Version: 2.1

Product Overview

Product Model and Specifications

name	unit	TA40-50	TA40-100	TA52-50	TA52-100	TA70-50	TA70-100	TA80-50	TA80-100
Rated torque	Nm	1.8	2.4	3.7	5.4	11	16	17	28
Limit for Repeated Peak Torque	Nm	3.3	4.8	12	19	23	37	39	57
Limit for Average Torque	Nm	2.3	3.3	4.8	7.7	18	27	24	34
Limit for Momentary Peak Torque	Nm	6.6	9	17	35	30	60	69	95
diameter	mm	40	40	52	52	70	70	80	80
length	mm	55.55	55.55	68.63	68.63	71.68	71.68	72.03	72.03
Hole diameter	mm	6	6	8	8	12	12	12	12
weight	kg	0.23	0.23	0.5	0.5	0.76	0.76	1.1	1.1
Maximum operating temperature	℃	80
Minimum operating temperature	℃	-40℃
Working life	h	7000
Installation		Flange Mounting
Repeat positioning accuracy	arcsec
Absolute positioning accuracy	arcsec
Communication		CAN 2.0B
Baud rate	bps	1M
Peak velocity at output	rpm	80	40	80	40	80	40	80	40
Supply voltage	V	10-60V Recommended 24V				10-60V Recommended 48V
Rated Power	w	30	25	30	25	60	72	90	100
Peak Power	w	90	80	170	160	190	240	280	270
Version Model		v1
IP Rating		IP54	IP54	IP54	IP54	IP54	IP54	IP54	IP54

Torque Output: Provides rated and peak torque to achieve stable joint actuation.
Precise Position Control: Built-in high-resolution encoder ensures joint position accuracy.
Speed and Acceleration Control: Enables smooth start, stop, and trajectory following.
Status Monitoring: Real-time feedback of temperature, current, speed, and position for protection and maintenance.
Communication Interface: Supports CAN industrial bus protocol for stable data transmission.

Industrial and Collaborative Robot Arm Joint Drive: Provides precise position and speed control for joints in six-axis robotic arms, SCARA robots, and similar systems.
Research and Experimental Platforms: Used for validation and teaching experiments in robotics kinematics, dynamics, and control algorithms.
Robotics Prototype Development: Provides joint drive units for various mobile robots and service robots.
Automated Testing and Adjustment Mechanisms: Suitable for jigs, fixtures, or test equipment requiring rotational drive.

Profile Position Mode Controls the actuator’s rotation angle with built-in trajectory planning. After receiving a target position, the actuator rotates smoothly to the target point.
- Suitable for large-angle control.
- Does not support high-frequency position updates.
- New position commands sent before the previous target is reached will be ignored.
Position Mode Unlike profile position mode, this mode does not include built-in trajectory planning, thus allowing high-frequency position updates. After receiving a target position, the actuator immediately moves toward it according to speed and current limits (the control frame includes limit current, limit speed, and target position).
- Suitable for small-angle changes.
- Commonly used for trajectory execution.
Hybrid Mode (MIT Mode) A mixed control method that combines current, speed, and position control. This mode typically requires basic knowledge of robotics dynamics to achieve accurate torque computation and control.
Profile Velocity Mode Controls the actuator’s rotational speed with built-in speed planning. When a target speed is set, the actuator accelerates or decelerates to the target value according to the specified acceleration/deceleration.
- The resulting speed curve follows a trapezoidal profile.
Current Mode Directly controls the actuator’s phase current, which corresponds to torque control.