Harmonic joint modules
Lightweight harmonic rotary joints built around self-developed harmonic gears. The TCHL series spans six frames (TCHL-11 to TCHL-32), three reduction ratios per frame, integrated dual 17-bit absolute encoders, CAN-FD and EtherCAT options, and holding-brake variants.
At a glance
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
Six frames, Φ52–Φ131, each offered in three reduction ratios. 48 V DC · EtherCAT / CAN-FD · dual 17-bit single-turn absolute encoder · transmission accuracy ≤60 arcsec, repeatability ≤10 arcsec · IP54. Rated torque is quoted at 2000 rpm input at the highest ratio listed; holding-brake variants (-B) exist for every frame. Source: 2026 Tongchuan actuator selection manual (English), pp. 48–58.
| Model | Size (OD × L) | Ratios | Rated @2000 rpm (N·m) | Peak start/stop (N·m) | Peak output (N·m) | Weight | Through-bore |
|---|---|---|---|---|---|---|---|
| TCHL-11 | Φ52 × 57 | 50 / 80 / 100 | 5.3 | 19 | 25 | 0.37 kg | Φ8 |
| TCHL-14 | Φ65 × 55 | 51 / 81 / 101 | 6.5 | 24 | 36 | 0.45 kg | Φ10 |
| TCHL-17 | Φ77 × 76 | 51 / 81 / 101 | 29 | 67 | 136 | 0.93 kg | Φ12 |
| TCHL-20 | Φ87 × 77.5 | 51 / 81 / 101 | 49 | 102 | 181 | 1.28 kg | Φ12 |
| TCHL-25 | Φ99 × 87 | 81 / 101 / 121 | 83 | 194 | 351 | 1.85 kg | Φ15 |
| TCHL-32 | Φ131 × 103.5 | 81 / 101 / 121 | 169 | 411 | 799 | 3.30 kg | Φ22 |
Specs quoted from manufacturer datasheets; final figures confirmed at quotation.
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Three per frame: 50 / 80 / 100 on the TCHL-11, 51 / 81 / 101 on TCHL-14 to TCHL-20, and 81 / 101 / 121 on the TCHL-25 and TCHL-32.
Rated is at 2000 rpm input and is what the joint runs continuously. Peak start-stop is what the gearbox survives briefly. Peak output is the absolute ceiling. TCHL-25 at 101:1 is 83 / 194 / 351 N.m respectively.
Yes — brake variants exist for every TCHL frame. Tell us the axis and we will confirm which one fits before you order.