Mid-Size Harmonic Joint Modules for Robotic Systems

AHM Mid-size Series integrates precision harmonic transmission, motor, encoder feedback and drive electronics into a mid size harmonic actuator and robot joint module designed for robotic arms, humanoid robots and automation systems.

AVAILABLE IN MULTIPLE MODELS

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AHM Mid-Size Series

AHM Mid-Size Series Overview

Mid-size harmonic joint modules designed for robotic joints requiring higher torque capacity while maintaining compact dimensions and precise motion control.

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Platform	Motor Ø	Module Ø	Available Ratios	Peak Torque	Rated Power	Weight — No Brake	Communication
AHM-050-070	50 mm	70 mm	51 / 81 / 101	23–34 Nm	85 W	0.66 kg	CAN / EtherCAT
AHM-060-070	60 mm	70 mm	51 / 81 / 101 / 121	42–66 Nm	230 W	0.73 kg	CAN / EtherCAT
AHM-060-080	60 mm	80 mm	51 / 81 / 101 / 121	42–66 Nm	230 W	1.03 kg	CAN / EtherCAT
AHM-070-080	70 mm	80 mm	51 / 81 / 101 / 121	69–108 Nm	340 W	0.90 kg	CAN / EtherCAT
AHM-070-090	70 mm	90 mm	51 / 81 / 101 / 121	69–108 Nm	340 W	1.27 kg	CAN / EtherCAT

TECHNICAL SPECIFICATIONS

MID-SIZE SERIES

Compare available AHM Mid-Size configurations by torque, speed, precision, electrical and mechanical performance.

70 MM PLATFORM

AHM-050-070 Technical Specifications

Three ratio configurations with 23–34 Nm peak torque.

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Parameter	Unit	AHM-050-070 R51	AHM-050-070 R81	AHM-050-070 R101
Reduction Ratio	:1	51	81	101
Start / Stop Peak Torque	Nm	23	29	34
Max. Average Load Torque — Robot	Nm	8.6	13.5	13.5
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	6.6	9.6	9.6
Output Peak Speed	rpm	97	61	49
Rated Speed at 1/2 Rated Torque	rpm	75	46	37
Backlash	arcsec	20	20	10
Rated Power	W	85	85	85
Supply Voltage	VDC	24–48	24–48	24–48
Encoder Resolution	bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	—	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake	Nm	0 / 0.3	0 / 0.3	0 / 0.3
Torsional Stiffness	10⁴ N/rad	0.32	0.45	0.45
Allowable Radial Load	kN	8.6	8.6	8.6
Allowable Axial Load	kN	19.55	19.55	19.55
Allowable Bending Moment	Nm	74	74	74
Length — No Brake / Brake	mm	63±0.5 / 81.5±0.5	63±0.5 / 81.5±0.5	63±0.5 / 81.5±0.5
Through Bore	mm	12	12	12
Weight — No Brake / Brake	kg	0.66 / 0.78	0.66 / 0.78	0.66 / 0.78
Inertia — No Brake / Brake	g·cm²	158.8 / 228.8	158.8 / 228.8	158.8 / 228.8

70 MM PLATFORM

AHM-060-070 Technical Specifications

Four ratio configurations with 42–66 Nm peak torque.

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Parameter	Unit	AHM-060-070 R51	AHM-060-070 R81	AHM-060-070 R101	AHM-060-070 R121
Reduction Ratio	:1	51	81	101	121
Start / Stop Peak Torque	Nm	42	53	66	66
Max. Average Load Torque — Robot	Nm	32	33	49	49
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	19.8	27.5	30	30
Output Peak Speed	rpm	82	51	41	32
Rated Speed at 1/2 Rated Torque	rpm	68	43	34	24
Backlash	arcsec	20	20	10	10
Rated Power	W	230	230	230	230
Supply Voltage	VDC	24–48	24–48	24–48	24–48
Encoder Resolution	bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	—	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake	Nm	0 / 1	0 / 1	0 / 1	0 / 1
Torsional Stiffness	10⁴ N/rad	0.77	0.95	0.95	0.95
Allowable Radial Load	kN	8.4	8.4	8.4	8.4
Allowable Axial Load	kN	19.1	19.1	19.1	19.1
Allowable Bending Moment	Nm	218	218	218	218
Length — No Brake / Brake	mm	72.5±0.5 / 93±0.5	72.5±0.5 / 93±0.5	72.5±0.5 / 93±0.5	72.5±0.5 / 93±0.5
Through Bore	mm	18	18	18	18
Weight — No Brake / Brake	kg	0.73 / 0.8	0.73 / 0.8	0.73 / 0.8	0.73 / 0.8
Inertia — No Brake / Brake	g·cm²	394.8 / 492	394.8 / 492	394.8 / 492	394.8 / 492

80 MM PLATFORM

AHM-060-080 Technical Specifications

Four ratio configurations with 42–66 Nm peak torque and an 80 mm module diameter.

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Parameter	Unit	AHM-060-080 R51	AHM-060-080 R81	AHM-060-080 R101	AHM-060-080 R121
Reduction Ratio	:1	51	81	101	121
Start / Stop Peak Torque	Nm	42	53	66	66
Max. Average Load Torque — Robot	Nm	32	33	49	49
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	19.8	27.5	30	30
Output Peak Speed	rpm	82	51	41	32
Rated Speed at 1/2 Rated Torque	rpm	68	43	34	24
Backlash	arcsec	20	20	10	10
Rated Power	W	230	230	230	230
Supply Voltage	VDC	24–48	24–48	24–48	24–48
Encoder Resolution	bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	—	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake	Nm	0 / 1	0 / 1	0 / 1	0 / 1
Torsional Stiffness	10⁴ N/rad	0.77	0.95	0.95	0.95
Allowable Radial Load	kN	16.3	16.3	16.3	16.3
Allowable Axial Load	kN	37.05	37.05	37.05	37.05
Allowable Bending Moment	Nm	124	124	124	124
Length — No Brake / Brake	mm	72.5±0.5 / 91.5±0.5	72.5±0.5 / 91.5±0.5	72.5±0.5 / 91.5±0.5	72.5±0.5 / 91.5±0.5
Through Bore	mm	18	18	18	18
Weight — No Brake / Brake	kg	1.03 / 1.2	1.03 / 1.2	1.03 / 1.2	1.03 / 1.2
Inertia — No Brake / Brake	g·cm²	394.8 / 492	394.8 / 492	394.8 / 492	394.8 / 492

80 MM PLATFORM

AHM-070-080 Technical Specifications

Four ratio configurations with 69–108 Nm peak torque.

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Parameter	Unit	AHM-070-080 R51	AHM-070-080 R81	AHM-070-080 R101	AHM-070-080 R121
Reduction Ratio	:1	51	81	101	121
Start / Stop Peak Torque	Nm	69	91	102	108
Max. Average Load Torque — Robot	Nm	42	58	61	61
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	32	42	50	50
Output Peak Speed	rpm	77	48	40	30
Rated Speed at 1/2 Rated Torque	rpm	61	38	30	25
Backlash	arcsec	20	20	10	10
Rated Power	W	340	340	340	340
Supply Voltage	VDC	24–48	24–48	24–48	24–48
Encoder Resolution	bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	—	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake	Nm	0 / 1	0 / 1	0 / 1	0 / 1
Torsional Stiffness	10⁴ N/rad	1.24	1.52	1.52	1.52
Allowable Radial Load	kN	10.42	10.42	10.42	10.42
Allowable Axial Load	kN	23.68	23.68	23.68	23.68
Allowable Bending Moment	Nm	320	320	320	320
Length — No Brake / Brake	mm	73±0.5 / 91.5±0.5	73±0.5 / 91.5±0.5	73±0.5 / 91.5±0.5	73±0.5 / 91.5±0.5
Through Bore	mm	18	18	18	18
Weight — No Brake / Brake	kg	0.9 / 1.11	0.9 / 1.11	0.9 / 1.11	0.9 / 1.11
Inertia — No Brake / Brake	g·cm²	596.4 / 746.7	596.4 / 746.7	596.4 / 746.7	596.4 / 746.7

90 MM PLATFORM

AHM-070-090 Technical Specifications

Four ratio configurations with 69–108 Nm peak torque and a 90 mm module diameter.

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Parameter	Unit	AHM-070-090 R51	AHM-070-090 R81	AHM-070-090 R101	AHM-070-090 R121
Reduction Ratio	:1	51	81	101	121
Start / Stop Peak Torque	Nm	69	91	102	108
Max. Average Load Torque — Robot	Nm	42	58	61	61
Rated Torque at 2000 rpm / Ratio — Industrial	Nm	32	42	50	50
Output Peak Speed	rpm	77	48	40	30
Rated Speed at 1/2 Rated Torque	rpm	61	38	30	25
Backlash	arcsec	20	20	10	10
Rated Power	W	340	340	340	340
Supply Voltage	VDC	24–48	24–48	24–48	24–48
Encoder Resolution	bit	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional	16 Dual encoder optional
Communication	—	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT	CAN / EtherCAT
Brake Torque — No Brake / Brake	Nm	0 / 1	0 / 1	0 / 1	0 / 1
Torsional Stiffness	10⁴ N/rad	1.24	1.52	1.52	1.52
Allowable Radial Load	kN	22	22	22	22
Allowable Axial Load	kN	50	50	50	50
Allowable Bending Moment	Nm	190	190	190	190
Length — No Brake / Brake	mm	73.5±0.5 / 92±0.5	73.5±0.5 / 92±0.5	73.5±0.5 / 92±0.5	73.5±0.5 / 92±0.5
Through Bore	mm	18	18	18	18
Weight — No Brake / Brake	kg	1.27 / 1.5	1.27 / 1.5	1.27 / 1.5	1.27 / 1.5
Inertia — No Brake / Brake	g·cm²	596.4 / 746.7	596.4 / 746.7	596.4 / 746.7	596.4 / 746.7

Model Configuration

Base model: AHM-[motor diameter]-[module diameter]-R[ratio]

B = Brake

Dual-encoder and EtherCAT configurations are available where required.

Final suffixes and interface configurations should be confirmed against the project requirements before ordering. Please contact ARTUS for dual-encoder, EtherCAT and application-specific configuration details.

DIMENSIONAL DRAWINGS