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HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module
HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module

HJ2-90F101D24-NK-EC 90mm Harmonic Integrated Actuator , EtherCAT Communication Robot Joint Module

🌐 View Product Details on Leadshine Official Website

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50N·m｜102N·m｜50RPM｜1230g

  • High Torque Density – Delivers 50 N·m rated torque (@2000 rpm) and 102 N·m peak torque in a compact 90mm harmonic integrated actuator.
  • EtherCAT Communication – Supports EtherCAT industrial bus for high-speed, deterministic real-time motion control.
  • Ultra-Compact 90mm Design – Harmonic drive architecture reduces overall volume by 20%, enabling highly integrated robotic joint applications.
  • Fast Dynamic Response – Low inertia transmission ensures smoother motion, faster response, and higher positioning accuracy.
  • Dual Heat Dissipation Design – Optimized thermal structure ensures stable operation and ultra-long endurance under continuous load.
  • Lightweight Structure – Weighing only 1230 g, optimized for high-performance robotic arms and precision joint systems.

Radio

101

Peak Torque (N·m)

102

Max Allowable Torque at Average Load (N·m)

61

Rated Torque @2000 rpm (N·m)

50

Peak Speed (RPM)

50

Rated Speed with 1/2 Rated Torque (RPM)

36

Backlash (arcsec)

≤10

Supply Voltage (VDC)

48

Max Current (A)

12.4

Rated Current (A)

6.1

Resistance (‌Ω)

0.27

Inductance (mH)

0.31

Pole-pais

10

Torque Constant (N·m/A)

0.108

Encoder Resolution (bit)

24

Field Bus

EtherCAT

Outer Diameter (mm)

φ90

Inner Diameter (mm)

φ18

Length (mm)

71.2

Mass (g)

1229.4

Inertia (g·cm² )

370

Why Choose Us

Leadshine HJ2 series harmonic actuators supports EtherCAT high-speed bus for fast response; high torque density, low heat generation, and long endurance; lightweight ultra-thin design saves space and enables flexible integration.

Universal Module, Extreme Thin & Light

Compatible with various humanoid structures, supporting rapid deployment and multi-joint expansion. Adopting an integrated design, it reduces overall weight by 65%, enabling lighter and more flexible operation.

20% Smaller in Size, More Compact Design

Integrated packaging of motor, driver, and encoder simplifies system wiring and assembly.

Dual Heat Dissipation Design for Sustained High-performance Operation

Our self-developed FM2 frameless torque motors: generate 25% less heat than existing market options, with aluminum alloy construction for excellent thermal conductivity.

Main Applications

Leadshine HJ2 series integrated actuators are mainly used for multi-degree-of-freedom components of humanoid robots and collaborative arms, such as upper and lower limb joints, waist and neck, supporting complex movements including walking, grasping, operation and interaction.
Main Application Advantages

• High power density to meet the demands of high-speed and high-load actions

• Lightweight and compact structure to reduce overall robot weight

• High-precision position and torque control for natural and smooth movement

• Integrated frameless motor, ring-shaped driver, and hollow encoder for easy modular installation

• Built-in overload protection and safety control algorithms to enhance human-robot interaction safety

Leadshine
Leadshine
Leadshine
Main Application Advantages

• High power density to meet the demands of high-speed and high-load actions

• Lightweight and compact structure to reduce overall robot weight

• High-precision position and torque control for natural and smooth movement

• Integrated frameless motor, ring-shaped driver, and hollow encoder for easy modular installation

• Built-in overload protection and safety control algorithms to enhance human-robot interaction safety

Industry Solution

Leadshine's joint module products, featuring ultra-high torque density, ultra-low temperature rise, and an extremely compact design, are widely applicable to industry solutions for humanoid robots, quadruped robots, collaborative robots, and more.
LeadshineLeadshine
Humanoid Robot Solution
High-precision, flexible joint control for human-like motion. High power density frameless motors, modular joints, and precise encoders enable natural, responsive humanoid robots with multi-DOF movement and safe interaction.
LeadshineLeadshine
Quadruped Robot Solution
High dynamic response and torque output for coordinated multi-joint motion, enhancing stability and flexibility on rough terrain. Modular joints allow quick assembly, light weight, and high reliability for patrol and rescue.
LeadshineLeadshine
Collaborative Robot Solution
Highly integrated drive and control with multiple industrial buses, ensuring precision force control and position feedback. Low noise and low temperature rise suit close-proximity work, automating assembly, handling, and inspection.
Product Comparison
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Radio
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Peak Torque (N·m)
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Max Allowable Torque at Average Load (N·m)
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Rated Torque @2000 rpm (N·m)
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Peak Speed (RPM)
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Rated Speed with 1/2 Rated Torque (RPM)
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Backlash (arcsec)
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Supply Voltage (VDC)
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Max Current (A)
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Resistance (‌Ω)
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Inductance (mH)
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Pole-pais
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Torque Constant (N·m/A)
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Encoder Resolution (bit)
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Field Bus
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Outer Diameter (mm)
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Inner Diameter (mm)
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Length (mm)
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Mass (g)
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Learn More

FAQs for Integrated Actuator

1. What is the installation method? Does it support front/back (reversible) installation and hollow routing installation?

The module is designed for flange mounting. The hollow structure facilitates routing of air pipes, cables, etc. through the center. Installation at any angle is supported. It is recommended to install according to the 3D drawing while keeping the axial load centered.
2. Does it support direct integration with existing mechanical structures?

Yes. We can provide standard installation interface dimensions, flange interfaces, output shaft dimensions, and other information. Fast non-standard customization services are also available.
3. What communication protocols do Leadshine's joint modules support? Are they compatible with existing control systems?

They support mainstream protocols such as EtherCAT、CAN and CAN FD, offering good compatibility. Communication manuals and sample code are available for quick integration with mainstream controllers.
4. Does it support host computer debugging software? Can users perform secondary development?

Yes. Debugging tools and basic development interfaces (e.g., communication protocol documents) are provided to facilitate quick access and testing for developers.
5. Are the reducers in the integrated actuators harmonic or planetary? What is their lifespan?

Both harmonic gear and planetary reducer options are available. Harmonic reducers are lightweight and high-precision, making them suitable for collaborative robots. planetary reducers offer high rigidity and impact resistance, making them suitable for industrial robots or heavy-load applications. Under normal operating conditions, the lifespan is generally 5 to 10 years.
6. What is the approximate lifespan of the module? Can it run continuously?

The design lifespan is typically over 10,000 hours, supporting 7×24 continuous operation.
7. Are there any application cases for Leadshine's joint modules? How is their stability?

They have been applied in collaborative robots, industrial automation, humanoid robots, and medical rehabilitation robots, with positive customer feedback and stability exceeding that of competitors.
8. Can they adapt to harsh environments, such as dust or high temperatures?

Standard modules are recommended for use in normal room temperature environments.

9. Do they have over-temperature and stall protection?

Yes. The modules have built-in temperature, current, and voltage detection mechanisms, and feature multiple protection functions including over-temperature, over-current, and stall protection.
10. Can the modules be customized according to the customer's complete machine structure requirements?

Yes. Non-standard customization is supported, including flange dimensions, shaft length, output type, communication interface, cable interface, and more. You are welcome to provide 3D drawings or technical requirements to discuss customization details.
11. If a module breaks down, can individual components be replaced? Is maintenance convenient?

Due to the integrated design, some components may not be suitable for individual replacement. However, detailed maintenance instruction videos or illustrated manuals can be provided to assist customers with maintenance operations.
Stock Code: 002979

Address: 15-20/F Block B, Nanshan l Valley, No.3157,Nanshan District, Shenzhen City Guangdong Province China

Tel: +86 0755 86088550

Fax: +86 0755 26402718

Website: https://www.leadshine.com

Email: store@leadshine.com

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