HTPU-6035-04-CNE Ultra-Thin Joint Module – 35:1, 10Nm, 36Nm Peak, CANFD/CAN

The HTPU-6035-04-CNE is an ultra-thin series joint module built for space-constrained robotics. It combines a side-by-side gear and planetary gear reducer with a self-designed brushless DC motor, delivering 10 Nm rated torque and 36 Nm locked-rotor torque in a body just 37 mm thick. With dual 14-bit absolute encoders, CANFD/CAN communication, and a 35:1 reduction ratio, it is ideal for exoskeletons, wearable devices, small humanoid robots, robotic arms, and other compact-drive applications.

Key Features:

• Ultra-thin form factor – only 37 mm tall for easy integration into slim joints.
• 35:1 reduction ratio – high torque density from side-by-side + planetary gear reducer.
• 10 Nm rated / 36 Nm locked-rotor torque – strong output for its compact size.
• Self-designed brushless DC motor – smooth motion with low torque ripple.
• Dual 14-bit absolute encoders – accurate position and torque feedback.
• CANFD / CAN communication – 5 Mbps baud rate, plug-and-play with robot control buses.
• Wide voltage range – 12–50.4 V DC input, 24 V rated.
• Current / torque control modes – flexible control strategies for different robot architectures.

Specifications:
Model: HTPU-6035-04-CNE
Series: Ultra-Thin Series Joint Module
Outline (L × W × H): 115 × 61.9 × 37 mm
Weight: 558 g
Color: Silver
Reduction Ratio: 35:1
Rated Voltage: 24 V DC
Voltage Range: 12–50.4 V DC
Rated Current: 3 A
Peak Current: 15 A
Rated Torque: 10 Nm
Locked-Rotor Torque: 36 Nm
Rated Speed: 50 RPM
No-Load Speed: 60 RPM
Rated Output Power: 52 W
Torque Constant: 0.531 Nm/A
Backlash: under 10 arcmin
Repeat Positioning Accuracy: under 12 arcmin
Absolute Positioning Accuracy: under 15 arcmin
Encoder Resolution: 14 bit (dual, high-speed and low-speed ends)
Communication: CANFD / CAN
Baud Rate: 5 Mbps
Control Frequency: 3 kHz
Response Time: 140 μs
Pole Pairs: 14
Control Accuracy: ±10%
Applications: Exoskeletons, wearable devices, small humanoid robots, robotic arms, precision automation

Applications:
Widely used in exoskeleton design, wearable robotics, small humanoid robots, collaborative robotic arms, and precision automation systems. The flat profile is especially valuable when the joint axis must fit inside a slim limb or compact mechanical structure.

What's in the Box:

• 1 × HTPU-6035-04-CNE ultra-thin joint module
• Mounting screws and hardware (as per SKU configuration)

Need a different reduction ratio, output shaft, or communication interface? Contact us for customization and OEM/ODM options.