WHJ SERIES

HARMONIC JOINT MODULES // 3~120 N·M
WHJ03 Joint Module
WHJ03 3 N·M // 170G
WHJ10-B Joint Module
WHJ10-B 10 N·M // 455G
WHJ10-N Joint Module
WHJ10-N 10 N·M // 445G
WHJ30 Joint Module
WHJ30 30 N·M // 750G
WHJ60 Joint Module
WHJ60 60 N·M // 1040G
WHJ120 Joint Module
WHJ120 120 N·M // 2300G

Core Engineering Advantages

straighten

Precision Compact

Ultra-compact form factor from 33mm diameter, delivering precision in the smallest footprint.

360

Dual Encoders

16-bit incremental + 18-bit absolute encoders for precise control at every degree of rotation.

settings

Wide Torque Range

Scalable from 3 N·m to 120 N·m rated torque, covering robotic arms, rotary tables, and specialized tools.

cable

Hollow Shaft

Through-bore hollow shaft (4~16mm) enables internal cable routing for clean, interference-free integration.

lan

CANFD Interface

High-speed CANFD communication across all models for real-time, low-latency multi-axis coordination.

Technical Specifications

SPEC_SHEET // WHJ SERIES REV 2026.03
COMPACT SERIES
WHJ03
WHJ10-B
WHJ10-N
Weight 170 G 455 G 445 G
Dimensions (D×L) 33×48 MM 50×73 MM 50×64 MM
Hollow Shaft 4 MM 8 MM 8 MM
Rated Voltage 24/48 V 24/48 V 24/48 V
Rated Current 0.4A @48V 1.3A @48V 1.3A @48V
Rated Power 40 W 63 W 63 W
Peak Speed 60 RPM 75 RPM 75 RPM
Rated Torque 3 N·M 10 N·M 10 N·M
Gear Ratio 100 80 80
Operating Temp 0~50°C 0~50°C 0~50°C
Incr. Encoder 16 BIT 16 BIT 16 BIT
Abs. Encoder 18 BIT 18 BIT 18 BIT
Brake Type SPRING PIN-TYPE SPRING
Comm Interface CANFD CANFD CANFD
HIGH-TORQUE SERIES
WHJ30
WHJ60
WHJ120
Weight 750 G 1040 G 2300 G
Dimensions (D×L) 60×86.5 MM 70×91 MM 88×109 MM
Hollow Shaft 9 MM 9 MM 16 MM
Rated Voltage 24/48 V 24/48 V 24/48 V
Rated Current 2.8A @48V 5.3A @48V 30A
Rated Power 137 W 264 W 720 W
Peak Speed 75 RPM 60 RPM 30 RPM
Rated Torque 30 N·M 60 N·M 120 N·M
Gear Ratio 80 100 100
Operating Temp 0~50°C 0~50°C 0~50°C
Incr. Encoder 16 BIT 16 BIT 16 BIT
Abs. Encoder 18 BIT 18 BIT 18 BIT
Brake Type PIN-TYPE PIN-TYPE ELECTRO
Comm Interface CANFD CANFD CANFD

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General Inquiries:
info@realman-robot.com
Sales
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