Product Description
HT4315-J40-2E Brushless Servo Joint Motor with Integrated Planetary Gearbox
The HT4315-J40-2E is a high-torque integrated brushless servo joint motor designed for robotic joints, humanoid robots, OpenArm robotic systems, exoskeletons, collaborative robots, and other precision motion control applications.
Featuring a compact Ø57 mm structure with an integrated 40:1 planetary gearbox, the motor delivers high torque output while maintaining excellent positioning accuracy and low backlash.
Available in both 24V and 48V versions, the HT4315-J40-2E supports CAN and RS485 communication, includes a 14-bit onboard encoder, supports a secondary output encoder, and can be supplied with or without an integrated driver to simplify robotic system integration.
Its high torque density, compact dimensions, and robust planetary transmission make it suitable for modern robotic arms, ALOHA robot platforms, dual-arm robots, research robotics, and industrial automation equipment.
Key Features
- Integrated brushless servo joint motor
- High precision 40:1 planetary gearbox
- Available in 24V and 48V versions
- Optional integrated driver
- CAN & RS485 communication
- 14-bit onboard encoder
- Supports secondary output encoder
- Optional custom brake support
- Low backlash (15 arcmin)
- IP54 protection rating
- Compact Ø57 mm design
- Designed for humanoid robots and robotic arms
Specifications
| Parameter | 24V Version | 48V Version |
|---|---|---|
| Model | HT4315-J40-2E | HT4315-J40-2E |
| Rated Voltage | 24V | 48V |
| Voltage Range | 12–40V | 12–48V |
| Driver Model | GDZ4-40-40V | GDZ4-40-48V |
| Winding Type | Delta | Y |
| Rated Power | 115W | 187W |
| Rated Torque | 16.5Nm | 27.4Nm |
| Peak Torque | 64Nm | 67.5Nm |
| Rated Speed | 46RPM | 47RPM |
| Max Speed | 56RPM | 65RPM |
| Rated Current | 4.8A | 3.9A |
| Peak Current | 22A | 14.6A |
| Phase Resistance | 0.78Ω | 2.2Ω |
| Phase Inductance | 233μH | 799μH |
| Speed Constant | 2.33rpm/V | 1.40rpm/V |
| Torque Constant | 3.5Nm/A | 6Nm/A |
| Pole Pairs | 14 | |
| Gear Ratio | 40:1 | |
| Gear Type | Planetary | |
| Gear Material | Steel | |
| Gear Backlash | 15 arcmin | |
| Weight (Without Driver) | 360g | |
| Weight (With Driver) | 380g | |
| Size Without Driver | Ø57 × 52mm | |
| Size With Driver | Ø57 × 58.5mm | |
| Max Axial Load | 125N | |
| Max Radial Load | 500N | |
| Noise | ＜60dB | |
| Communication | CAN & RS485 | |
| Encoder Resolution | 14-bit | |
| Secondary Encoder | Supported | |
| Custom Brake | Supported | |
| Protection Rating | IP54 | |
| Working Temperature | -20°C to +80°C |
Package Includes
- 1 × HT4315-J40-2E Brushless Servo Joint Motor
- Integrated 40:1 Planetary Gearbox
- Integrated Driver (if selected)
Applications
- Humanoid Robots
- OpenArm Robot Projects
- ALOHA Robot Systems
- Dual-Arm Robots
- Robotic Arms
- Collaborative Robots (Cobots)
- Exoskeleton Robots
- Research Robotics
- Industrial Automation
- Precision Servo Motion Systems
SEO FAQ
Is the HT4315-J40-2E suitable for humanoid robots?
Yes. Its compact size, integrated gearbox, and high torque output make it suitable for humanoid robot joints, robotic arms, and research platforms.
Does the HT4315-J40-2E include a gearbox?
Yes. It features a built-in 40:1 planetary gearbox with approximately 15 arcmin backlash.
What communication interfaces are supported?
The motor supports both CAN and RS485 communication protocols.
Can I choose a version without the driver?
Yes. The HT4315-J40-2E is available with or without an integrated driver.
Does this motor support a secondary encoder?
Yes. A secondary encoder on the output shaft is supported.
What is the difference between the 24V and 48V versions?
The 48V version provides higher rated power (187W vs. 115W) and higher rated torque (27.4Nm vs. 16.5Nm), making it better suited for applications requiring greater continuous torque.
Can this motor be used for ALOHA robot projects?
Yes. Its compact integrated design and communication interfaces make it suitable for robotic manipulation systems, including OpenArm and ALOHA-style research platforms.
