47	1.2	2	3.7	8.4
Reductionratioabove 50	K1	× 10⁴Nm/rad	0.4	0.84	1.3	2.7	6.1
	K2	× 10⁴Nm/rad	0.44	0.94	1.7	3.7	7.8
	K3	× 10⁴Nm/rad	0.61	1.3	2.5	4.7	11

Product Structure Diagram

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
14	50	3.7	0.38	12	1.2	4.8	0.49	24	2.4	8500	3500	≤20	0.37	9000
	80	5.4	0.55	16	1.6	7.7	0.79	35	3.6					10000
	100	5.4	0.55	19	1.9	7.7	0.79	35	3.6					10000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
17	50	11	1.1	23	2.3	18	1.8	48	4.9	7300	3500	≤20	0.46	9000
	80	15	1.5	29	3	19	1.9	61	6.2					10000
	100	16	1.6	37	3.8	27	2.8	71	7.2					10000
20	50	17	1.7	39	4	24	2.4	69	7	6500	3500	≤20	0.65	9000
	80	24	2.4	51	5.2	33	3.4	89	9.1					10000
	100	28	2.9	57	5.8	34	3.5	95	9.7					10000

Model	Ratio	Rated Torque (2000 r/min)		Peak Torque (Start-Stop)		Max Avg Load Torque		Max Inst. Torque		Max Input Speed (Grease Lub.)	Avg Input Speed (Grease Lub.)	Backlash	Weight	Design Life
Model	Ratio	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	N ·m	Kgf ·m	r/min	r/min	Arc Sec	kg	Hour
25	50	27	2.8	69	7	38	3.9	127	13	5600	3500	≤20	1.2	9000
	80	44	4.5	96	9.8	60	6.1	179	18					10000
	100	47	4.8	110	11	75	7.6	184	19					10000
32	50	53	5.4	151	15	75	7.6	268	27	4800	3500	≤20	2.4	9000
	80	83	8.5	213	22	117	12	398	41					10000
	100	96	9.8	233	24	151	15	420	43					10000

Product Application Fields

Industrial Robots Precision Machinery Automation

Medical Equipment CNC Machine Tools

Factory Showcase

30,000 Square Meters of Advanced Factory Building 6S Management - Electronic Grade Cleanroom

Imported Precision CNC Lathe Equipment Robot Gear Reducer Testing System

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TransRex Drive

TRS Series Harmonic Reducers, Planetary Gear Servo Motor Reducers, Robot Joints/Robotic Arms

Product Description

Functional Features

Product parameters

Product Structure Diagram

Factory Showcase

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