"zha r120 harmonic actuator"

ZBDynamiX ZHA-R120-161-FBN-I High-Torque Harmonic Joint Actuator 450 Nm Peak Torque, 161:1 ratio, OD120 mm

Key Attributes Dimensions R120*110.3mm Mass 4.1kg Reduction Ratio 161:1 Output Speed (RPM) 18RPM Nominal Torque 180Nm Peak Torque 450Nm Backlash 30 arcsec Nominal Voltage 48V Nominal Power 720W Motor Nominal Speed (RPM) 1800 Nominal Current 15A Peak Current 45A Encoder Specs Dual Encoder, 19bit Communication Protocol(Optional) EtherCAT/CANOpen/CANFD Control Loop Frequency (Current/Velocity) Current: 20KHz, Vel: 10KHz Brake Static Torque ≥3Nm Brake Release Time ≤80ms Brake