ROKAE HSA Series Context

Audience

Robot OEMs

integrated force-controlled actuation

Architecture: Frameless motor, harmonic reducer, torque sensor, dual encoders, brake and drive
Communication: EtherCAT
Control Frequency: Force-control loop
Bandwidth: Force-control bandwidth
Force Sensor Sampling Rate: 32000 Hz
Hollow Shaft Diameter: 6–21 mm across HSA-11 to HSA-32
Max Joint Torque Density: Maximum listed family value
Motor Speed Rpm: 6000 rpm
Operating Temperature C: 0–50
Peak Torque Nm: Maximum listed family value; HSA-32
Rated Power Range: 40–950 W across the family
Family Variants: HSA-11, HSA-14, HSA-17, HSA-20, HSA-25 and HSA-32