TD-70-90

Product Introduction

TD-70-90 robot arm joint motor is the integrated robot servo motors among the robot joint motor market.The robot joint actuators equipped with ultra-thin harmonic reducer, compact structure, brushless torque motor with the same torque volume to achieve extreme optimization, high-precision multi-turn absolute encoder for, cobot arm, exoskeleton robot, humanoid robot research and development of special core components.

Compact structure- 8 core components

1. Motor back cover
2. Control board
3. Encoder
4. Stator casing
5. Motor rotor
6. Motor stator
7. Harmonic drive
8. Flexspline cover

TD-70-90-PRO-XX joint actuator (without brake)

Reduction ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Output Peak Speed (RPM)	Rated speed (RPM) (With 1/2 rated torque)	Backlash (arcsec)
51	63	42	32	77	61	20
81	91	58	42	48	38	20
101	102	61	50	40	30	10
121	108	61	50	30	25	10
Motor power (W)	Supply voltage (V)	Max. continuous current(A)	Rated current (A)	Resistance(Ω)	Encoder Resolution (Bit)	Communication bus
500	24-48	8.4	6.1	0.38	17	CAN
Torque constant(N.m/A)	Inductance(mH)	Number of pole-pairs	Through hole(mm)	Length(mm)	Weight(kg)	Inertia(g * cm²)
0.118	0.33	10	18	71.9±0.5	1.3	594

TD-70-80-PRO-XXB joint actuator (with brake)

Reduction ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Output Peak Speed (RPM)	Rated speed (RPM) (With 1/2 rated torque)	Backlash (arcsec)
51	63	42	32	77	61	20
81	91	58	42	48	38	20
101	102	61	50	40	30	10
121	108	61	50	30	25	10
Motor power (W)	Supply voltage (V)	Max. continuous current(A)	Rated current (A)	Resistance(Ω)	Encoder Resolution (Bit)	Communication bus
500	24-48	8.4	6.1	0.38	17	CAN
Torque constant(N.m/A)	Inductance(mH)	Number of pole-pairs	Through hole(mm)	Length(mm)	Weight(kg)	Inertia(g * cm²)
0.118	0.33	10	18	90.4±0.5	1.6	682

Advantages Application

Robot dag

Humanoid robot upper limbs

6 DOF robotic arm

Pan and tilt systems

Hollow TD series joint actuators quick selection table

Photo	Model	Ratio	Start-stop peak Torque (N.m)	Max. allowable torque at average load (N.m)	Rated torque at 2000rpm/ (reduction ratio)(Nm)	Rated speed (RPM) (With 1/2 rated torque)	Outer diamter (mm)	Length （mm）	Weight （Kg）	Hole (mm)
	TD-30-40-PRO-XX	51/101	3.3/4.8	2.3/3.3	1.8/2.4	90/45	40	60	0.19	6
	TD-40-52-PRO-XX	51/101	8.3/11	5.5/8.9	3.5/5	80/40	52	62	0.32	12
	TD-50-60-PRO-XX	51/81/101	23/29/34	8.6/13.5/13.5	6.6/9.6/9.6	75/46/37	60	63	0.45	12
	TD-50-70-PRO-XX	51/81/101	23/29/34	8.6/13.5/13.5	6.6/9.6/9.6	75/46/37	70	63	0.66	12
	TD-60-70-PRO-XX	51/81/101/121	42/53/66/66	32/33/49/49	19.8/27.5/30/30	68/43/34/24	70	72.5	0.73	18
	TD-60-80-PRO-XX	51/81/101/121	42/53/66/66	32/33/49/49	19.8/27.5/30/30	68/43/34/24	80	72.5	1.03	18
	TD-70-80-PRO-XX	51/81/101/121	63/91/102/108	42/58/61/61	32/42/50/50	61/38/30/25	80	73	0.90	18
	TD-70-90-PRO-XX	51/81/101/121	63/91/102/108	42/58/61/61	32/42/50/50	61/38/30/25	90	73.5	1.27	18
	TD-80-97-PRO-XX	51/81/101/121/161	121/169/194/207/217	68.5/107/133/133/133	48/78/84/84/84	54/35/27/23/17	97	85.5	1.50	27
	TD-80-110-PRO-XX	51/81/101/121/161	121/169/194/207/217	68.5/107/133/133/133	48/78/84/84/84	54/35/27/23/17	110	85.5	2.06	27
	TD-100-120-PRO-XX	51/81/101/121/161	267/376/411/436/459	133/206/267/267/267	94/146/169/169/169	44/29/22/18/12	120	100.5	2.52	32
	TD-100-142-PRO-XX	51/81/101/121/161	267/376/411/436/459	133/206/267/267/267	94/146/169/169/169	44/29/22/18/12	142	100.5	3.96	32
	TD-110-170-PRO-XX	51/81/101/121/161	497/641/702/762/800	242/351/460/557/557	169/255/328/363/363	22/15/12/10/7	170	121.7	6.84	40

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TD-70-90

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