MyActuator RH-20 Harmonic Robot Joint Motor, 100:1 Gear Ratio, 80N·m Peak Torque, EtherCAT & CAN Bus, Dual 17-Bit Encoder

Overview

The MyActuator RH-20 Harmonic Robot Joint Motor is a high-performance harmonic drive actuator designed for robotic joints, industrial automation, and precision motion systems. With a 100:1 gear ratio, 80N·m peak torque, 50N·m rated torque, and 130W rated power, this actuator delivers powerful, stable, and efficient performance in a compact form factor.
Equipped with EtherCAT and CAN Bus communication protocols and dual 17-bit absolute encoders, the RH-20 ensures exceptional repeat positioning accuracy (<0.01°), making it ideal for humanoid robots, collaborative robotic arms, mobile robots, and other precision applications.

Key Features

• High Power Output – 50N·m rated torque, 80N·m peak torque, and 130W rated power for heavy-duty applications.

• Precision Control – Dual ABS 17-bit encoders deliver repeat positioning accuracy of less than 0.01°.

• Advanced Communication – Supports EtherCAT and CAN Bus for fast and reliable real-time control.

• Reliable Protection – F-class insulation ensures safe and stable operation during continuous high-load use.

• Compact Design – 90mm diameter, 97.4mm height, and just 1.75kg weight for seamless integration in multi-axis systems.

• Durable Bearings – Crossed roller bearings for high radial and axial load capacity and long service life.

Technical Specifications

Motor Performance

Load & Inertia

Stall Torque Data

Interface and Pinout

• EtherCAT_IN / EtherCAT_OUT – High-speed communication ports

• CAN_H / CAN_L – CAN Bus network terminals

• VCC / GND – Positive and negative power supply

• RES+ / RES- – Bleeder resistor interface

• BAT+ / BAT- – Multi-turn memory battery connection

• T+, T-, R+, R- – Master-slave communication and status feedback

Package Contents

• Power Supply Cable ×2

• CAN Bus Communication Cable ×4

• Bleeder Resistor Cable ×1

• Multi-turn Battery Cable ×1

• 120Ω Terminal Resistance ×1

• EtherCAT Communication Cable ×2

• CAN Bus Communication Module ×1 (USB-CAN Adapter)

Applications

• Humanoid robot joints

• Collaborative robotic arms

• Mobile robots and AGV drive systems

• Precision positioning platforms

• Automated inspection and laboratory equipment

Details

MyActuator RH-20 harmonic motor has dual encoder, CAN BUS & EtherCAT, 100:1 gear ratio, 50 N.m torque, 130 W power. Available with/without brake, IP54, includes drawings and parameters.

Harmonic Motor interface has EtherCAT, CAN bus, power, and battery connections. Packaging: 120x120x115mm. Includes cables, resistors, communication modules for setup.

RH-20 accessories include marking instructions for power, CAN BUS, EtherCAT cables, and communication module. Details cover connector types, wire colors, functions, and terminal resistance. Each order includes a free USB-CAN adapter.