{"product_id":"haitai-openarm-dual-encoder-joint-motors","title":"HAITAI OpenArm Dual-Encoder Joint Motors – HT4510 \u0026 HT8116, 24V","description":"\u003ch2\u003eOverview\u003c\/h2\u003e\u003cp\u003eHAITAI OpenArm \u003ca href=\"https:\/\/rcdrone.top\/collections\/robot-actuators\"\u003ejoint motors\u003c\/a\u003e combine a brushless motor, planetary reduction and dual magnetic encoders in a compact rotary joint. Choose HT4510-J10-2E, HT4510-J36-2E or HT8116-J9-2E for the torque and installation requirements of your robotic arm.\u003c\/p\u003e\u003cp\u003eAll selectable configurations use 24V delta winding. Each model is available without a driver or with a GDZ driver. This listing is for the selected joint-motor configuration, not a complete dual-arm robot kit.\u003c\/p\u003e\n\u003ch2\u003eFeatures\u003c\/h2\u003e\u003cul\u003e\n\u003cli\u003eThree model-specific torque levels: 2.9 Nm, 9.9 Nm and 20 Nm.\u003c\/li\u003e\n\u003cli\u003eDual 14-bit magnetic encoders with single-turn absolute output-shaft position feedback.\u003c\/li\u003e\n\u003cli\u003ePlanetary reduction integrated with the brushless motor.\u003c\/li\u003e\n\u003cli\u003eGDZ-equipped configurations support MIT control mode; a dedicated test host utility is part of the motor solution.\u003c\/li\u003e\n\u003cli\u003eMounting layout designed for OpenArm integration, with model-specific drawings for fit checks.\u003c\/li\u003e\n\u003cli\u003ePower and communication in\/out layout simplifies joint wiring on equipped configurations.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003ch2\u003eSpecifications\u003c\/h2\u003e\u003ctable\u003e\n\u003cthead\u003e\u003ctr\u003e\n\u003cth\u003eParameter\u003c\/th\u003e\n\u003cth\u003eHT4510-J10-2E\u003c\/th\u003e\n\u003cth\u003eHT4510-J36-2E\u003c\/th\u003e\n\u003cth\u003eHT8116-J9-2E\u003c\/th\u003e\n\u003c\/tr\u003e\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated voltage\u003c\/td\u003e\n\u003ctd\u003e24 VDC\u003c\/td\u003e\n\u003ctd\u003e24 VDC\u003c\/td\u003e\n\u003ctd\u003e24 VDC\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eWinding\u003c\/td\u003e\n\u003ctd\u003eDelta\u003c\/td\u003e\n\u003ctd\u003eDelta\u003c\/td\u003e\n\u003ctd\u003eDelta\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated torque\u003c\/td\u003e\n\u003ctd\u003e2.9 Nm\u003c\/td\u003e\n\u003ctd\u003e9.9 Nm\u003c\/td\u003e\n\u003ctd\u003e20 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated current\u003c\/td\u003e\n\u003ctd\u003e4.7 A\u003c\/td\u003e\n\u003ctd\u003e4.8 A\u003c\/td\u003e\n\u003ctd\u003e20 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eRated speed\u003c\/td\u003e\n\u003ctd\u003e280 rpm\u003c\/td\u003e\n\u003ctd\u003e74 rpm\u003c\/td\u003e\n\u003ctd\u003e100 rpm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMaximum speed\u003c\/td\u003e\n\u003ctd\u003e307.8 rpm\u003c\/td\u003e\n\u003ctd\u003e89.2 rpm\u003c\/td\u003e\n\u003ctd\u003e172.9 rpm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eMotor mass\u003c\/td\u003e\n\u003ctd\u003e0.3 kg\u003c\/td\u003e\n\u003ctd\u003e0.4 kg\u003c\/td\u003e\n\u003ctd\u003e0.95 kg\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePole pairs\u003c\/td\u003e\n\u003ctd\u003e14\u003c\/td\u003e\n\u003ctd\u003e14\u003c\/td\u003e\n\u003ctd\u003e21\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eTorque constant\u003c\/td\u003e\n\u003ctd\u003e0.24 Nm\/A\u003c\/td\u003e\n\u003ctd\u003e0.864 Nm\/A\u003c\/td\u003e\n\u003ctd\u003e0.45 Nm\/A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall torque\u003c\/td\u003e\n\u003ctd\u003e11.95 Nm\u003c\/td\u003e\n\u003ctd\u003e39.73 Nm\u003c\/td\u003e\n\u003ctd\u003e60.07 Nm\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eStall current\u003c\/td\u003e\n\u003ctd\u003e30.05 A\u003c\/td\u003e\n\u003ctd\u003e23.62 A\u003c\/td\u003e\n\u003ctd\u003e57.75 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePhase-to-phase inductance\u003c\/td\u003e\n\u003ctd\u003e185 μH\u003c\/td\u003e\n\u003ctd\u003e185 μH\u003c\/td\u003e\n\u003ctd\u003e70 μH\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ePhase-to-phase resistance\u003c\/td\u003e\n\u003ctd\u003e0.6 Ω\u003c\/td\u003e\n\u003ctd\u003e0.6 Ω\u003c\/td\u003e\n\u003ctd\u003e0.121 Ω\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eEncoder\u003c\/td\u003e\n\u003ctd\u003eDual, 14-bit magnetic\u003c\/td\u003e\n\u003ctd\u003eDual, 14-bit magnetic\u003c\/td\u003e\n\u003ctd\u003eDual, 14-bit magnetic\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eOutput position feedback\u003c\/td\u003e\n\u003ctd\u003eSingle-turn absolute\u003c\/td\u003e\n\u003ctd\u003eSingle-turn absolute\u003c\/td\u003e\n\u003ctd\u003eSingle-turn absolute\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\u003cp\u003eHT8116-J9-2E has a 9:1 reduction ratio, 40 Nm peak torque, 50 A peak current and CAN communication at 1 Mbps. Peak and stall values are not continuous operating ratings. The motor mass figures above are component weights, not packed shipping weights.\u003c\/p\u003e\u003ch3\u003eHT4510 operating points\u003c\/h3\u003e\u003ctable\u003e\n\u003cthead\u003e\u003ctr\u003e\n\u003cth\u003eModel\u003c\/th\u003e\n\u003cth\u003eDuration\u003c\/th\u003e\n\u003cth\u003eTorque\u003c\/th\u003e\n\u003cth\u003eSpeed\u003c\/th\u003e\n\u003cth\u003eCurrent\u003c\/th\u003e\n\u003c\/tr\u003e\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J10-2E\u003c\/td\u003e\n\u003ctd\u003e5 minutes\u003c\/td\u003e\n\u003ctd\u003e2.90 Nm\u003c\/td\u003e\n\u003ctd\u003e280 rpm\u003c\/td\u003e\n\u003ctd\u003e4.7 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J10-2E\u003c\/td\u003e\n\u003ctd\u003e20 minutes\u003c\/td\u003e\n\u003ctd\u003e2.35 Nm\u003c\/td\u003e\n\u003ctd\u003e290 rpm\u003c\/td\u003e\n\u003ctd\u003e3.8 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J10-2E\u003c\/td\u003e\n\u003ctd\u003eThermal equilibrium\u003c\/td\u003e\n\u003ctd\u003e1.84 Nm\u003c\/td\u003e\n\u003ctd\u003e301 rpm\u003c\/td\u003e\n\u003ctd\u003e3.1 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J36-2E\u003c\/td\u003e\n\u003ctd\u003e5 minutes\u003c\/td\u003e\n\u003ctd\u003e9.9 Nm\u003c\/td\u003e\n\u003ctd\u003e74 rpm\u003c\/td\u003e\n\u003ctd\u003e4.8 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J36-2E\u003c\/td\u003e\n\u003ctd\u003e20 minutes\u003c\/td\u003e\n\u003ctd\u003e8.4 Nm\u003c\/td\u003e\n\u003ctd\u003e79 rpm\u003c\/td\u003e\n\u003ctd\u003e3.8 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHT4510-J36-2E\u003c\/td\u003e\n\u003ctd\u003eThermal equilibrium\u003c\/td\u003e\n\u003ctd\u003e6.7 Nm\u003c\/td\u003e\n\u003ctd\u003e82 rpm\u003c\/td\u003e\n\u003ctd\u003e3.1 A\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\u003ch3\u003eMotor connector and installation\u003c\/h3\u003e\u003cp\u003eThe illustrated motor connector uses + for supply positive (18–36 V), − for GND, pin 1 for CAN H and pin 2 for CAN L. These are 24 V winding configurations. Check the model-specific mounting drawing before installation. For HT4510-J10-2E and HT4510-J36-2E, screw insertion must not exceed 7 mm.\u003c\/p\u003e\u003ch3\u003eGDZ driver interface versions\u003c\/h3\u003e\u003cp\u003eGDZ interface Type 1 uses separate CAN\/RS485 and power connectors; Type 2 (3UDIA) uses a combined CAN\/power connector and a TTL serial connector. Match the physical connector version to its diagram. A GDZ option does not imply that both interface versions are included.\u003c\/p\u003e\u003cp\u003eFor Type 1, the driver reference distinguishes a yellow XT30 socket (12–40 V driver input) from a black XT30 socket (15–60 V). For Type 2, a white TTL socket identifies the 12–40 V version and a black TTL socket the 15–60 V version. These driver-board ranges do not change the selected motor’s 24 V rating or its illustrated 18–36 V supply range.\u003c\/p\u003e\u003cp\u003eKeep signal conductors insulated, including unused CAN or RS485 wires. Maintain secure power contacts to prevent unintended current paths through communication interfaces. Insert the MX1.25 low-profile plug with its latch facing away from the circuit board. XT30 contacts with a narrowed or deformed cross-slot can cause an intermittent connection; service damaged or loose contacts before operating.\u003c\/p\u003e\n\u003ch2\u003eWhat's Included\u003c\/h2\u003e\u003cp\u003eOne joint motor in the selected model and winding configuration. The “With GDZ driver” option includes the GDZ driver; the “Without driver” option does not. Complete robot arms, grippers, external controllers and power supplies shown in application examples are not included.\u003c\/p\u003e\n\u003ch2\u003eApplications\u003c\/h2\u003e\u003cp\u003eDesigned for OpenArm robotic-arm joints and custom \u003ca href=\"https:\/\/rcdrone.top\/collections\/robotics-motion\"\u003erobotics and motion projects\u003c\/a\u003e. Suitable integration areas include articulated manipulators, legged robots and SCARA mechanisms when the selected model’s load, speed, mounting and control requirements match the design.\u003c\/p\u003e\n\u003ch2\u003eFAQ\u003c\/h2\u003e\u003ch3\u003eDoes every option include a GDZ driver?\u003c\/h3\u003e\u003cp\u003eNo. Select “With GDZ driver” when you need that driver. “Without driver” requires a compatible drive solution.\u003c\/p\u003e\u003ch3\u003eIs this a full OpenArm motor set?\u003c\/h3\u003e\u003cp\u003eNo. Choose the individual joint model and driver configuration needed for your build. The application images show complete systems for context.\u003c\/p\u003e\u003ch3\u003eCan I select a 48V winding?\u003c\/h3\u003e\u003cp\u003eThe configurations offered here are 24V delta winding only.\u003c\/p\u003e\u003ch3\u003eAre the rated and stall torque values interchangeable?\u003c\/h3\u003e\u003cp\u003eNo. Stall and peak values are not continuous ratings. The HT4510 operating-point table shows how torque, speed and current vary with operating duration.\u003c\/p\u003e\n\u003ch2\u003eVisual Details\u003c\/h2\u003e\u003cfigure\u003e\u003cimg alt=\"HT4510-J10-2E mounting dimensions in mm and motor connector pinout. Maximum screw insertion: 7 mm.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-dim-j10.webp?v=1793809056\"\u003e\u003cfigcaption\u003eHT4510-J10-2E mounting dimensions in mm and motor connector pinout. Maximum screw insertion: 7 mm.\u003c\/figcaption\u003e\u003c\/figure\u003e\u003cfigure\u003e\u003cimg alt=\"HT4510-J36-2E mounting dimensions in mm and motor connector pinout. Maximum screw insertion: 7 mm.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-dim-j36.webp?v=1793809059\"\u003e\u003cfigcaption\u003eHT4510-J36-2E mounting dimensions in mm and motor connector pinout. Maximum screw insertion: 7 mm.\u003c\/figcaption\u003e\u003c\/figure\u003e\u003cfigure\u003e\u003cimg alt=\"HT8116-J9-2E mounting dimensions in mm and motor connector pinout.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-dim-j9.webp?v=1793809062\"\u003e\u003cfigcaption\u003eHT8116-J9-2E mounting dimensions in mm and motor connector pinout.\u003c\/figcaption\u003e\u003c\/figure\u003e\u003cfigure\u003e\u003cimg alt=\"24V characteristic curves: blue speed, red current, magenta output power and green efficiency versus torque; select the chart for your model.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-curves-24v.webp?v=1793809066\"\u003e\u003cfigcaption\u003e24V characteristic curves: blue speed, red current, magenta output power and green efficiency versus torque; select the chart for your model.\u003c\/figcaption\u003e\u003c\/figure\u003e\u003cfigure\u003e\u003cimg alt=\"GDZ interface reference for Type 1 and Type 2 (3UDIA). Connector versions differ; match the installed driver before wiring.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-gdz-interface.webp?v=1793809069\"\u003e\u003cfigcaption\u003eGDZ interface reference for Type 1 and Type 2 (3UDIA). Connector versions differ; match the installed driver before wiring.\u003c\/figcaption\u003e\u003c\/figure\u003e\u003cfigure\u003e\u003cimg alt=\"OpenArm integration example. Complete robot, grippers and surrounding equipment are not included.\" src=\"https:\/\/rcdrone.top\/cdn\/shop\/files\/taobao-1064629635731-photo-24.webp?v=1793809072\"\u003e\u003cfigcaption\u003eOpenArm integration example. Complete robot, grippers and surrounding equipment are not included.\u003c\/figcaption\u003e\u003c\/figure\u003e","brand":"HAITAI","offers":[{"title":"HT4510-J10-2E (2.9 Nm) \/ Without driver \/ 24V Delta","offer_id":68462080458976,"sku":"HT4510-J10-2E-01","price":137.75,"currency_code":"USD","in_stock":true},{"title":"HT4510-J10-2E (2.9 Nm) \/ With GDZ driver \/ 24V Delta","offer_id":68462080491744,"sku":"HT4510-J10-2E-02","price":193.37,"currency_code":"USD","in_stock":true},{"title":"HT4510-J36-2E (9.9 Nm) \/ Without driver \/ 24V Delta","offer_id":68462080524512,"sku":"HT4510-J36-2E-01","price":186.23,"currency_code":"USD","in_stock":true},{"title":"HT4510-J36-2E (9.9 Nm) \/ With GDZ driver \/ 24V Delta","offer_id":68462080557280,"sku":"HT4510-J36-2E-02","price":234.38,"currency_code":"USD","in_stock":true},{"title":"HT8116-J9-2E (20 Nm) \/ Without driver \/ 24V Delta","offer_id":68462080590048,"sku":"HT8116-J9-2E-01","price":219.0,"currency_code":"USD","in_stock":true},{"title":"HT8116-J9-2E (20 Nm) \/ With GDZ driver \/ 24V Delta","offer_id":68462080622816,"sku":"HT8116-J9-2E-02","price":269.46,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0643\/3210\/3904\/files\/taobao-1064629635731-photo-1.jpg?v=1793809080","url":"https:\/\/rcdrone.top\/tr\/products\/haitai-openarm-dual-encoder-joint-motors","provider":"RCDrone","version":"1.0","type":"link"}