HTPU-7033-04-CNE Ultra-Thin Joint Module – 33:1, 20Nm, 50Nm Peak, CANFD/CAN

The HTPU-7033-04-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 20 Nm rated torque and 50 Nm locked-rotor torque in a body just 36.9 mm thick. With dual 14-bit absolute encoders, CANFD/CAN communication, and a 33:1 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 36.9 mm tall for easy integration into slim joints.
• 33:1 reduction ratio – high torque density from side-by-side + planetary gear reducer.
• 20 Nm rated / 50 Nm locked-rotor torque – powerful output for 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-7033-04-CNE
Series: Ultra-Thin Series Joint Module
Outline (L × W × H): 140.5 × 71.5 × 36.9 mm
Weight: 808 g
Color: Silver
Reduction Ratio: 33:1
Rated Voltage: 24 V DC
Voltage Range: 12–50.4 V DC
Rated Current: 4.8 A
Peak Current: 20 A
Rated Torque: 20 Nm
Locked-Rotor Torque: 50 Nm
Rated Speed: 40 RPM
No-Load Speed: 48 RPM
Rated Output Power: 84 W
Torque Constant: 0.59 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-7033-04-CNE flat planetary 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.