Getting Started:
Specification Parameters of WHJ120 Series Model: WHJ120-M-D88-100-E
Illustration
Performance parameters
| Parameter | Value |
|---|---|
| Reduction ratio | 100 |
| Weight | 2300 g |
| Diameter of reducer mm | 88 |
| Size (D × L mm) | 88*109 |
| Rated torque N.m | 120 |
| Maximum torque density | 104.3 |
| Repeatability | ±15 arc-seconds |
| Peak speed (RPM) | 30 |
| Moment of inertia (kg*m^2) | 1.26*10^-4 |
| Hollow aperture | 16 mm |
| Working temperature | 0 to 50°C |
| Rated power | 720W |
| Rated voltage | 24 V |
| Rated current | 30 A |
| Type of brake | Electromagnetic Brake |
| Incremental encoder | 16 bits |
| Absolute position encoder | 18 bits |
| Communication interface | CANFD |
| Examples of scenarios | Robotic arm, shoulder joint, waist joint, hip joint and knee joint of humanoid robot, aerospace heavy turntable, etc. |
When operating under high loads and high speeds, the joint module generates regenerative braking energy. An external "Power Discharge Module (see Power Bleeding Module)" is required to prevent errors and shutdowns due to excessive bus voltage caused by regenerative energy feedback leading to a surge in the power supply voltage.
Detailed dimensions
