{"id":5341,"date":"2023-08-08T11:48:05","date_gmt":"2023-08-08T04:48:05","guid":{"rendered":"https:\/\/robot3t.com\/?post_type=product&p=5341"},"modified":"2026-10-15T08:22:26","modified_gmt":"2026-10-15T01:22:26","slug":"vj-02-medium-collaborative-robot-joint","status":"publish","type":"product","link":"https:\/\/robot3t.com\/en\/products\/vj-02-medium-collaborative-robot-joint\/","title":{"rendered":"VJ-02: Medium Collaborative Robot Joint"},"content":{"rendered":"
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Up to 257 Nm<\/strong>Peak torque<\/span><\/div>\n
\u00b10.0025\u00b0<\/strong>Repeatability<\/span><\/div>\n
1.4 kg<\/strong>Weight<\/span><\/div>\n
EtherCAT<\/strong>\/ CANopen<\/span><\/div>\n<\/div>\n

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.<\/p>\n\n\t\tRequest a quote<\/span>\n\t<\/a>\n \n\t\tWhatsApp +84 974 908 615<\/span>\n\t<\/a>\n\n

Typical applications<\/h3>\n
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  • Collaborative robot arms:<\/strong> elbow and wrist axes of small and medium cobots.<\/li>\n
  • Custom robots and OEM machines:<\/strong> SCARA, gantry wrists, rotary end-effectors.<\/li>\n
  • Rotary axes and positioners:<\/strong> compact indexing tables, camera and sensor gimbals.<\/li>\n
  • Mobile and service robots:<\/strong> manipulators on AMRs, pan-tilt heads.<\/li>\n
  • Research and education:<\/strong> build your own multi-axis robot from standard modules.<\/li>\n<\/ul>\n

    Why VJ-02<\/h3>\n
      \n
    • All-in-one joint<\/strong> \u2013 motor, harmonic gear, driver, encoder and brake in one housing; just add power and the bus.<\/li>\n
    • Precise<\/strong> \u2013 20-bit absolute encoder and \u00b10.0025\u00b0 repeatability.<\/li>\n
    • Safe for collaboration<\/strong> \u2013 built-in collision detection, fault protection and joint self-diagnosis.<\/li>\n
    • Easy to integrate<\/strong> \u2013 EtherCAT (100 Mbps) or CANopen, torque\/speed\/position modes, hollow shaft for cabling.<\/li>\n
    • Scalable<\/strong> \u2013 same interface from VJ-01 (100 W) up to VJ-04 (750 W), so one design covers every axis of an arm.<\/li>\n<\/ul>\n

      Specifications<\/h3>\n
      \n\n\n\n\n\n\n\n\n\n\n
      Model<\/td>\nVJ-02<\/td>\n<\/tr>\n
      Harmonic gear ratio<\/td>\n50 \/ 80 \/ 100<\/td>\n<\/tr>\n
      Output peak speed<\/td>\n60 \/ 37.5 \/ 30 rpm<\/td>\n<\/tr>\n
      Rated torque<\/td>\n37.6 \/ 60.16 \/ 90.24 Nm<\/td>\n<\/tr>\n
      Peak torque<\/td>\n107.2 \/ 171.5 \/ 257.3 Nm<\/td>\n<\/tr>\n
      Motor power<\/td>\n200 W<\/td>\n<\/tr>\n
      Supply voltage<\/td>\n48 V DC (\u00b110%)<\/td>\n<\/tr>\n
      Rated \/ peak current<\/td>\n6.5 A \/ 19 A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n\n\n\n\n\n\n\n
      Encoder<\/td>\n20-bit absolute<\/td>\n<\/tr>\n
      Repeatability<\/td>\n\u00b10.0025\u00b0<\/td>\n<\/tr>\n
      Communication<\/td>\nEtherCAT \/ CANopen<\/td>\n<\/tr>\n
      Size (OD \u00d7 L)<\/td>\n95 \u00d7 106 mm<\/td>\n<\/tr>\n
      Through hole<\/td>\n\u00d812 mm<\/td>\n<\/tr>\n
      Weight<\/td>\n1.4 kg<\/td>\n<\/tr>\n
      Brake<\/td>\nFriction damping brake<\/td>\n<\/tr>\n
      Protection<\/td>\nIP54<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

      Speed and torque values are listed in the order ratio 50 \/ 80 \/ 100.<\/p>\n

      Built-in drive and control features<\/h3>\n
        \n
      • 3-phase Field Oriented Control (FOC)<\/li>\n
      • 20-bit absolute encoder at motor<\/li>\n
      • High-resolution current sampling<\/li>\n
      • Flux weakening for higher speed<\/li>\n
      • Feed-forward control<\/li>\n
      • SVPWM, centered pattern, adjustable PWM frequency<\/li>\n
      • Torque, speed and position control modes<\/li>\n
      • Braking by motor phase short-circuit<\/li>\n
      • Real-time PID fine tuning<\/li>\n
      • Protection: overcurrent, overvoltage, overtemperature, speed feedback error<\/li>\n
      • High-speed EtherCAT slave (100 Mbps full duplex)<\/li>\n
      • Debug terminal commands via UART<\/li>\n
      • Joint collision detection<\/li>\n
      • Self-diagnosis of joint damage<\/li>\n<\/ul>\n

        Compare the VJ series<\/h3>\n
        \n\n\n\n\n\n\n\n\n\n\n\n
        Model<\/th>\nVJ-01<\/th>\nVJ-02<\/th>\nVJ-03<\/th>\nVJ-04<\/th>\n<\/tr>\n<\/thead>\n
        Motor power<\/td>\n100 W<\/td>\n200 W<\/td>\n400 W<\/td>\n750 W<\/td>\n<\/tr>\n
        Ratios<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100<\/td>\n50 \/ 80 \/ 100 \/ 120<\/td>\n<\/tr>\n
        Rated torque (Nm)<\/td>\n22.8 \u2013 45.6<\/td>\n37.6 \u2013 90.24<\/td>\n58 \u2013 116<\/td>\n70.4 \u2013 169<\/td>\n<\/tr>\n
        Peak torque (Nm)<\/td>\n65.2 \u2013 130.4<\/td>\n107.2 \u2013 257.3<\/td>\n164 \u2013 328<\/td>\n198 \u2013 475.2<\/td>\n<\/tr>\n
        Rated \/ peak current (A)<\/td>\n3.5 \/ 15<\/td>\n6.5 \/ 19<\/td>\n10.5 \/ 29<\/td>\n17 \/ 48<\/td>\n<\/tr>\n
        OD \u00d7 L \u00d7 hole (mm)<\/td>\n75 \u00d7 101 \u00d7 10<\/td>\n95 \u00d7 106 \u00d7 12<\/td>\n105 \u00d7 108 \u00d7 14<\/td>\n110 \u00d7 128 \u00d7 16<\/td>\n<\/tr>\n
        Weight<\/td>\n1.0 kg<\/td>\n1.4 kg<\/td>\n2.5 kg<\/td>\n3.3 kg<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/div>\n

        All models: 48 V DC, 20-bit absolute encoder, \u00b10.0025\u00b0 repeatability, EtherCAT \/ CANopen, friction damping brake, IP54.<\/p>\n

        See it in action<\/h3>\n
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