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Integrated Actuators

An integrated actuator combines a motor, gearbox, and encoder into one matched, pre-engineered unit. Some models add a servo drive, brake, or functional safety electronics inside the same housing. This removes the guesswork of pairing separate components and cuts wiring down to one connector set.

Electromate carries three integrated actuator families across two use cases. For precision positioning — machine tools, semiconductor handling, medical robotics — we carry Harmonic Drive rotary actuators and Synapticon's ACTILINK-JP series. For mobile and legged robotics — humanoids, quadrupeds, exoskeletons — we carry maxon's HEJ series and Synapticon's ACTILINK-JD series.

maxon Robotic Joint Actuators

The maxon HEJ series combines a brushless motor, planetary gearbox, encoder, and EtherCAT motion controller into a sealed IP67 joint built for mobile and legged robots operating outside a controlled industrial environment.

Spec HEJ 70-48-50 HEJ 90
Peak torque ±50 Nm 140 Nm standard, up to 180 Nm configurable
Continuous torque ±19 Nm at 2 rad/s, no forced cooling Not yet confirmed from datasheet
Max joint speed 28 rad/s 13 rad/s
Peak efficiency ~74% at 12 Nm, 26 rad/s Up to 86%
Mass 1.05 kg 1.96 kg
Size Compact frame, mobile manipulation focus 110 mm dia. x 90 mm
Fatigue rating 12 million cycles at 38 Nm; 100,000 cycles at 50 Nm Not yet confirmed from datasheet
Communication / sealing EtherCAT, IP67 EtherCAT, IP67

Synapticon ACTILINK Actuators

Synapticon builds both actuator families around its own SOMANET Circulo servo drive, integrated directly into the joint housing. Both lines share EtherCAT communication and an optional SIL3/PLe safety-rated motion mode. All ACTILINK-JP models include a spring-applied friction brake standard, a 19- or 20-bit motor encoder plus a battery-backed multi-turn output encoder, and a hollow shaft (11–18 mm depending on frame size). Each ACTILINK-JD size is available in three configurations: motor-only feedback (ECS1SS), dual encoder with standard I/O (ECD2SS), or dual encoder with SIL3/PLe safe motion over FSoE (ECD2SM).

Model Rated Torque Peak Torque Reduction Ratio Weight
AL-JP 14 9.6 Nm 34 Nm 101:1 (51:1–121:1 available) 1.22 kg
AL-JP 17 22 Nm 66 Nm 101:1 1.79 kg
AL-JP 20 34 Nm 102 Nm 101:1 2.29 kg
AL-JP 25 64 Nm 194 Nm 101:1 3.87 kg
AL-JP 32 137 Nm 411 Nm 101:1 6.5 kg
ACTILINK-JD 8 6 Nm 17 Nm 7.75:1 510–640 g
ACTILINK-JD 9 11 Nm 30 Nm 9:1 680–810 g
ACTILINK-JD 10 20 Nm 60 Nm 9:1 1.05–1.26 kg
ACTILINK-JD 12 40 Nm 110 Nm 9:1 1.58–1.87 kg

Harmonic Drive Rotary Actuators

Harmonic Drive's FHA-C and SHA series pair a brushless servomotor with Harmonic Drive strain-wave gearing and an incremental or absolute encoder in a hollow-shaft housing. The through-hole center allows cables, tubing, or optics to pass through the axis of rotation, a common requirement in robot wrist and rotary-stage designs.

Model Ratios Max. Torque Range Continuous Torque Range Mass
FHA-17C 50:1–160:1 39–64 Nm 15–24 Nm 2.5 kg
FHA-25C 50:1–160:1 150–260 Nm 35–85 Nm 4.0 kg
FHA-32C 50:1–160:1 281–453 Nm 60–200 Nm 6.5 kg
FHA-40C 50:1–160:1 500–820 Nm 85–300 Nm 12 kg
FHA-C Mini (8C/11C/14C) 30:1, 50:1, 100:1 1.8–28 Nm — 0.4–1.2 kg
SHA20A 51:1–161:1 73–120 Nm — 2.0 kg
SHA25A 51:1–161:1 127–229 Nm — 5.0 kg
SHA32A 51:1–161:1 281–484 Nm — 9.4 kg
SHA40A 51:1–161:1 523–841 Nm — 9.9 kg
SHA45A 51:1–161:1 650–1147 Nm — 12.4 kg
SHA58A 81:1–161:1 1924–2400 Nm — 29.5 kg
SHA65A 81:1–161:1 2400–3419 Nm — 37.5 kg

Integrated Actuator & Robotic Joint Products:

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ACTILINK-JD Dynamic Actuators by Synapticon

ACTILINK-JD Dynamic Actuators

Quasi-direct-drive actuators for humanoid robots and legged machines. 4 frame sizes, 17–102 Nm peak torque, EtherCAT, integrated SOMANET Circulo servo drive.

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ACTILINK-JP Precision Actuators by Synapticon

ACTILINK-JP Precision Actuators

Strain-wave precision actuators for industrial robots, cobots, and medical robotics. 5 frame sizes, 34–411 Nm peak torque, EtherCAT, integrated SOMANET Circulo servo drive.

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FHA-C Rotary Actuator by Harmonic Drive Tariff Free

FHA-C Rotary Actuator

Precision engineering, high torque, zero backlash, and versatile connectivity. Ideal for dynamic applications.

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FHA-Mini Rotary Actuator by Harmonic Drive Tariff Free

FHA-Mini Rotary Actuator

Offer high torque, zero backlash, and new dual encoders for precise, high-load applications. Now with panel mounts.

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HEJ 70 High-Efficiency Joint for Mobile Robots by Maxon Tariff Free

HEJ 70 High-Efficiency Joint for Mobile Robots

Compact 50 Nm robotic joint actuator with integrated motor, gearbox, encoder, and EtherCAT control. Sealed IP67 design ideal for mobile manipulation. RFQ available in Canada.

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HEJ 90 High‑Efficiency Joint for Mobile Robots by Maxon Tariff Free

HEJ 90 High‑Efficiency Joint for Mobile Robots

High-torque 140 Nm robotic joint actuator with integrated drive electronics and EtherCAT interface. IP67-rated for demanding mobile and locomotion applications.

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SHA-CG Rotary Actuators by Harmonic Drive Tariff Free

SHA-CG Rotary Actuators

High torque, minimal backlash, hollow shaft, and integrated servo drive for precision motion control applications.

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SHA-SG Rotary Actuators by Harmonic Drive Tariff Free

SHA-SG Rotary Actuators

Hollow Shaft Rotary Actuators that offer precise, zero-backlash motion control with compact design for high-torque applications.

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Frequently Asked Questions

What is an integrated actuator?

An integrated actuator combines a motor, gearbox, and encoder into one matched housing, engineered and validated together by the manufacturer. Some models add a servo drive, brake, or safety electronics inside the same unit.

How is an integrated actuator different from a standard servo motor and gearbox?

With a standard servo motor, the engineer selects and couples the motor, gearbox, and encoder separately, checking that ratings and mounting interfaces line up. An integrated actuator arrives pre-matched, pre-tested, and pre-wired as one part.

What's the difference between a strain wave actuator and a planetary actuator?

Strain wave (harmonic drive) actuators offer zero backlash and very high positioning accuracy, at the cost of lower maximum speed. Planetary gear actuators, like Synapticon's ACTILINK-JD or maxon's HEJ series, trade some positional accuracy for higher speed and better shock tolerance, making them better suited to dynamic, high-cycle motion like walking or running.

Are integrated actuators suitable for outdoor or mobile robots?

Depends on the model. maxon's HEJ series is IP67-rated for outdoor and field use. Harmonic Drive's FHA-C and SHA series and Synapticon's ACTILINK series are built for controlled environments, with IP65 available on Harmonic Drive's FHA-C H series.

Which integrated actuators offer functional safety certification?

Synapticon's ACTILINK-JP and ACTILINK-JD series offer an optional SIL3/PLe safe motion mode over FSoE. This is not currently standard on the Harmonic Drive or maxon lines carried here.

What communication protocols do these actuators support?

Harmonic Drive units support CANopen, EtherCAT, MechatroLink, CC-Link, and several third-party servo drives. maxon's HEJ series and Synapticon's ACTILINK series both communicate over EtherCAT.

Can integrated actuators be custom configured?

Yes. All three lines offer configurable gear ratios, encoder types, and communication or safety options. Contact Electromate for application-specific configuration.

What torque range do integrated actuators cover?

Across the lines carried here, torque ranges from about 6 Nm (Synapticon ACTILINK-JD 8) up to 3,419 Nm (Harmonic Drive SHA65A), covering everything from small humanoid joints to heavy industrial rotary axes.

Do integrated actuators include a brake?

Some do. Synapticon's ACTILINK-JP includes a spring-applied friction brake standard. Harmonic Drive's FHA-C and SHA series offer brake as an option on most sizes. maxon's HEJ series does not list a brake as standard.

How do I choose between Harmonic Drive, maxon, and Synapticon actuators?

Match the gear type and environment to your application first. Strain wave actuators (Harmonic Drive, Synapticon ACTILINK-JP) suit precision positioning at lower speed. Planetary actuators (maxon HEJ, Synapticon ACTILINK-JD) suit dynamic, high-speed, high-cycle motion. If the actuator needs to operate outdoors or in an unstructured environment, the IP67-rated maxon HEJ series is the only sealed option of the three. If functional safety certification is required, Synapticon is currently the only line offering it.

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