VJ-02 Medium Collaborative Robot Joint Module

Up to 257 NmPeak torque

±0.0025°Repeatability

1.4 kgWeight

EtherCAT/ CANopen

VJ-02 is the medium joint in the VJ series: a complete, ready-to-mount actuator that combines a 200 W servo motor, harmonic gear, driver, 20-bit absolute encoder and brake in one compact 95 mm housing. With EtherCAT or CANopen on board, you can chain several joints to build a collaborative arm, a wrist axis or a custom robotic mechanism without designing the motor, gear and driver yourself. VJ joints are the same modules Robot3T uses in its own VietCobot arms, designed and built in Vietnam.

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Typical applications

Collaborative robot arms: elbow and wrist axes of small and medium cobots.
Custom robots and OEM machines: SCARA, gantry wrists, rotary end-effectors.
Rotary axes and positioners: compact indexing tables, camera and sensor gimbals.
Mobile and service robots: manipulators on AMRs, pan-tilt heads.
Research and education: build your own multi-axis robot from standard modules.

Why VJ-02

All-in-one joint – motor, harmonic gear, driver, encoder and brake in one housing; just add power and the bus.
Precise – 20-bit absolute encoder and ±0.0025° repeatability.
Safe for collaboration – built-in collision detection, fault protection and joint self-diagnosis.
Easy to integrate – EtherCAT (100 Mbps) or CANopen, torque/speed/position modes, hollow shaft for cabling.
Scalable – same interface from VJ-01 (100 W) up to VJ-04 (750 W), so one design covers every axis of an arm.

Specifications

Model	VJ-02
Harmonic gear ratio	50 / 80 / 100
Output peak speed	60 / 37.5 / 30 rpm
Rated torque	37.6 / 60.16 / 90.24 Nm
Peak torque	107.2 / 171.5 / 257.3 Nm
Motor power	200 W
Supply voltage	48 V DC (±10%)
Rated / peak current	6.5 A / 19 A

Encoder	20-bit absolute
Repeatability	±0.0025°
Communication	EtherCAT / CANopen
Size (OD × L)	95 × 106 mm
Through hole	Ø12 mm
Weight	1.4 kg
Brake	Friction damping brake
Protection	IP54

Speed and torque values are listed in the order ratio 50 / 80 / 100.

Built-in drive and control features

3-phase Field Oriented Control (FOC)
20-bit absolute encoder at motor
High-resolution current sampling
Flux weakening for higher speed
Feed-forward control
SVPWM, centered pattern, adjustable PWM frequency
Torque, speed and position control modes
Braking by motor phase short-circuit
Real-time PID fine tuning
Protection: overcurrent, overvoltage, overtemperature, speed feedback error
High-speed EtherCAT slave (100 Mbps full duplex)
Debug terminal commands via UART
Joint collision detection
Self-diagnosis of joint damage

Compare the VJ series

Model	VJ-01	VJ-02	VJ-03	VJ-04
Motor power	100 W	200 W	400 W	750 W
Ratios	50 / 80 / 100	50 / 80 / 100	50 / 80 / 100	50 / 80 / 100 / 120
Rated torque (Nm)	22.8 – 45.6	37.6 – 90.24	58 – 116	70.4 – 169
Peak torque (Nm)	65.2 – 130.4	107.2 – 257.3	164 – 328	198 – 475.2
Rated / peak current (A)	3.5 / 15	6.5 / 19	10.5 / 29	17 / 48
OD × L × hole (mm)	75 × 101 × 10	95 × 106 × 12	105 × 108 × 14	110 × 128 × 16
Weight	1.0 kg	1.4 kg	2.5 kg	3.3 kg

All models: 48 V DC, 20-bit absolute encoder, ±0.0025° repeatability, EtherCAT / CANopen, friction damping brake, IP54.

See it in action

Frequently asked questions

Which VJ size do I need for each axis?
Base and shoulder axes usually need VJ-03 or VJ-04; elbow and wrist axes use VJ-01 or VJ-02. Send us your arm length, payload and speed, and we will size every joint for you.

What do I need to drive the joint?
A 48 V DC supply and an EtherCAT or CANopen master (PLC, industrial PC or motion controller). The driver is built in. We can also supply a controller and sample code.

Can you build a complete robot arm from VJ joints?
Yes. Robot3T designs custom arms and OEM robots based on the VJ series, including links, controller and software.

Do you ship outside Vietnam?
Yes. Contact sales@robot3t.com for a quote including shipping to your country.