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TSL-CRA-RI30-40 integrated 40mm harmonic gear motor and robot joint module showcasing compact cylindrical design and front mounting interface

Ø40mm Robot Joint Module (Harmonic Gearbox) | TSL-CRA-RI30-40

Price range: $1,035.02 through $1,206.27

◆ Basic Info

    • Brand: TSL MOTOR
    • Origin: China
    • Motor Model: TSL-CRA-RI30-40
    • Motor Type: Brushless DC Motor
    • Gearbox Type:Harmonic Gearbox
    • Voltage: 24-48V
    • Rated Torque:1.8N.m/2.4N.m
    • Rated Speed: 45RPM/90 RPM
    • # More Specifications
    • # Outline Drawing
  • Performance parameters are for reference only and can be customized according to customer requirements.

◆ Typical Applications: robotic arm, robot dog, robot

Samples Pricing(Dual encoder, non-brake )

QuantityUnit PriceSavings
1 – 4USD 1,119.40—
5 – 9USD 1,063.43↓ 5%
10 – 24USD 973.87↓ 13%
25+USD 873.13↓ 22%

📞 Contact us for bulk production pricing

For higher (production) volumes, we offer highly competitive pricing, please Request a Quote. We response within 24h.

✈️ Global Shipping: free express shipping on orders over $150
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| 40mm Harmonic Gear Motor Datasheet

TSL-CRA-RI30-40 Single Encoder Datasheet
Reduction Ratio — 51 101
Peak Torque at Start-Stop N.m 3.3 4.8
Max Allowable Average Load Torque N.m 2.3 3.3
Rated Torque @ 2000rpm (Motor Speed / Reduction Ratio) N.m 1.8 2.4
Peak Output Shaft Speed rpm 118 59
Rated Speed (With 1/2 Rated Torque Load) rpm 90 45
Backlash arcsec 40 40
Motor Power W 30
Supply Voltage V 24–48
Encoder Resolution bit 16
Communication Bus — CAN
Brake Torque (without brake / with brake) N·m 0 / 0.06
Stiffness 10⁴ N/rad 0.04 0.09
Radial Allowable Load kN 3.19
Axial Allowable Load kN 6.56
Allowable Bending Moment N·m 38
Length (without brake / with brake) mm 60±0.5 / 78.6±0.5
Through Hole mm 6
Weight (without brake / with brake) Kg 0.19 / 0.27
Inertia (without brake / with brake) g·cm² 27.4 / 45.1
Note:The parameters can be customized based on customer needs. The models listed above are our standard specifications.
TSL-CRA-RI30-40 Dual Encoder (CAN) Datasheet
Reduction Ratio — 51 101
Peak Torque at Start-Stop N.m 3.3 4.8
Max Allowable Average Load Torque N.m 2.3 3.3
Rated Torque @ 2000rpm (Motor Speed / Reduction Ratio) N.m 1.8 2.4
Peak Output Shaft Speed rpm 118 59
Rated Speed (With 1/2 Rated Torque Load) rpm 90 45
Backlash arcsec 40 40
Motor Power W 30
Supply Voltage V 24–48
Encoder Resolution bit 16/18
Communication Bus — CAN
Brake Torque (without brake / with brake) N·m 0 / 0.06
Stiffness 10⁴ N/rad 0.04 0.09
Radial Allowable Load kN 3.19
Axial Allowable Load kN 6.56
Allowable Bending Moment N·m 38
Length (without brake / with brake) mm 60±0.5 / 79±0.5
Through Hole mm 6
Weight (without brake / with brake) Kg 0.23 / 0.27
Inertia (without brake / with brake) g·cm² 23.73 / 28.15
Note:The parameters can be customized based on customer needs. The models listed above are our standard specifications.
TSL-CRA-RI30-40 Dual Encoder (EtherCAT) Datasheet
Reduction Ratio — 51 101
Peak Torque at Start-Stop N.m 3.3 4.8
Max Allowable Average Load Torque N.m 2.3 3.3
Rated Torque @ 2000rpm (Motor Speed / Reduction Ratio) N.m 1.8 2.4
Peak Output Shaft Speed rpm 118 59
Rated Speed (With 1/2 Rated Torque Load) rpm 90 45
Backlash arcsec 40 40
Motor Power W 30
Supply Voltage V 24–48
Encoder Resolution bit 16/18
Communication Bus — EtherCAT
Brake Torque (without brake / with brake) N·m 0 / 0.06
Stiffness 10⁴ N/rad 0.04 0.09
Radial Allowable Load kN 3.19
Axial Allowable Load kN 6.56
Allowable Bending Moment N·m 38
Length (without brake / with brake) mm 60±0.5 / 79±0.5
Through Hole mm 6
Weight (without brake / with brake) Kg 0.23 / 0.27
Inertia (without brake / with brake) g·cm² 23.73/28.15

Note:The parameters can be customized based on customer needs. The models listed above are our standard specifications.

|40mm Harmonic Gear Motor TSL-GRA-RI30-40 Mechanical Drawing

Unless otherwise stated, all dimensions are in millimeters.

TSL-CRA-RI30-40 Single Encoder with Driver , Without brake

Dimensional drawing of the 60.5mm version TSL-GRA-RI30-40 harmonic gear motor without brake, detailing the Ø6mm hollow shaft and rear EtherCAT interfaces

TSL-CRA-RI30-40 Single Encoder with Driver , With brake

Technical drawing of the extended 79mm version TSL-GRA-RI30-40 harmonic gear motor with integrated holding brake and EtherCAT ports

TSL-CRA-RI30-40 Double Encoder with Driver (CAN) , Without brake

TSL-CRA-RI30-40 CAN bus harmonic gear motor dimensional drawing without brake

TSL-CRA-RI30-40 Double Encoder with Driver (CAN) , With brake

TSL-CRA-RI30-40 CAN communication harmonic gear motor technical schematic with brake

TSL-CRA-RI30-40 Double Encoder with Driver (EtherCAT) , Without brake

TSL-CRA-RI30-40 EtherCAT harmonic gear motor mechanical drawing without brake

TSL-CRA-RI30-40 Double Encoder with Driver (EtherCAT) , With brake

TSL-CRA-RI30-40 EtherCAT harmonic gear motor blueprint with brake module

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| Payment & Shipping

To ensure a smooth purchasing experience, we partner with world-class couriers and trusted payment gateways. Below you will find our standardized policies designed to guarantee secure payments and rapid global delivery for your motor components.

Payment Terms

1.T/T (Bank Transfer) - Default & Required: Our standard payment method for all orders (samples, small batches, and bulk wholesale alike). Upon checkout or order confirmation, our secure bank-to-bank wire instructions (including SWIFT code) will be automatically provided.

2.PayPal: Available strictly as an alternative backup option for immediate online sample checkout under special circumstances. (Please contact our sales team if you require a PayPal invoice).

Shipping & Logistics Policy

  1. Transit Time: Shipments are primarily routed through DHL or FedEx express networks. While the estimated transit time for major destinations is typically 7 business days, the actual delivery window varies depending on the destination country, region, specific shipping terms (Incoterms), and local customs clearance procedures.
  2. Order Processing: Shipments are executed within 7 business days once your payment has been successfully cleared and verified.
  3. Logistics Inquiry: In the event of an unexpected delivery delay, please contact us promptly. Our service team will investigate and respond within 24 hours. In rare cases where our email is filtered, please review your spam folder. We remain dedicated to ensuring your order arrives safely.
  4. Shipping Address: Buyers are strictly required to verify that the registered shipping address is complete and accurate prior to final payment submission.

| TSL MOTOR Shop Online Sample Request

Whether you need a standard off-the-shelf component for immediate testing or a highly customized motor tailored to your unique application, we have you covered. Choose between our fast online checkout for rapid sampling or contact our engineering team for bespoke technical support.

🛒 1.Buy Samples & Small Batches Online

Need a quick sample or small batch to test your prototype? You can order directly right here.

  • In Stock & Ready to Ship: Standard specifications are pre-packed and ready for rapid dispatch.
  • Secure Checkout: Complete your purchase smoothly with our secure payment gateway.
  • Fast Global Delivery: Ideal for engineers, makers, and agile manufacturing projects.
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🛠️2. Custom Sample Request & Engineering Support

Need custom shaft dimensions, a different voltage rating, or integrated encoders? Our engineering team is here to tailor the motor to your exact specifications.

  • Customizable Features: Output shafts, winding configurations, lead wires, and connectors can be fully customized.
  • Flexible Testing: Get the precise performance curves (RPM, torque, efficiency) required for your application.
  • Direct Expert Communication: Submit your technical drawings or requirements, and we will reply within 24 hours.
Contact Us

| Notice Before Ordering

To ensure a seamless sourcing experience and continuous support for your projects, please review our standard ordering guidelines below:

1.Inventory & Production Confirmation:

As an original manufacturer with an extensive catalog, our real-time stock levels may fluctuate. Please contact us immediately after placing your order to verify stock availability. Please kindly understand that as a volume factory, we are unable to pause active production lines to manufacture a single, non-stock motor component.

2.Professional Selection Support:
  • For Retail & Sample Selection: If you are unsure which motor model best fits your prototype, please reach out to support@micronixmotor.com for engineering guidance.
  • For Volume & Bulk Inquiries: For commercial scaling, customized batch specifications, or wholesale pricing, please submit your requirements directly to inquiry@micronixmotor.com.

Related products

TSL-CRA-RI30-40 integrated 40mm harmonic gear motor and robot joint module showcasing compact cylindrical design and front mounting interface
Ø40mm Robot Joint Module (Harmonic Gearbox) | TSL-CRA-RI30-40

Price range: $1,035.02 through $1,206.27

Select options This product has multiple variants. The options may be chosen on the product page