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RJS Joint Module -For Educational Research Applications

Integrate high-performance driver, DC frameless torque motor, high-resolution dual encoder, harmonic reducer, brake and sensor in one, to play the joint module performance efficiently

Innovation, openness, convenience and efficiency
• Light cabinet, the minimum diameter of 90 mm, weight is only 1.75 kg
• Support for EtherCAT and CANopen communication protocols
• Modular design, quick installation
• Latch type lock, good heat dissipation, power automatic lock
• Ultra-low power consumption, normal operation only 20W
Co-robot rjs joint modules

Integrated highly intelligent integration

Highly integrated integration of technologies such as drives, motors, harmonic reducers, dual encoders, and brakes,
which can better provide a complete solution for your robot development

Harmonic reducers

Coaxial with the motor, stable and reliable
• optional force sensor

Drives

Intelligent drive, efficient and accurate
• Support EtherCAT / CANopen optional
• High performance full digital servo driver, maximum power 1KW
• Ultra-thin integration, smooth operation and fast response
• Dual encoder feedback for precise control and robot dynamics development

Motors

Hollow ultra-thin strong output
• Large hollow frameless motor, torque 0.2-5N.m, speed 2000-4000RPM
• The total weight of the fixed rotor is only 0.27kg, which minimizes joint weight
• Minimal torque ripple, low moment of inertia, and fast dynamic response
• High accuracy, precise positioning, and strong output

Dual encoders

Keep improving
• High-precision dual encoder, precise control of motion trajectory beyond imagination
• Hollow large aperture, ultra-thin design, more compact structure
• End-point absolute encoder resolution 17bits, repeat positioning accuracy ± 0.003 °
• Support BISS
• Suitable for high-precision fields such as robotics, medical equipment, power, scientific research, etc.

Excellent performance, safe and reliable

Helps you improve your robot's market competitiveness

Safe and smooth

Strong output at low speed •
High speed and smooth •
Robot runs without jitter •
关节模组供应商
关节模组制造商

Higher accuracy

• Output positioning accuracy up to 0.003°
• Robot end repeatability 0.02mm
• Suitable for high-precision applications

Long life

7*24h aging test •
Service life up to 30,000h •
Robotic joint
Robotic arm joint

High reliability

• Comprehensive protection design
• Integration
co-robot joint

Product advantages

Focusing on the research and development of the robotic joints, the RJS joint modules has the characteristics
of high positioning accuracy and reliable performance.

Joint model description

Series Model Motor stator
length
Brake Incremental
Encoder
Absolute
Encoder
Resolution Drive
Model
Driver
rated current
Version
number
Default
allocation
RJS 14 15 Traditional
brake
20000P/R
Big hollow
Single turn 17 RDM 15A RevC1 CANopen
17 20
20 22
25 31 RTM EtherCAT
32 26
40 31

Example:

Joint model:RJS14-15 BE-YSA17-RDM15-RevC1

Basic parameters

Parameters

Drawings

Download

Basic performance
Parameter  Units RJS14 RJS17 RJS20 RJS25 RJS32 RJS40
Allowable torque Nm 28 54 82 157 333 279
Average torque Nm 11 39 49 108 216 450
Peak torque Nm 54 86 147 284 647 1000
Rated speed rpm 30 30 30 20 12.5 12.5
Maximum speed rpm 40 35 35 25 15 15
positioning accuracy 0.002
Electrical performance
Rated current A 5.7 5.8 7 12.2 13.3 28
Peak Current A 14.25 14.5 17.5 30.5 33.25 56
 Rated voltage V 48
Load power W 117 146 210 350 419 1000
Communication -- Ethercat/Canopen
Mechanical properties
Diameter mm 90 90 100 119 156 184
Height mm 104 104 114 135 172 207
Length mm 130 144 144 160 175 221.1
Weight kg 1.75 2.37 2.92 4.96 8.6 15
Gear ratio -- 101 101 101 101 161 161
Incremental Encoder P/R 20000
Absolute Encoder Bit 17/19
Temperature/Humidity
Ambient temperature  -- 0 - 50℃
Temperature  -- 90% relative humidity(non-condensing)
Environmental requirements
IP classification  -- IP54

Manual

Type

Date

  • RJS series User manual V1.0

    2019-07-13
  • RJS series Selection Guide

    2019-07-16
  • RJS series joint modules wiring definition

    2019-09-25

Drawings name

2D Drawings 3D Drawings

Date

  • RJS14-15BE-YSA17-RDM15-RevC1

    2019-05-29
  • RJS17-26BE-YSA17-RDM15-RevC1

    2019-05-29
  • RJS20-20BE-YSA17-RDM15-RevC1

    2019-05-29
  • RJS25-31BE-YSA17-RDM15-RevC1

    2019-05-29
  • RJS32-22BE-YSA17-RDM15-RevC2

    2019-05-29
  • RJS40-31BE-YSA17-RDM30-RevA3

    2019-05-29

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Fax:+86-755-26712958

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